2
Create the PositionControl program for the following processing.
- Servo ON (by executing an MC_Power instruction)
- Home definition (by executing an MC_Home instruction)
- Calculation of velocity command values by the Controller function block whose
code was outputted by the Simulink PLC Coder
- Output of velocity command values to the Servo Drive (by executing the
MC_SyncMoveVelocity instruction)
Precautions for Correct Use
The sample programming that is provided in this Guide includes only the programming
that is required to operate the Servomotors. When programming actual applications,
also program EtherCAT communications, device interlocks, I/O with other devices, and
other control procedures.
Additional Information
Refer to the
Sample File No. 2 PLCCoderDemoMC.smc
that is provided separately for
the above program written in ST language.
Additional Information
Refer to
4.1. Programming in Ladder Diagram Language
for programming in ladder
diagram language.
Additional Information
The instruction to use differs by the command type. Use the following instructions
according to the command type.
Position command: MC_SyncMoveAbsolute
Velocity command: MC_SyncMoveVelocity
Torque command: MC_TorqueControl
If you use an MC_TorqueControl instruction, the command values are not outputted
cyclically. You need to write the program so that the command values are outputted
cyclically. Refer to the
MC_mySyncTorqueControl
of the Sample File No. 3 that is
provided separately for details of the program.
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Summary of Contents for DA0271
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