4.4 Checking Sample Program Operation
4-55
4
System Startup and Sample Programs
( 4 ) Procedure
Use the following procedure to operate the Tuning Panel and check operation.
1.
Servo ON
Change the
Servo ON PB
current value from
OFF
to
ON
.
The Servomotor will turn ON and the Servo will be clamped.
2.
Motion program No. setting
Enter a value from
1
to
3
as the current value for the
Motion Program No. setting
to specify the motion program
to be executed.
001 (=PMP001):
Program for executing zero point return using Servomotor phase-C. When this
program is executed, X axis (axis 1) and Y axis (axis 2) rotate a set distance once
a phase-C pulse has been input, and then return home.
002 (= PMP002):
Repeats the following two operations with an interval time.
1.) Moves to target position 1 in incremental mode, performs linear interpolation to
target position 2, and then repeats this operation 5 times.
2.) In absolute mode, performs counterclockwise circular interpolation from current
position to home (0,0) (once).
003 (= PMP003):
Repeats the same operation as PMP002, but without an interval time.
No programs have been created for numbers
004
and higher. An MPM alarm will occur if
004
or higher
numbers are entered and operation is started.
3.
Set Target Position 1 and Target Position 2
Enter any value for the following settings. These settings determine the target position for positioning when
Motion Program No. 2 and No. 3 are executed.
1st target position (X axis)
1st target position (Y axis)
2nd target position (X axis)
2nd target position (Y axis)
4.
Positioning, start
Change the current value for
Positioning, start
from
OFF
to
ON
.
The program will be executed and the model system will operate according to the motion program set in step 2.
Once the operation has been checked, enter
OFF
and stop the system.
When a motion program starts, the current value for
MPM running
will change to
ON
. Also, when the Servo axis
rotates, all
Current Values
will change.
If an error occurs during motion program execution, the current value for
MPM alarm
in the Tuning Panel will change
to
ON
. Use the following procedure to clear alarms.
1. Set the current value for
Positioning, abort
to
ON
then
OFF
.
2. Set the current value for
Alarm reset PB
to
ON
then
OFF
.
It is necessary to create routines within the actual application program in order to monitor and control the registers
corresponding to the signals and data listed in the table above.
The register numbers that correspond to the signals used in this sample program will be the register numbers
displayed under
REG-No
. next to
DWG
at the right of the Tuning Panel window.
