6. SERVO PROGRAMS FOR POSITIONING CONTROL
6
−
7
6.3 Positioning
Data
The positioning data set for servo programs is shown in Table 6.3.
Table 6.3 Positioning Data
Setting Made With Peripheral Device
Setting Range
Name
Explanation
Default
Value
mm
inch
degree
PULSE
Parameter block
No.
!
Sets the parameter block on the basis of which data such as that
for acceieration and deceleration processing and deceleration
processing on STOP input will be set for each axis.
1
1 to 16
Axis
!
Set the axis to be started.
!
For interpolation , the numbers of the axes involved in the
interpolation are designated.
1 to 8 for A172SHCPU
1 to 4 for A171SHCPU
Absolute date
method
Address
Set the positioning address as an absolute address
when using the absolute data method as the
positioning method.
−
214748364.8
to
21474836.7
(
µ
m)
−
21474.83648
to
21474.83647
0 to 359.99999
−
2147483648
to
2147483647
For other than ##speed/position switching control
0 to
±
2147483647
For speed/position switching control
A
d
dress/travel
val
u
e
Incremental
method
Travel value
Set the positioning address as a travel value when
using the incremental method as the positioning
method. The direction of travel is indicated by the
sign. However, only positive settings can be made for
##speed/position switching control.
Positive : Forward rotation (direction in which
address values increase)
Negative : Reverse rotation (direction in which
address values decrease)
0 to
214748364.7
(
µ
m)
0 to
21474.83647
0 to
21474.83647
0 to
2147483647
Commanded speed
!
Sets the positioning speed.
!
The units for the speed are the "control units" set in the parameter
block.
!
For interpolation, this setting is the combined speed/long-axis
reference speed/reference axis speed. (Applies to PTP control
only)
0.01 to
6000000.00
(mm/min)
0.001 to
600000.000
(inch/min)
0.001 to
2147483.647
(degree/min)
1 to 10000000
(PLS/s)
Dwell time
!
Set the time from positioning to the positioning address to output
of the positioning completion signal (M1601+20n).
0 (ms)
0 to 5000 (ms)
M-code
!
Set the M-code.
!
For speed switching control and constant speed control, different
settings can be made for each point.
!
The setting is updated each time motion is started or at each
designated point.
0
0 to 255
C
o
m
m
on S
e
tti
ngs
Torque limit value
!
Set the torque limit value.
!
When motion is started, the torque limit set in the parameter block
is used, but in speed switching control a different value can be set
for each point and the set torque values can be made effective at
designated points.
Torque limit
setting (%)
in the
parameter
block
1 to 500 (%)
Absolute data
method
−
214748364.8
to
214748364.7
(
µ
m)
−
21474.83648
to
21474.83647
0 to 359.99999
−
2147483648
to
2147483647
A
u
x
ilia
ry
p
o
in
t
Incremental
method
!
Set when executing circular interpolation by designating an auxiliary
point.
0 to
±
2147483647
Absolute data
method
0.1 to
429496729.5
(
µ
m)
0.00001 to
42949.67295
0 to 359.99999
1 to
4294967295
R
adi
us
Incremental
method
!
Set when executing circular interpolation by designating a radius.
!
The sitting ranges, which depend on the positioning method used,
are shown to the right.
0.1 to
214748364.7
(
µ
m)
0.00001 to
21474.83647
0.00001 to
21474.83647
1 to
2147483647
Absolute data
method
−
214748364.8
to
214748364.7
(
µ
m)
−
21474.83648
to
21474.83647
0 to 359.99999
−
2147483648
to
2147483647
C
enter poi
nt
Incremental
method
!
Set when executing circular interpolation by designating a center
point.
0 to
±
2147483647
C
ircul
ar Interpol
ati
o
n
Number of pitches
!
Set when performing helical interpolation.
0 to 999
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