7. POSITIONING CONTROL
7
−
143
7.21.5
Zeroing servo program
Zeroing uses the ZERO servo instruction.
Items Set by Peripherals
Common
Arc
Parameter Block
Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Pa
ra
me
te
r B
lo
c
k
N
o
.
Ax
is
A
d
d
ress/T
rav
el V
a
lu
e
C
o
mma
nd
e
d
Sp
e
e
d
Dwell T
im
e
M
C
ode
T
o
rq
ue
L
imi
t Va
lu
e
A
u
xiliar
y
P
o
in
t
Ra
d
iu
s
Cen
ter
P
o
in
t
Co
n
tr
o
l Un
it
S
p
e
e
d Li
m
it V
a
lu
e
A
c
celer
atio
n
T
im
e
D
e
c
e
le
ra
ti
o
n
T
ime
R
a
pi
d S
top D
e
c
e
le
ra
ti
on
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
eceler
a
tio
n
P
ro
cessin
g
o
n
S
to
p
I
n
p
u
t
A
ll
o
w
a
b
le
Erro
r R
a
ng
e
f
o
r C
irc
ul
a
r I
n
te
rp
o
la
ti
o
n
SCurv
e
Ra
ti
o
S
p
eed
C
h
an
g
e
ZERO
−
1
!
∆
!
: Must be set
[Control Details]
(1) Zeroing is carried out using the method designated in the zeroing data (see
Section 7.21.1).
Refer to the following sections for details about the zeroing methods:
•
Proximity dog method ...................... Section 7.21.2
•
Count method .................................. Section 7.21.3
•
Data set method............................... Section 7.21.4
[Caution]
(1) If the following circuit conducts zeroing using the proximity dog method after the
PLC ready flag (M2000) turns ON but before the PCPU ready flag (M9074)
turns ON, another zeroing request is issued after zeroing is complete.
Therefore, apply interlock conditions to M9074 and M1602+20n (in-position
signal) when carrying out a zeroing. (See program example.)
K
SVST J1 0
M2001
M1610
M9074
M1602
0
CIRCUIT END
Start reception flag
Zeroing complete signal
In-position signal
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