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Basic Program Examples
Section 11-2
Sample Ladder Program
11-2-8 Torque Control
Overview
This sample program performs torque control on a Servo Drive connected
through MECHATROLINK communications.
Execute this sample program only after starting MECHATROLINK communi-
cations (establishing a connection), executing the Servo Lock function, and
verifying that the Servo Lock is engaged.
In this example, torque control is performed on the Servo Drive registered as
axis 1 using the TORQUE CONTROL Bit in the Axis 1 Operating Output Mem-
ory Area.
The Axis Operating Output/Input Memory Areas are based on the settings of
the Common Parameter Area, as shown below. The application example in
11-3-1 Initial PCU Settings
shows a sample program that can be used to
make the following settings.
Beginning word of Axis Operating Output Memory Area: CIO 0000
(Axis 1 Operating Output Memory Area: CIO 0000 to CIO 0024)
Beginning word of Axis Operating Input Memory Area: CIO 1000
(Axis 1 Operating Input Memory Area: CIO 1000 to CIO 1024)
This sample program uses the following parts of the CPU Unit's I/O memory
in addition to the CIO Area words listed above.
Work Area (WR Area)
W203.00 to W203.02
These Work Area bits are used to show the progress of function execution
and the execution status.
Program name: Speed Control
Section name: Speed Control
000000
(000000)
1000.00
1000.12
Axis 1 Error
DIFU
(013)
W202.00
1.02
000001
(000006)
1.02
1000.13
Axis 1 Busy
1000.15
1000.12
Axis 1 Error
W202.02
Controlling Axis 1 Speed
W202.02
000002
(000012)
W202.00
1.01
1.15
0.15
1522.00
W202.01
1000.12
Axis 1 Error
1.02
1.02
000003
(000021)
1.02
1000.00
DIFD
(014)
W202.01
Speed Control
execution
condition
Axis 1 Receiv-
ing Command
Flag
Axis 1 SPEED
CONTROL Bit
Execute Axis 1 Speed
Control Command
Axis 1 SPEED
CONTROL Bit
Controlling
Axis 1 Speed
Axis 1 Stop
Execution
Execute Axis 1
Speed Control
Command
Axis 1 SPEED
CONTROL Bit
Axis 1
SERVO
UNLOCK
Axis 1
EMERGENCY
STOP
Axis 1 DE-
CELERATION
STOP
Axis 1
Communicating
Axis 1 Speed
Control
Command
Reception
Complete
Axis 1 SPEED
CONTROL Bit
Axis 1 SPEED
CONTROL Bit
Axis 1 Receiving
Command Flag
Axis 1 Speed Control
Command Reception
Complete
Содержание CJ1W-NC271 - 12-2009
Страница 2: ......
Страница 4: ...iv ...
Страница 6: ...vi ...
Страница 22: ...xxii ...
Страница 58: ...30 Starting Operation Section 2 2 ...
Страница 244: ...216 Axis Operating Input Memory Areas Section 4 8 ...
Страница 264: ...236 Transferring Servo Parameters Section 5 3 ...
Страница 396: ...368 Linear Interpolation Section 9 7 ...
Страница 648: ...620 List of Error Codes Appendix D ...
Страница 674: ...646 Additional Functions for the CJ1W NCF71 MA Appendix F ...
Страница 684: ...656 Index ...
Страница 686: ...658 Revision History ...