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Application Examples
Section 11-3
11-3-3 Switching among Position, Speed, and Torque Control
Overview
The basic program examples introduced in the following sections are com-
bined to perform position, speed, and torque control.
11-2-3 Transferring Servo Parameters
(Used to transfer acceleration/de-
celeration constants for positioning.)
11-2-4 Servo Lock/Unlock
11-2-6 Positioning (Absolute Movement or Relative Movement)
11-2-7 Speed Control
11-2-8 Torque Control
11-2-9 Deceleration Stop or Emergency Stop
This program uses I/O bits to execute the Servo Lock/Unlock function, start
controlling an axis (positioning, speed control, or torque control), or switch the
control status of an operating axis.
In this example, only axis 1 is controlled.
This application example is normally executed after the initial PCU settings
application shown in
11-3-1 Initial PCU Settings
.
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.
000048
(000308)
W412.04
1025.12
1025.14
W412.05
000049
(000312)
W412.02
1025.12
W412.06
W412.04
1522.01
000050
(000318)
W412.01
W412.03
W412.06
W412.02
W412.02
000051
(000323)
W412.03
W412.05
W412.06
W412.04
W412.04
Axis 2 Error
Waiting for Axis
2 Save End
Axis 2 Servo Parameter Transferring
Axis 2 Error
Waiting for
Axis 2 Save
Received
Axis 2 Communicating
Waiting for Axis
2 Save End
Axis 2 Save Error End
Execute Axis
2 Save
Axis 2 Save
Received
Waiting for Axis 2
Save Received
Axis 2 Save Error End
Axis 2 Save
Received
Waiting for Axis
2 Save End
Axis 2 Save
Normal End
Axis 2 Save Normal End
Axis 2 Save Error End
Waiting for Axis 2 Save
Received
Waiting for Axis 2 Save
End
Содержание CJ1W-NC271 - 12-2009
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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 ...