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6 MOTION PROGRAMS FOR POSITIONING CONTROL
6.2 Type of The Motion Program
There are following two types in the Motion program.
Type of Motion program is set for every program by the motion parameter.
Type of the Motion program
Name Description
Control program
This program is described by the control instructions only. Axis
travel instructions are not included. Pre-read does not done at the
program execution.
Axis designation program
This program is described by the "control instructions and axis
travel instructions" or "only the either".
(1) Refer to Section 6.3 to 6.5 for details of the instruction which can be described in
each program.
(2) The total number of the control programs and axis designation programs is 1024.
(3) The method to start and end of the control program differs from the and the axis
designation program. Refer to Section 6.6 for details.
(4) The Motion program during execution cannot be re-written. Confirm that the PLC
ready flag (M2000) is OFF, and write the Motion program.
- Programming Manual 1
- Q173HCPU 1
- Q172HCPU 1
- SAFETY PRECAUTIONS 2
- (1) System structure 4
- CAUTION 10
- S(P).SVST 13
- S(P).CHGA 13
- S(P).CHGV 13
- S(P).DDWR 13
- S(P).DDRD 13
- 1. OVERVIEW 20
- 1 OVERVIEW 21
- 1.2 Features 22
- (Note-2) 23
- Start request of the 27
- Motion program 27
- Motion CPU 28
- Motion program . . . . 28
- Set and correct using a 30
- (2) Motion program 33
- (3) PLC program 34
- The control program is set 41
- S(P).SFCS 43
- [Setting data] 43
- [Description] 44
- [Errors] 46
- [Program example] 47
- [Setting data] 48
- [Operation] 49
- [Setting range] 50
- S(P).CHGA (PLC instruction: 54
- S(P).CHGV (PLC instruction: 59
- S(P) .CHGT 67
- S(P) .DDWR 71
- [Controls] 72
- [Control data] 75
- [Control] 76
- 4. POSITIONING SIGNALS 80
- 4.1 Internal Relays 81
- (1) Internal relay list 81
- (2) Axis status list 82
- (4) Axis status 2 list 84
- (6) Common device list 86
- 4.1.1 Axis statuses 92
- [Motion program exapmle] 94
- 4 POSITIONING SIGNALS 101
- [Motion program example] 104
- 4.1.2 Axis command signals 105
- (Note-1) 112
- Temporary 115
- 4.1.5 Common devices 124
- ....………. Status signal 127
- 4.2 Data Registers 135
- (1) Data register list 135
- (8) Common device list 142
- 20 is stored in D849 149
- ...…….…….. Monitor device 150
- Name Contents 151
- 0 : End 151
- 1 : Executing 151
- ....…….. Command device 154
- 4.2.7 Common devices 155
- 4.4 Special Relays (SP.M) 159
- Table 4.2 Special relay list 159
- 4.5 Special Registers (SP.D) 162
- ........... Monitor device 163
- 5.1 System Settings 168
- 5.2 Fixed Parameters 169
- Servo amplifier 170
- Fig. 5.2 For ball screw 171
- 5.3 Parameter Block 180
- Set acceleration 184
- 5.3.2 S-curve ratio 185
- 5.4 Work Coordinate Data 187
- (2) Block 189
- (3) Motion program 190
- Type of the Motion program 191
- 6.3 G-code List 192
- G-code List 192
- 6.4 M-code List 194
- M-code List 194
- 6.5 Control Instruction List 195
- Control instruction list 195
- 6.6 Start/End Method 197
- Axis designation 198
- 6.8 Motion parameter 200
- G-code Combination List 201
- Used in G43, G44 209
- 6.11.2 Indirect setting 211
- (2) Usable device range 211
- (3) Variable conversion 212
- (5) Assignment of variable 214
- (7) Inputting device data 216
- 6.11.3 Operational data 218
- • For MOD 220
- (6) Functions (BIN, BCD) 226
- (1) Current value address 233
- (3) Positioning control 234
- (2) Work coordinate system 235
- 6.13 G-code 236
- Table 6.3 G-code arguments 237
- [Explanation] 239
- [Related Parameters] 240
- [Program Example] 240
- 6.13.7 G04 Dwell 253
- 6.13.8 G09 Exact stop check 255
- 6.13.19 G32 Skip 277
- 6.13.26 G64 Cutting mode 293
- Time-constant 305
- Correct locus control on 306
- 6.14 M-Code 307
- 6.15 Special M-Code 308
- 6.15.1 M00 Program stop 309
- 6.15.3 M02 Program end 311
- 6.15.4 M30 Program end 312
- 6.15.6 M100 Preread disable 315
- 6.16 Miscellaneous 316
- Table 6.5 Argument List 316
- F[]nT ;S 328
- Numerical value or variable 330
- WAITON #M100 ; 336
- EXEON #M101 ; 336
- G01 X100. F100 ; 336
- Reset bit number (0 to15) 337
- Set bit number (0 to15) 337
- 6.16.17 Speed change (CHGV) 343
- ON device (Y, M) 345
- Device ON command 345
- OFF device (Y, M) 345
- Device OFF command 345
- LJX p;JYJZJUJ 348
- JWJAJB P 348
- JX p;JYJZJUJ 350
- 6.16.25 Time to wait (TIME) 356
- M VBO ;D S nD 359
- M VO;D S nF 361
- M;D S S n 365
- T;D D SOn 367
- FM ;D S SRn21 369
- ON/OFF device (X, Y, M, B, F) 371
- Feed screw 374
- Backlash compensation amount 374
- Workpiece 374
- (4) Explanation 377
- 7.3 Home Position Return 378
- "valid" 382
- "home position 383
- G28 (Home position return) 385
- Practicable instructions 385
- All controlled instructions 385
- Word devices Usable devices 387
- D 1690 to 8191 387
- W 0 to 1FFF 387
- # 0 to 7999 387
- : Must be set 388
- : Must be not set 388
- [Cautions] 390
- [Data Setting] 416
- [Control details] 417
- [degree/min]" 424
- 7.5 JOG Operation 426
- 7.5.1 JOG operation data 426
- 7.5.2 Individual start 427
- (1) System configuration 430
- (1) System configuration 434
- K100 M0 D0 441
- "J2J3J44" 441
- 7.8 FIN signal wait function 443
- FIN waiting 443
- FIN wait 444
- Positioning operation 446
- 7.9 Single Block Operation 447
- Executing PLC No 448
- [Operation Timing] 452
- 8 USER FILES 454
- 8. USER FILES 454
- 8.1 Projects 454
- APPENDICES 456
- PPENDICES 457
- APPENDIX 1.2 Minor errors 459
- APPENDIX 1.3 Major errors 475
- APPENDIX 1.4 Servo errors 479
- (3) Axis status 2 list 499
- (5) Common device list 501
- (Note-1) , (Note-2) 506
- (Note-1), (Note-2) 506
- (7) Common device list 513
- APPENDIX 2.4 Special Relays 515
- Special relay list 516
- Year Month 519
- Example : July 1993 519
- H9307 519
- Example : 520
- Friday 520
- H0005 520
- WARRANTY 523
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