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2 POSITIONING CONTROL BY THE MOTION CPU
[Execution of the Motion program start (S(P).SVST instruction)]
Positioning control is executed by starting the Motion program (axis designation
program) specified with S(P).SVST instruction of the PLC CPU in the Motion CPU.
An overview of the starting method using the Motion program is shown below.
Multiple CPU control system
Positioning execute command
SP
.
SVST H3E3
K15
Motion program No.15
Target CPU
PLC CPU
PLC program . . . . . . . . .
<Example> SP.SVST instruction
1) The Motion program No. and start axis No. are set using the
S(P).SVST instruction in the PLC program.
2) When the S(P).SVST instruction is executed, the program of the
Motion program No. specified with the Motion CPU is executed.
Start request of the
Motion program
Create using a peripheral device
(Note-1)
M0 D0
Complete device
Device which stores the
complete status
Start request of the
Motion program
"J1"
Axis 1
(Start axis No.)
Point
In the above, it is explained the start of axis designation program.
There are following 2 types as the Motion program.
Control program : Only control instruction can be used, the travel instruction by G-code
can not be used.
It is started by the S(P).SFCS of PLC CPU, automatic start with parameter,
or CALL, GOSUB/GOSUBE instruction of other control program.
Axis designation program : The travel instruction by G-code and control instruction can be used.
It is started by the S(P).SVST instruction of PLC CPU or CALL,
GOSUB/GOSUBE instruction of control program.
(1) Create the Motion programs and positioning control parameters using a peripheral
device.
(2) Perform the positioning start using the PLC program (S(P).SVST instruction) of
PLC CPU.
(a) Motion program No. is specified with the S(P).SVST instruction.
1) Motion program No. can be set either directly or indirectly.
2) Start axis No. can be set only directly.
(3) Perform the specified positioning control using the specified with the Motion
program.