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9 MOTION CONTROL PROGRAMS
9.2 Servomotor/Virtual Servomotor Shaft Current Value Change
The current value of the specified axis is changed in the real mode.
The current value of the specified virtual servomotor shaft is changed in the virtual
mode.
Items set on peripheral device
Common Circular Parameter block Others
Servo
instruction
Positioning
method
Number of
Control axes
Parameter block No.
Axis
Address/travel
Command speed
Dwell time
M-code
Torque limit value
Auxiliary point
Radius
Central point
Control unit
Speed limit value
Acceleration time
Deceleration time
Rapid stop deceleration time
Torque limit value
Deceleration processing
at stop input
Allowable error range for circular
interpolation
S-curve ratio
Cancel
FIN
acceleration/deceleration
Speed
change
CHGA
Absolute
1 Disable
: Item which must be set
: Item which is set when required
[Controls]
Control using CHGA instruction
(1) Executing the CHGA instruction changes the current value in the following
procedure.
(a) The start accept flag (M2001 to M2008/M2001 to M2032) corresponding to
the specified axis is turned on.
(b) The current value of the specified axis is changed to the specified address.
(c) Start accept flag is turned off at completion of the current value change.
(2) The current value of the specified axis is changed in the real mode.
(3) The current value of the specified virtual servo-motor shaft is changed in the
virtual mode.
(4) The used axis No. can be set within the following range.
Q172CPU(N) Q173CPU(N)
Axis 1 to 8 Axis 1 to 32
(5) The address which made the current value change by CHGA instruction is valid
on the power supply turning on.