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9 MOTION CONTROL PROGRAMS
[Program example]
A program which made the current value change control in the real mode is described
as the following conditions.
(1) System configuration
The current value change control of axis 2 is executed.
QX10Q172
EX
Q173
CPU
(N)
Q02H
CPU
Axis 1
M
Axis 2
M
AMP
M M
AMP
M M
AMP
M M
AMP
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 16
AMP
AMP
AMPAMP
(2) The current value change control conditions
(a) The current value change control conditions are shown below.
Item Setting
Servo program No. 10
Control axis No. 2
Current value change address 50
(3) Operation timing
CHGA instruction
START accept flag
Current value change
completion
(4) Servo program
Axis No. used.............................. 2
Current value change address ... 50
Axis 2, 50
CHGA
Servomotor/virtual sevomotor shaft
current value change control
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