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6 POSITIONING CONTROL
(3) Continuation of positioning control
This section describes the processing which performed servo program No. which
was being performed before the stop, after stop by turning on the STOP input of
the Q172LX ON, the stop command (M3200+20n) ON or the rapid stop
command (M3201+20n) ON.
(a) 1 axis linear control/2 or 3 axes linear interpolation control
1) For ABS ....... Positioning control from the stop address to target
address by the target address specification.
Stop position by
stop command
Start address 2 after stop
Target address
Start address 1
Axis 1
Axis 2
2) For INC ........ Positioning control of the travel value from the stop
address.
Stop position by stop
command
Travel from address 1
Travel from address 2
Address 2 (start address after stop)
Address 1 (start address)
Axis 2
Axis 1
When the address 2 is moved to the same address (address which
calculates with start address + specified travel value) using the INC, the
following processing using the servo program and Motion SFC program is
required.
[Servo Program]
The travel value of servo program which executes the positioning from
address is set indirectly by the word devices, as follows.
Travel value
<K 10>
INC-2
Axis
Axis
Combined-speed
1,
2,
D3000
D3002
5000