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6 POSITIONING CONTROL
(3) Operation timing
Operation timing for the servo program No.0 is shown below.
Servo Program No.0
10000
V
PLC ready flag (M2000)
A
ll axes servo ON command
(M2042)
A
ll axes servo ON accept flag
(M2049)
Start command (PX000)
Servo program start
Axis 4 start accept flag
(M2004)
A
xis 4 servo ready (M2475)
t
(4) Servo program
Servo program No.0 for positioning control is shown below.
<K 0>
INC-1
Axis
Speed
4,
80000
10000
1 axis linear positioning control
Axis used . . . . . . . . . . . Axis 4
Travel value to . . . . . . . . 80000
stop position
Command speed . . . . . . 10000
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
SET M2042
INC-1
Axis 4, 80000PLS
Speed 10000PLS/s
PX000*M2475
END
!PX000
1 axis linear positioning control
Axis used . . . . . . . . . . Axis 4
Travel value to . . . . . . . 80000[PLS]
stop position
Command speed . . . . . 10000[PLS/s]
1 axis linear positioning control
Turn on all axes servo ON command.
Wait until PX000 and Axis 4 servo ready turn on.
Wait until PX000 turn off after linear positioning
completion.
1 axis linear positioning control
[F10]
[G10]
[G20]
[K0]
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.