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6 POSITIONING CONTROL
[Program]
Program for speed/position switching control is shown as the following conditions.
(1) System configuration
Speed/position switching control of Axis 4.
Q172
LX
MM MM
Motion CPU control module
Start command (PX000)
Axis
4
Axis
1
Axis
2
Axis
3
AMP AMP AMP AMP
Q61P Q02H
CPU
Q172H
CPU
QX41
(2) Positioning conditions
(a) Positioning conditions are shown below.
Item Positioning conditions
Servo program No. 101
Control axis Axis 4
Travel value for
positioning control
40000
Command speed 1000
(b) Positioning start command .................................. Turning PX000 off to on
(c) Speed/position switching enable command ........ M3265
(3) Operation timing
Operation timing for speed/position switching control is shown below.
Speed/position switching enable
command (M3265)
t
Position control
Speed control
Servo program No.101
V
Speed/position switching latch
(M2465)
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 4 servo ready (M2475)
Start command (PX000)
Servo program start
Axis 4 start accept flag (M2004)
Axis 4 positioning completion
(M2461)
1second
1second
CHANGE signal input of the
Q172LX