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6 POSITIONING CONTROL
[Program]
Program for restarting after stop during control with the speed/position switching
control is shown as the following conditions.
(1) System configuration
Speed/position switching control of Axis 4.
Q61P Q02H
CPU
Q172H
CPU
Q172
LX
QX41
MM MM
Motion CPU control module
Start command (PX000), restart command (PX001),
stop command (PX002)
Axis
4
Axis
1
Axis
2
Axis
3
AMPAMP AMPAMP
(2) Positioning conditions
(a) Positioning conditions are shown below.
Positioning conditions
Item
Speed/position
switching control
Restart
Servo program No. 101 102
Control axis Axis 4 Axis 4
Travel value for
positioning control
40000
Command speed 1000
(b) Positioning start command ................................... Turning PX000 off to on
(OFF
ON)
(c) Speed/position switching enable command ......... M3265
(d) Re-start command .................................................Turning PX001 off to on
(OFF
ON)
(e) Stop command ..................................................... Turning PX002 off to on
(OFF
ON)