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6 POSITIONING CONTROL
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
SET M2042
VPF
Axis 4, 40000PLS
Speed 1000PLS/s
PX000*M2475
END
Speed/position switching control for Axis 4
Speed/position switching enable command OFF with axis 4
speed/position switching latch ON.
Axis 4 start accept flag OFF.
Re-starting after stop during speed/position switching control
RST M3260
!PX000*!PX001*!PX002
Axis 4 stop command OFF
SET M3260=PX002
RST M3265=M2465
!M2004
SET M3265
PX001
VPSTART
Axis 4
Re-start
END
M3260
Turn on all axes servo ON command.
Wait until PX000 and Axis 4 servo ready turn on.
Command speed . . . 1000[PLS/s]
Travel value . .. . . . 40000[PLS]
Axis used . . .. . . . . Axis 4
Axis 4 speed/position switching enable command ON
Wait until PX001 turn on.
Re-starting after stop
during control
Wait until PX000, PX001 and PX002 turn off with
re-starting after stop during speed-position switching
control.
[G10]
[F10]
[K101]
[G20]
[G30]
[F20]
[F30]
[G40]
[G60]
[K102]
Axis 4 stop command ON with PX002 ON .
Axis used . . .. . . . . Axis 4
End with stop
due to error.
RST M3265=M2465
!M2004
[G50]
Speed/position switching enable command OFF with axis 4
speed/position switching latch ON.
Axis 4 start accept flag OFF.
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.