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6 POSITIONING CONTROL
(5) Motion SFC program
Motion SFC program for which executes the speed-switching control is shown
below.
SET M2042
VSTART
ABS-2
Axis 2, 100000PLS
Axis 3, 50000PLS
Speed 2000PLS/s
VABS
Axis 2, 40000PLS
Speed 8000PLS/s
VABS
Axis 2, 70000PLS
Speed 5000PLS/s
VEND
PX000*M2435*M2455
Speed-switching control
END
Speed-switching control
!PX000
(Unit : Point [PLS]/speed[PLS/s])
Turn on all axes servo ON command.
Wait until PX000, Axis 2 servo ready and Axis 3 servo
ready turn on.
Start speed-switching control
2 axes linear interpolation control (absolute data method)
Axis used . . . . . . . . . . . Axis 2, Axis 3
End address
Axis 2 . . . 100000[PLS]
Axis 3 . . . . 50000[PLS]
Positioning speed . . . . . . . .. . 2000[PLS/s]
Speed-switching point, speed setting
Axis2
40000
70000
5000
8000
Speed to speed-switching point
Speed-switching point
Indicated axis No.
End speed-switching control
Wait until PX000 turn off after speed-switching control
completion.
[K500]
[F10]
[G10]
[G20]
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.