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6 POSITIONING CONTROL
(4) Servo program
Servo program No.510 for constant-speed control is shown below.
Axis 2
<K 510>
40000
ABS-2
Speed
Axis 3
CPSTART2
Axis 2,
Axis 3,
FOR-TIMES
10000
CPEND
NEXT
INC-2
Radius
INC
Axis 2,
Axis 3,
Axis 2,
Axis 3,
20000
0
K 4
30000
Positioning speed . . . 10000
20000
20000
20000
Start constant-speed control
Axis used . . . . . . . . . Axis 2, Axis 3
Positioning
method
Pass point setting
2 axes linear
interpolation
Number of repetitions 4
30000
Travel
value
Axis 3
Axis 2
Radius-specified
circular interpolation
0
20000
20000
Pass point setting
End constant-speed control
End repetition region
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
Positioning
method
2 axes linear
interpolation
30000[PLS]
Travel
value
Axis 3
Axis 2
0[PLS]
20000[PLS]
20000[PLS]
SET M2042
CPSTART2
Axis 2
Axis 3
Speed 10000PLS/s
ABS-2
Axis 2, 40000PLS
Axis 3, 20000PLS
FOR-TIMES
K 4
INC-2
Axis 2, 30000PLS
Axis 3, 0PLS
INC
Axis 2, 20000PLS
Axis 3, 20000PLS
Radius 20000PLS
NEXT
CPEND
PX000*M2435*M2455
END
Constant-speed control
!PX000
Constant-speed control
Turn on all axes servo ON command.
Wait until PX000, Axis 2 servo ready and Axis 3 servo
ready turn on.
Start constant-speed control
2 axes linear interpolation control (Absolute data method)
Axis used . . . . . . . . . . Axis 2, Axis 3
End address
Axis 2 . . . 40000[PLS]
Axis 3 . . . 200000[PLS]
Positioning speed . . .
10000[PLS/s]
Axis used . . . . . . . Axis 2, Axis 3
Number of repetitions 4
Pass point setting
End constant-speed control
End repetition region
Wait until PX000 turns off after constant-speed control
completion.
[F10]
[G10]
[K510]
[G20]
Radius-specified
circular interpolation
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.