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6 POSITIONING CONTROL
CAUTION
When a skip is specified during constant-speed control and the axis which has no stroke range
[degree] is included, the operation at the execution of skip is described.
(Note-1): If there is an ABS instruction after the skip in these conditions, the end positioning
point and the travel distance in the program as a whole will be the same regardless
of whether the skip is executed or not.
(1) All instructions after the skip are INC instructions:
CPSTART1
0
CPEND
Skip
INC-1
Speed
Axis 1
Axis 1,
INC-1
Axis 1,
INC-1
Axis 1,
190[degree]
180
When skip is not executed
M100
180.00000
10.000
270.00000
180.00000
0 270[degree]
When the skip occurs at 100 [degree]
2801000
Program example
When skip is executed
(2) Instruction immediately after the skip is ABS instruction:
Program example
Skip
ABS-1
Speed
Axis 1
CPSTART1
INC-1
0
270.00000
CPEND
Axis 1,
Axis 1,
INC-1
Axis 1,
10.000
180.00000
350.00000
M100
180 260[degree]
100
350
0 350 260[degree]
When skip is not executed
When the skip occurs at 100 [degree]
When skip is executed
(The end positioning point is same regardless of whether the skip is
executed or not.)
(3) Instruction immediately after the skip is INC instruction and there is ABS instruction after
that:
When the skip occurs
at 80 [degree]
When skip is executed
(The end positioning point is same regardless of whether the skip is
executed or not.)
When skip is not executed
Program example
Skip
ABS-1
Speed
Axis 1
CPSTART1
INC-1
CPEND
Axis 1,
INC-1
Axis 1,
10.000
360.00000
M100
INC-1
Axis 1,
Axis 1,
180.00000
180.00000
90.00000
0 180
90[degree]
00
0
80
90[degree]
260 80
This point moves at 370 [degree],
not 10 [degree].