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6 POSITIONING CONTROL
6.17.7 FIN signal wait function
By selecting the FIN signal wait function and setting a M-code at each executing point,
a process end of each executing point is synchronized with the FIN signal, the FIN
signal turns ON to OFF and then the next positioning is executed.
Turn the FIN signal on/off using the Motion SFC program or PLC program.
[Data setting]
(1) When the FIN signal wait function is selected, the fixed
acceleration/deceleration time method is used. Set the acceleration/deceleration
time within the range of 1 to 5000 [ms] by "FIN acceleration/deceleration"
(selecting item) in the servo program.
Indirect setting is also possible by D, W and # devices (1 word).
[Cautions]
(1) If the acceleration/deceleration time is specified outside the setting range, the
servo program setting error [13] will occur at the start and it is controlled with the
acceleration/deceleration time of 1000[ms].
(2) M-code outputting signal is output to all interpolation axes at the interpolation
control. In this case, turn on the signal for one of the interpolation axes.
(3) When M-code is set at the end point, positioning ends after the FIN signal has turn
OFF to ON to OFF.
[Operation]
Servo program K0 for FIN signal wait function is shown below.
1
FIN signal
M-code outputting
ABS-2
Axis 2, 200000
Axis 1, 200000
FIN acceleration/
deceleration
Speed 10000
Axis 2
Axis 1
CPSTART2
<K 0>
M code 10
ABS-2
Axis 1, 300000
Axis 2, 250000
M code 11
ABS-2
Axis 1, 350000
Axis 2, 300000
M code 12
ABS-2
Axis 1, 400000
Axis 2, 400000
CPEND
[ms]
1110
Point
M-code
2WAIT
4. When the FIN signal turns off after the M-code outputting signal
turns off, the positioning to the next point 2 starts.
Explanatory
2. FIN signal turns on after performing required processing in the
Motion SFC program.
Transition to the next point does not execute until the FIN signal
turns on.
3. When the FIN signal turns on, M-code outputting signal turns off.
1. When the positioning of point 1 starts, M-code 10 is output and
M-code outputting signal turns on.
Combined-speed
100[ms]
100