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6 POSITIONING CONTROL
(3) Operation timing
Operation timing for position follow-up control is shown below.
0
V
t
100 0
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 3 servo ready (M2455)
Start command (X0)
Servo program start
Axis 3 start accept flag
(M2003)
Axis 3 stop command (M3240)
Positioning address (D4000)
Axis 3 positioning start completion
(M2440)
Axis 3 positioning completion
(M2441)
Axis 3 command in-position
(M2443)
Stop command (X1)
(4) Servo program
Servo program No.100 for position follow-up control is shown below.
<K 100>
PFSTART
Axis
Speed
3,
Position follow-up control
Axis used . . . . . . . . . . . Axis 3
Positioning address . . . D4000
Speed . . . . . . . . . . . . . 20000
D 4000
20000
(Note): Example of the Motion SFC program for positioning control is shown next page.