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6 POSITIONING CONTROL
(5) Servo program
Servo program No.11 for 2 axes linear interpolation control is shown below.
<K 11>
ABS-2
Axis
Axis
Combined-speed
3,
4,
50000
40000
30000
2 axes linear interpolation control
Axis used . . . . . . . . . . Axis 3, Axis 4
Axis 3 . . . 50000
Axis 4 . . . 40000
Command positioning speed
Combined-speed . . . . . 30000
. . . . . .
Travel value to
stop position
(6) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
SET M2042
ABS-2
Axis 3, 50000PLS
Axis 4, 40000PLS
Speed 30000PLS/s
PX000*M2455*M2475
END
!PX000
2 axes linear interpolation control
2 axes linear
Wait until PX000 turns off after linear interpolation
completion.
Turn on all axes servo ON command.
Wait until PX000, Axis 3 servo ready and Axis 4 servo
ready turn on.
2 axes linear interpolation control
Axis used . . . . . . . . . . . . Axis 3
,
Axis 4
Command positioning speed
Combined-speed . . . . . . . . . 30000[PLS/s]
. . . . . . . .
Axis 3 . . . 50000[PLS]
Axis 4 . . . 40000[PLS]
Travel value to
stop position
interpolation control
[F10]
[G10]
[G20]
[K11]
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.