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6 POSITIONING CONTROL
(4) Operation timing
Operation timing for 3 axes linear interpolation control is shown below.
V
Servo program No.21
PLC ready flag (M2000)
A
ll axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Start command (PX000)
Axis 2 start accept flag
(M2002)
Axis 3 start accept flag
(M2003)
Axis 3 servo ready (M2455)
Axis 2 servo ready (M2435)
Axis 1 servo ready (M2415)
Servo program start
t
A
xis 1 start accept flag
(M2001)
(5) Servo program
Servo program No.21 for 3 axes linear interpolation control is shown below.
<K 21>
ABS-3
Axis
Axis
Axis
Combined-speed
1,
2,
3,
50000
40000
30000
1000
3 axes linear interpolation control
Axis used . . . . . . . .. Axis 1, Axis 2, Axis 3
Positioning address
Axis1 . . . 50000
Axis2 . . . 40000
Axis3 . . . 30000
Command positioning speed
Combined-speed . . . 1000
(Note): Example of the Motion SFC program for positioning control is shown next page.