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6 POSITIONING CONTROL
(6) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
4 axes linear interpolation control
Axis used . . . . . . . Axis 1
,
Axis 2
,
Axis 3
,
Axis 4
Command positioning speed
Combined-speed . . . . . . . . . . . . . . . 10000[PLS/s]
SET M2042
INC-4
Axis 1, 3000PLS
Axis 2, 4000PLS
Axis 3, 4000PLS
Axis 4, 4000PLS
Speed 10000PLS/s
PX000*M2415*M2435*M2455
END
!PX000
4 axes linear interpolation control
4 axes linear
Wait until PX000 turn off after linear interpolation
completion.
Turn on all axes servo ON command.
Wait until PX000, Axis 1 servo ready, Axis 2 servo ready,
Axis 3 servo ready and Axis 4 servo ready turn on.
. . . . . . .
Axis 1 . . . 3000[PLS]
Axis 2 . . . 4000[PLS]
Axis 3 . . . 4000[PLS]
Axis 4 . . . 4000[PLS]
Travel value to
stop position
*M2475
interpolation control
[F10]
[G10]
[K22]
[G20]
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.