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6 POSITIONING CONTROL
(3) Positioning conditions
(a) Positioning conditions are shown below.
Servo program No.
Item
No.31
Positioning method Absolute data method
Positioning speed 1000
(b) Positioning start command ........ Turning PX000 off to on (OFF
ON)
(4) Operation timing
Operation timing for auxiliary point-specified circular interpolation control is
shown below.
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
V
Combined-speed
Axis 1 start accept flag
(M2001)
Axis 2 start accept flag
(
M2002
)
Start command (PX000)
Servo program No.31
Axis 1 servo ready (M2415)
Axis 2 servo ready (M2435)
Servo program start
t
(5) Servo program
Servo program No.31 for auxiliary point-specified circular interpolation control is
shown below.
<K 31>
ABS
Axis
Axis
Speed
Auxiliary
point
Auxiliary
point
1,
2,
1,
2,
80000
30000
1000
40000
50000
Auxiliary point-specified circular interpolation
control
Axis used . . . . . . . . Axis 1, Axis 2
End point address
Positioning speed . . . . . . . . . . . . . . 1000
Auxiliary point address
Axis 1 . . . 40000
Axis 2 . . . 50000
Axis 1 . . . . . . 80000
Axis 2 . . . . . . 30000
(Note): Example of the Motion SFC program for positioning control is shown next page.