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6 POSITIONING CONTROL
(4) Operation timing
Operation timing for radius-specified circular interpolation control is shown below.
V
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Start command (PX000)
Axis 1 start accept flag
(M2001)
Axis 2 start accept flag
(M2002)
Combined-speed
Servo Program No.41
Axis 1 servo ready (M2415)
Axis 2 servo ready (M2435)
Servo program start
t
(5) Servo program
Servo program No.41 for radius-specified circular interpolation control is shown
below.
<K 41>
ABS
Axis
Axis
Speed
Radius
1,
2,
100000
50000
1000
80000
Radius specified-circular interpolation
control
Axis used . . . . . Axis 1, Axis 2
End address
Axis 1 . . . 100000
Axis 2 . . . . 50000
Positioning speed . . . . . . . . . 1000
Radius . . . . . . . . . . . . . . . 80000
(Note): Example of the Motion SFC program for positioning control is shown next page.