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6 POSITIONING CONTROL
(4) Operation timing
Operation timing for central point-specified circular interpolation is shown below.
V
PLC ready flag (M2000)
Servo Program No.51
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
)
Axis 1 servo ready (M2415)
Axis 2 servo ready (M2435)
Servo program start
t
Combined-speed
(5) Servo program
Servo program No.51 for central point-specified circular interpolation is shown
below.
<K 51>
ABS
Axis
Axis
Speed
Central point
Central point
1,
2,
1,
2,
78541
30000
1000
45000
20000
Central point specified-circular interpolation
control
Axis used . . . . . . . . . . . . Axis 1, Axis 2
End address
Axis 1 . . . . . . . . . 78541
Axis 2 . . . . . . . . . 30000
Positioning speed . . . . . . . . . . . . . 1000
Central point address
Axis 1 . . . 45000
Axis 2 . . . 20000
(Note): Example of the Motion SFC program for positioning control is shown next page.