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6 POSITIONING CONTROL
(4) Servo program
Servo program No.101 for speed/position switching control is shown below.
Speed
Axis 4, 40000
<K 101>
Dwell 1000
VPF
Speed . . . . . . . 1000
Speed/position switching control
Dwell . . . . . . . . 1000
1000
Axis used . . . . . Axis 4
Travel value . . . 40000
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
SET M2042
VPF
Axis 4, 40000PLS
Speed 1000PLS/s
Dwell 1000ms
PX000*M2475
Speed/position switching control
RST M3265
!PX000*M2461
SET M3265
M2465
Note : Shift transition is used to transit into the next processing during the positioning.
END
Speed/position
Turn on all axes servo ON command.
Wait until PX000 and Axis 4 servo ready turn on.
Speed/position switching control
Axis used . . . . . . . . . . Axis 4
Travel value . . . . . . . . 40000PLS
Command speed . . . . . 1000PLS/s
Dwell . . . . . . . . . . . . . . 1000ms
Axis 4 speed/position switching latch
Axis 4 speed/position switching enable command ON.
Axis 4 speed/position switching enable command OFF
Wait until positioning completion and PX000 turn off.
switching control
[G10]
[F10]
[K101]
[G20]
[G30]
[F20]
[F30]
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.