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6 POSITIONING CONTROL
Procedure of the servo program and operation timing
Servo programs for speed-switching control and the operation timing are shown below.
[Servo program]
<K 101>
VSTART
ABS-2
Axis
Axis
Speed
VABS
Axis
Speed
VABS
Axis
Speed
VABS
Axis
Speed
VEND
4,
3,
4,
4,
4,
80000
60000
2000
20000
7000
60000
6000
70000
4000
. . . P1
. . . P2
. . . P3
. . . P4
Start
Start speed-switching control
Specify end address
Specify speed-switching point
All speed-switching
points specified ?
End speed-switching control
END
NO
YES
[Operation timing]
P4
t
P3
60000
P2
P1
Axis 3 positioning direction
Axis 4 positioning direction
5000
0
V
Stop (P1)
0
Speed-switching point
20000
60000
70000
80000
Speed-switching
point (P2)