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6 POSITIONING CONTROL
(3) Operation timing and speed-switching positions
Operation timing and speed-switching points for speed-switching control are
shown below.
50000
8000
40000
5000
Axis 3 positioning direction
V
70000
2000
100000
ON
OFF
t
ON
ON
ON
OFF
OFF
OFF
Axis 2 positioning
direction
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 2 servo ready (M2435)
Start command (PX000)
Servo program start
Axis 2 start accept flag (M2002)
A
xis 3 servo ready (M2455)
A
xis 3 start accept flag (M2003)
0
(4) Servo program
Servo program No.500 for speed-switching control is shown below.
2000
ABS-2
VSTART
Speed-switching point, speed setting
<K 500>
VABS
Axis 2,
VEND
Axis 3,
Speed
100000
50000
Axis 2,
Speed
VABS
Axis 2,
Speed
2 axes linear interpolation control (absolute data method)
Start speed/position switching control
Speed to speed-switching point
Speed-switching point
Positioning speed . . . . . . . . . . 2000
Indicated axis No. Axis 2
40000
End speed switching control
8000
70000
5000
40000
8000
70000
5000
Axis used . . . Axis 2, Axis 3
End address
Axis 2 . . . 100000
Axis 3 . . . . 50000
(Note): Example of the Motion SFC program for positioning control is shown next page.