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6 POSITIONING CONTROL
(4) Servo program
Servo program No. 501 for speed-switching control by the repetition instruction is
shown below.
Axis 3,
Axis 2,
<K 501>
Speed
VSTART
INC-2
VINC
FOR-TIMES
NEXT
VEND
Axis 2,
Speed
VINC
Axis 2,
Speed
VINC
Axis 2,
Speed
10000
Starts speed-switching control
40000
K 2
100000
230000
40000
30000
20000
50000
40000
Positioning speed
End speed-switching control
Number or repetition 2
Speed to speed-switching point
Speed-switching point
Indicated Axis No. Axis 2
30000
20000
50000
40000
Speed-switching point, speed setting
2 axes linear interpolation control (incremental data method)
Speed-switching point, speed setting
Axis used . . . . .. . . . . .. . . . .. Axis 2, Axis 3
Travel value to stop position
Axis 2 . . . 230000
Axis 3 . . . 100000
Travel value to speed-switching point . . . 40000
Indicated axis . . . . . . . . . . . . . . . . . . . . . Axis 2
End repetition region
Speed to speed-switching point . . . . . . . . . . 40000
(Note): Example of the Motion SFC program for positioning control is shown next page.