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6 POSITIONING CONTROL
(5) Motion SFC program
Motion SFC program for which executes speed-switching control using repetition
instructions is shown below.
Specification of speed-switching points using repetition instructions
SET M2042
VSTART
INC-2
Axis 2,
Axis 3,
Speed
VINC
Axis 2,
Speed
FOR-TIMES
K 2
VINC
Axis 2,
Speed
VINC
Axis 2,
Speed
NEXT
VEND
PX000*M2435*M2455
END
!PX000
Turn on all axes servo ON command.
Wait until PX000, Axis 2 servo ready and Axis 3 servo ready
turn on.
Starts speed-switching control
2 axes linear interpolation control (incremental data method)
Axis used . . . . . . . . . . . . . . . . Axis 2, Axis 3
Travel value to . . . . . . . . .
stop position
Axis 2 . . . 230000
Axis 3 . . . 100000
Positioning speed . . .
10000[PLS/s]
Speed-switching point, speed setting
Indicated axis . . . Axis 2
Travel value to speed-switching point . . . 40000[PLS]
Speed-switching point, speed setting
Speed to speed-switching point
Speed-switching point
Indicated axis No. Axis 2
30000
20000
50000
40000
40000PLS/s
50000PLS
20000PLS/s
40000PLS/s
10000PLS/s
30000PLS
40000PLS
100000PLS
230000PLS
Number of repetitions 2
End speed-switching control
(Unit : Point [PLS]/speed [PLS/s])
points using repeat
instructions
Wait until PX000 turn off after speed switching control
completion.
Speed-switching control
using repetition instructions
End repetition region
[F10]
[G10]
[K501]
[G20]
Speed to speed-switching point . . .. . . . . . . 40000[PLS/s]
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.