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6 POSITIONING CONTROL
6.17.3 1 axis constant-speed control
Items are set in peripheral devices
Common Arc Parameter block Others
Servo
instruction
Positioning
method
Number of
control axes
Parameter block No.
Axis
Address/travel value
Command s
p
eed
Dwell time
M-code
Tor
q
ue limit value
Auxiliar
y
p
oint
Radius
Central
p
oint
Control unit
S
p
eed limit value
Acceleration time
Deceleration time
Ra
p
id sto
p
deceleration time
Tor
q
ue limit value
Deceleration
p
rocessin
g
on sto
p
in
p
ut
Allowable error ran
g
e for circular inter
p
olation
S-curve ratio
Commanded s
p
eed
(
Constant
)
Cancel
Skip
FIN acceleration/deceleration
WAIT-ON/OFF
Speed
change
Start
CPSTART1
1
End
CPEND
ABS-1
Absolute data 1
Pass point
INC-1
Incremental 1
Valid
: Must be set
: Set if required
[Control details]
Start and end for 1 axis constant-speed control
1 axis constant-speed control is started and ended by the following instructions:
(1) CPSTART1
Starts the 1 axis constant-speed control. Sets the axis No. and command speed.
(2) CPEND
Ends the 1 axis constant-speed control for CPSTART1.
Positioning control method to the pass point
The positioning control to change control is specified by the following instructions:
(1) ABS-1/INC-1
Sets the 1 axis linear positioning control.
Refer to Section 6.2 "1 Axis Linear Positioning Control" for details.