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6 POSITIONING CONTROL
(6) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
SET M2042
CPSTART1
Axis 4
Speed 10000PLS/s
INC-1
Axis 4, -1000PLS
FOR-TIMES
K 100
INC-1
Axis 4, 2000PLS
INC-1
Axis 4, -2000PLS
NEXT
INC-1
Axis 4, 1000PLS
CPEND
PX000*M2475
END
1 axis constant-speed control
!PX000
Travel value to pass point . . . -1000[PLS/s]
End constant-speed control
Number of repetitions 100
Start constant-speed control
Turn on all axes servo ON command.
Wait until PX000 and Axis 4 servo ready turn on.
Axis used . . . Axis 4
Positioning speed . . . . . . . . . . 10000[PLS/s]
Axis used . . . . . . . . . . . . . . . Axis 4
1 axis linear positioning control
1 axis linear positioning control
1 axis linear positioning control
1 axis linear positioning control
End repetition region
1 axis constant-speed control
Travel value to pass point . . . 2000[PLS/s]
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . -2000[PLS/s]
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . 1000[PLS/s]
Axis used . . . . . . . . . . . . . . . Axis 4
Wait until PX000 turn off after constant-speed
control completion.
[F10]
[G10]
[K500]
[G20]
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.