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6 POSITIONING CONTROL
6.17.4 2 to 4 axes constant-speed control
Constant-speed control for 2 to 4 axes.
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
Torque limit value
Deceleration
p
rocessin
g
on sto
p
in
p
ut
Allowable error ran
g
e for circular inter
p
olation
S-curve
r
atio
Commanded speed
(
Constant
)
Cancel
Skip
FIN acceleration/deceleration
WAIT-ON/OFF
Speed
change
CPSTART2
2
CPSTART3
3
Start
CPSTART4
4
End
CPEND
ABS-2
2
ABS-3
3
ABS-4
4
ABS
ABS
ABS
ABS
ABS
ABS
ABS
Absolute data
2
INC-2
2
INC-3
3
INC-4
4
INC
INC
INC
INC
INC
INC
Pass
point
INC
Incremental
data
2
Valid
: Must be set
: Set if required