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6 POSITIONING CONTROL
(b) Positioning conditions
1) Constant-speed control conditions are shown below.
Item Setting
Servo program No. 506
Positioning speed 10000
Positioning method
4 axes linear
interpolation
4 axes linear
interpolation
4 axes linear
interpolation
Axis 1 3000 5000 5000
Axis 2 4000 3500 3500
Axis 3 4000 -4000 3000
Pass point
Axis 4 4000 -6000 6000
2) Constant-speed control start command... Turning PX000 off to on
(OFF
ON)
(c) Servo program
Servo program No.506 for constant-speed control is shown below.
CPSTART4
<K 506>
Axis 2
Axis 1,
Axis 2,
Speed
Axis 1
INC-4
Constant-speed control
Axis 3
Axis 4
Axis 3,
Axis 4,
INC-4
Axis 1,
Axis 2,
10000
Axis used . . . Axis 1, Axis 2, Axis 3, Axis 4
CPEND
3000
Axis 3,
Axis 4,
INC-4
Axis 1,
Axis 2,
Axis 3,
Axis
4,
4000
4000
4000
3000
5000
3500
-4000
-6000
5000
3500
6000
Axis 1 . . . 3000
Travel value to pass point
Axis 2 . . . 4000
Axis 3 . . . 4000
Positioning speed . . . 10000
Axis 4 . . . 4000
End constant-speed control
4 axes linear interpolation control (P1)
4 axes linear interpolation control (P2)
4 axes linear interpolation control (P3)
Axis 1 . . . 5000
Travel value to pass point
Axis 2 . . . 3500
Axis 3 . . . -4000
Axis 4 . . . -6000
Axis 1 . . . 5000
Travel value to pass point
Axis 2 . . . 3500
Axis 3 . . . 3000
Axis 4 . . . 6000
(Note): Example of the Motion SFC program for positioning control is shown next page.