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6 POSITIONING CONTROL
(d) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
SET M2042
CPSTART4
Axis 1
Axis 2
Axis 3
Axis 4
Speed 10000PLS/s
INC-4
Axis 1, 3000PLS
Axis 2, 4000PLS
Axis 3, 4000PLS
Axis 4, 4000PLS
INC-4
Axis 1, 5000PLS
Axis 2, 3500PLS
Axis 3, -4000PLS
Axis 4, -6000PLS
INC-4
Axis 1, 5000PLS
Axis 2, 3500PLS
Axis 3, 3000PLS
Axis 4, 6000PLS
CPEND
PX000*M2415*M2435*M2455
END
4 axes constant speed control
!PX000
4 axes constant speed control
Turn on all axes servo ON command.
Wait until PX000, Axis 1 servo ready, Axis 2 servo
ready, Axis 3 servo ready and Axis 4 servo ready
turn on.
Start constant-speed control
Axis used. . . Axis 1, Axis 2, Axis 3, Axis 4
Positioning speed . . . . . . . . . .
10000[PLS/s]
4 axes linear interpolation control (P1)
Travel value to pass point
Axis 1 . . . 3000PLS
Axis 2 . . . 4000PLS
Axis 3 . . . 4000PLS
Axis 4 . . . 4000PLS
End constant-speed control
4 axes linear interpolation control (P2)
*M2475
4 axes linear interpolation control (P3)
Travel value to pass point
Axis 1 . . . 5000PLS
Axis 2 . . . 3500PLS
Axis 3 . . . -4000PLS
Axis 4 . . . -6000PLS
Travel value to pass point
Axis 1 . . . 5000PLS
Axis 2 . . . 3500PLS
Axis 3 . . . 3000PLS
Axis 4 . . . 6000PLS
Wait until PX000 turn off after constant-speed
control completion.
[F10]
[G10]
[K506]
[G20]
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.