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6 POSITIONING CONTROL
[Program example]
(1) FIN signal wait function by the PLC program
(a) System configuration
FIN signal wait function toward constant-speed control for Axis 1 and Axis 2.
MM MM
PLC CPU control module
Axis
4
Axis
1
Axis
2
Axis
3
AMP AMP AMP AMP
Q61P Q02H
CPU
Q172H
CPU
Q172
LX
QX41
Positioning start command : X0
(PLC CPU device)
(b) Positioning conditions
1) Constant-speed control conditions are shown below.
Item Setting
Servo program No. 0
Positioning speed 10000
FIN
acceleration/deceleration time
100[ms]
Positioning method 2 axes linear interpolation control
Axis 1 200000 300000 350000 400000
Pass point
Axis 2 200000 250000 300000 400000
M-code 10 11 12
2) Constant-speed control start command
..............................................................Turning X0 off to on (OFF
ON)
(PLC CPU device)