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6 POSITIONING CONTROL
(c) Servo program
Servo program No.0 for constant-speed control is shown below.
<K 0>
Start constant-speed control
ABS-2
Axis 2, 200000
Axis 1, 200000
Speed 10000
Axis 2
Axis 1
CPSTART2
M-code 10
ABS-2
Axis 1, 300000
Axis 2, 250000
M-code 11
ABS-2
Axis 1, 350000
Axis 2, 300000
M-code 12
ABS-2
Axis 1, 400000
Axis 2, 400000
CPEND
Positioning speed . . . 10000[PLS/s]
Axis 1 . . . 200000[PLS]
Axis 2 . . . 200000[PLS]
100
FIN acceleration/ . . . . . 100[ms]
FIN acceleration/
deceleration
Axis used . . . . . . . . . Axis 1, Axis 2
deceleration
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . .
stop position
M-code output . . . . . . 10
End constant-speed control
Axis 1 . . . 300000[PLS]
Axis 2 . . . 250000[PLS]
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
M-code output . . . . . . 11
Axis 1 . . . 350000[PLS]
Axis 2 . . . 300000[PLS]
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
M-code output . . . . . . 12
Axis 1 . . . 400000[PLS]
Axis 2 . . . 400000[PLS]
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . .
stop position
Address of . . . . .
stop position
Address of . . . . .
stop position
(d) Motion SFC program
Motion SFC program for constant-speed control is shown below.
SET M2042
M2415*M2435
Constant-speed control
END
ABS-2
Axis 2, 200000
Axis 1, 200000
Speed 10000
Axis 2
Axis 1
CPSTART2
M-code 10
ABS-2
Axis 1, 300000
Axis 2, 250000
M-code 11
ABS-2
Axis 1, 350000
Axis 2, 300000
M-code 12
ABS-2
Axis 1, 400000
Axis 2, 400000
CPEND
100
FIN acceleration/
deceleration
Start constant-speed control
Positioning speed . . . 10000[PLS/s]
Axis 1 . . . 200000[PLS]
Axis 2 . . . 200000[PLS]
FIN acceleration/ . . . . . 100[ms]
Axis used . . . . . . . . . Axis 1, Axis 2
deceleration
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
M-code output . . . . . 10
Axis 1 . . . 300000[PLS]
Axis 2 . . . 250000[PLS]
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
M-code output . . . . . 11
Axis 1 . . . 350000[PLS]
Axis 2 . . . 300000[PLS]
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
M-code output . . . . . 12
Axis 1 . . . 400000[PLS]
Axis 2 . . . 400000[PLS]
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
End constant-speed control
Turn on all axes servo ON command.
Wait until Axis 1 servo ready and Axis 2 servo
ready turn on.
[F10]
[G10]
[K0]
Address of . . . . .
stop position
Address of . . . . .
stop position
Address of . . . . .
stop position
Address of . . . . .
stop position
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.