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6 POSITIONING CONTROL
6.18 Position Follow-Up Control
Positioning to the address set in the word device of the Motion CPU specified with the
servo program at one start is executed.
Position follow-up control is started using the PFSTART servo program instruction.
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
Tor
q
ue limit value
Deceleration
p
rocessin
g
on sto
p
in
p
ut
Allowable error ran
g
e for circular inter
p
olation
S-curve ratio
Cancel
WAIT-ON/OFF
Speed change
PFSTART
Absolute 1
Valid
: Must be set
: Set if required
[Control details]
Control using PFSTART instruction
(1) Positioning to the address set in the word device of the Motion CPU specified with
the servo program is executed.
(2) Position follow-up control is executed until the stop instruction is input.
If the word device value changes during operation, positioning is executed to the
changed address.
V
Positioning address has not
change using PFSTART instruction
t
Before reaching A, positioning address
changed to B (return direction)
B
Positioning address
A