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6 POSITIONING CONTROL
(4) Servo program
Servo program No.55 for speed control with fixed position stop is shown below.
PVF
Axis
Speed
120.00000
<K 55>
1,
30000.000
20
M100
Fixed position stop
command
Accel./decle. time
Axis used . . . . . . . . . . . . . Axis 1
Stop position. . . . . . . 120.00000
Speed
. . . . . . . . . . . . . . . 30000.000
Accel./decel. time . . . . . . . . . . . . 20
Fixed position stop
command
. . . . . . . . . M100
Speed control with fixed position stop
(Note): Example of the Motion SFC program for positioning control is shown next page.
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
END
RST M100
!PX000
SET M100
!M2001
SET M2042
120.00000 degree
1,
30000.000 degree/min
20 ms
M100
PVF
Axis
Speed
Fixed position stop
command
Accel./decle. time
[F10]
[G10]
[K55]
[G20]
[F20]
[G30]
[F30]
Speed control with fixed position stop
Speed control with fixed position stop
PX000*M2415
Turn on all axes servo ON command.
Wait until PX000, Axis 1 servo ready turn on.
Fixed position stop with speed control start
Axis used
Stop position . . . . . . . . . . . . . 120.00000
. . . . . . . . . . . . . . . Axis 1
Speed . . . . . . . . . . . . . . . . . . . . . 30000.000
Accel./decel. time . . . . . . . . . . . . 20
Fixed position stop command . . . M100
Wait until PX000 turn off after
speed control
with fixed position stop start.
Turn on fixed position stop command.
Wait until Axis 1 start accept flag turn off.
Turn off fixed position stop command.
(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.