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6 POSITIONING CONTROL
6.20Simultaneous Start
Simultaneous start of the specified servo program at one start is executed.
Simultaneous start is started using the START servo program instruction.
Items are set in peripheral devices
Common Arc Parameter block Others
Servo
instruction
Positioning
method
Number of
control axes
P
arameter block No.
A
xis
A
ddress/travel value
C
ommand s
p
eed
D
well time
M
-code
T
or
q
ue limit value
A
uxiliar
y
p
oint
R
adius
C
entral
p
oint
C
ontrol unit
Sp
eed limit value
A
cceleration time
D
eceleration time
R
a
p
id sto
p
deceleration time
T
or
q
ue limit value
D
eceleration
p
rocessin
g
on sto
p
in
p
ut
A
llowable error ran
g
e for circular inter
p
olation
S
-curve ratio
O
thers
P
rogram No.
Speed change
START
: Must be set
: It changes by the servo program
for simultaneous start.
[Control details]
Control using START instruction
(1) Simultaneous start of the specified servo programs is executed.
(2) The servo program except for the simultaneous start (START instruction) can be
specified.
(3) Up to 3 servo programs can be specified.
(4) Each axis is controlled using the specified servo program after the simultaneous
start.
[Cautions]
(1) A check is made at the start. An error occurs and operation does not start in the
following cases.
Stored codes
Error Error processing
D9189
D9190
Specified servo program
does not exist.
START instruction is set as
the specified servo program.
The specified servo program
start axis is already used.
Erroneous program No. of
simultaneous start.
19
A servo program cannot
start by an error.
Servo program setting
error flag
(M9079): ON
Start accept flag
(M2001+n): OFF
Erroneous program No. of
program specified with
simultaneous start.
Error Item data
(Refer to Section 3.5)
(2) The servo program No. specified using START instruction cannot be set indirectly.