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171
6 POSITIONING CONTROL
[Program]
Program for simultaneous start is
shown as the following conditions.
(1) System configuration
Simultaneous start for "Axis 1 and Axis 2", Axis 3 and Axis 4.
Start command (PX000)
MM MM
Motion CPU control module
Axis
4
Axis
1
Axis
2
Axis
3
AMP AMP AMP AMP
Q61P Q02H
CPU
Q172H
CPU
Q172
LX
QX41
(2) Number of specified servo programs and program No.
(a) Number of specified servo programs : 3
(b) Specified servo program No. are shown below.
Servo Program No. Used axis Control Details
No.1 Axis 1, Axis 2 Circular interpolation control
No.14 Axis 3 Speed control
No.45 Axis 4 Home position return control
(3) Start conditions
(a) Simultaneous start servo program No. .................. No.121
(b) Simultaneous start execute command .................. Turning PX000 off to on
(OFF
ON)
(4) Servo program
Servo program No.121 for simultaneous start is shown below.
<K 121>
START
K
K
K
1
14
45
Simultaneous start
No.1 servo program
No.14 servo program
No.45 servo program
(Note): Example of the Motion SFC program for positioning control is shown next page.