4.3.3 Allowable error range for circular interpolation.................................................................................

4-14

 

 

 

 

 

 

5. SERVO PROGRAMS FOR POSITIONING CONTROL

5- 1 to 5-24

5.1

Servo Program Composition Area...........................................................................................................

5- 1

5.1.1 Servo program composition..............................................................................................................

5- 1

5.1.2 Servo program area ..........................................................................................................................

5- 2

5.2

Servo Instructions ....................................................................................................................................

5-

3

5.3

Positioning Data .......................................................................................................................................

5-16

5.4

Setting Method for Positioning Data........................................................................................................

5-22

5.4.1 Setting method by specifying numerical values ...............................................................................

5-22

5.4.2 Indirect setting method by word devices (D, W and #) ....................................................................

5-23

 

 

 

 

 

 

6. POSITIONING CONTROL

6- 1 to 6-232

6.1

Basics of Positioning Control...................................................................................................................

6-

1

6.1.1 Positioning speed..............................................................................................................................

6-

1

6.1.2 Positioning speed at the interpolation control ..................................................................................

6-

2

6.1.3 Control units for 1 axis positioning control........................................................................................

6-

7

6.1.4 Control units for interpolation control................................................................................................

6-

7

6.1.5 Control in the control unit "degree"...................................................................................................

6-

9

6.1.6 Stop processing and restarting after stop........................................................................................

6-11

6.1.7 Acceleration/deceleration processing...............................................................................................

6-17

6.2

1 Axis Linear Positioning Control.............................................................................................................

6-19

6.3

2 Axes Linear Interpolation Control .........................................................................................................

6-22

6.4

3 Axes Linear Interpolation Control .........................................................................................................

6-27

6.5

4 Axes Linear Interpolation Control .........................................................................................................

6-33

6.6

Auxiliary Point-Specified Circular Interpolation Control ..........................................................................

6-38

6.7

Radius-Specified Circular Interpolation Control......................................................................................

6-43

6.8

Central Point-Specified Circular Interpolation Control ............................................................................

6-49

6.9

Helical Interpolation Control.....................................................................................................................

6-55

6.9.1 Circular interpolation specified method by helical interpolation.......................................................

6-56

6.10 1 Axis Fixed-Pitch Feed Control............................................................................................................

6-77

6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation ...............................................................

6-81

6.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation ...............................................................

6-85

6.13 Speed Control (

 

)

6-89

 

 

6.14 Speed Control (

 

 

)

6-93

 

 

 

 

 

6.15 Speed/Position Switching Control .........................................................................................................

6-96

6.15.1 Speed/position switching control start ............................................................................................

6-96

6.15.2 Re-starting after stop during control .............................................................................................

6-103

6.16 Speed-Switching Control .....................................................................................................................

6-108

6.16.1 Speed-switching control start, speed-switching points and end specification ............................

6-108

6.16.2 Specification of speed-switching points using repetition instructions..........................................

6-114

6.17 Constant-Speed Control ......................................................................................................................

6-120

6.17.1 Specification of pass points by repetition instructions .................................................................

6-124

6.17.2 Speed-switching by instruction execution ....................................................................................

6-129

6.17.3 1 axis constant-speed control.......................................................................................................

6-134

6.17.4 2 to 4 axes constant-speed control...............................................................................................

6-138

6.17.5 Constant speed control for helical interpolation ...........................................................................

6-145

6.17.6 Pass point skip function ................................................................................................................

6-148

 

 

 

 

 

A - 13