6POSITIONING CONTROL

(3)Continuation of positioning control

This section describes the processing which performed servo program No. which was being performed before the stop, after stop by turning on the STOP input of the Q172LX ON, the stop command (M3200+20n) ON or the rapid stop command (M3201+20n) ON.

(a)1 axis linear control/2 or 3 axes linear interpolation control

1)For ABS† ....... Positioning control from the stop address to target address by the target address specification.

Axis 2

Stop position by

 

stop command

Target address

 

Start address 2 after stop

Start address 1

Axis 1

2)For INC† ........ Positioning control of the travel value from the stop address.

Axis 2

Stop position by stop

command

 

Travel from address 1

Travel from address 2

Address 2 (start address after stop)

Address 1 (start address)

Axis 1

When the address 2 is moved to the same address (address which calculates with start address + specified travel value) using the INC†, the following processing using the servo program and Motion SFC program is required.

[Servo Program]

The travel value of servo program which executes the positioning from address is set indirectly by the word devices, as follows.

<K 10>

 

 

Travel value

 

 

INC-2

 

 

1,

D3000

Axis

Axis

2,

D3002

Combined-speed

5000

6 - 15