6 POSITIONING CONTROL

(4) Operation timing

Operation timing for 4 axes linear interpolation control is shown below.

V

Servo program No.22

t

PLC ready flag (M2000)

All axes servo ON command (M2042)

All axes servo ON accept Flag (M2049)

Axis 1 servo ready (M2415)

Axis 2 servo ready (M2435)

Axis 3 servo ready (M2455)

Axis 4 servo ready (M2475)

Start command (PX000)

Servo program start

Axis 1 start accept flag

(M2001)

Axis 2 start accept flag (M2002)

Axis 3 start accept flag (M2003)

Axis 4 start accept flag (M2004)

(5) Servo program

Servo program No.22 for 4 axes linear interpolation control is shown below.

<K 22>

 

 

 

 

 

 

INC-4

1,

3000

Axis

Axis

2,

4000

Axis

3,

4000

Axis

4,

4000

Combined-speed

10000

4 axes linear interpolation control

Axis used . . . . Axis 1, Axis 2, Axis 3, Axis4

 

Axis 1 . . . . .

3000

Travel value to

 

 

 

Axis 2 . . . . .

4000

stop position . . . . . . .

 

 

 

Axis 3 . . . . .

4000

 

Axis 4 . . . . .

4000

Command positioning speed Combined-speed . . . . . . . . . . . . . . 10000

(Note): Example of the Motion SFC program for positioning control is shown next page.

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