6 POSITIONING CONTROL

(4) Servo program

Servo program No.101 for speed/position switching control is shown below.

<K 101>

 

 

 

 

 

 

VPF

 

 

 

Axis

4,

40000

Speed

 

 

1000

Dwell

 

 

1000

Speed/position switching control

Axis used . . . . . Axis 4 Travel value . . . 40000 Speed . . . . . . . 1000 Dwell . . . . . . . . 1000

(5) Motion SFC program

Motion SFC program for which executes the servo program is shown below.

 

Speed/position switching control

 

 

Speed/position

 

 

switching control

 

[F10]

 

 

Turn on all axes servo ON command.

SET M2042

 

 

 

[G10]

 

 

 

 

 

 

PX000*M2475

 

Wait until PX000 and Axis 4 servo ready turn on.

[F20]

 

Axis 4 speed/position switching enable command ON.

SET M3265

 

 

 

 

 

[K101]

[G20]

[F30]

[G30]

VPF

Axis 4, 40000PLS

Speed 1000PLS/s

Dwell 1000ms

M2465

RST M3265

!PX000*M2461

END

Speed/position switching control

Axis used . . . . . . . . . .

Axis 4

Travel value . . . . . . . .

40000PLS

Command speed . . . . .

1000PLS/s

Dwell . . . . . . . . . . . . . .

1000ms

Axis 4 speed/position switching latch

Axis 4 speed/position switching enable command OFF

Wait until positioning completion and PX000 turn off.

Note : Shift transition is used to transit into the next processing during the positioning.

(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.

6 - 102