6 POSITIONING CONTROL

(5) Motion SFC program

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

Re-starting after stop during speed/position switching control

Re-starting after stop during control

[F10]

SET M2042

 

 

 

Turn on all axes servo ON command.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

[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]

 

 

 

 

 

Speed/position switching control for Axis 4

 

 

 

 

 

VPF

 

 

 

 

 

 

 

 

 

Axis

4,

40000PLS

 

 

Axis used . . .. . . . . Axis 4

 

Speed

 

1000PLS/s

 

 

Travel value . .. . . . 40000[PLS]

 

 

 

 

Command speed . . . 1000[PLS/s]

 

 

 

 

 

 

 

 

 

 

[G20]

 

 

 

 

 

Axis 4 stop command ON with PX002 ON .

SET M3260=PX002

 

 

 

 

Speed/position switching enable command OFF with axis 4

 

RST M3265=M2465

 

 

 

 

 

speed/position switching latch ON.

 

!M2004

 

 

 

 

 

 

 

 

 

Axis 4 start accept flag OFF.

 

 

 

 

 

 

End with stop

[G30]

M3260

 

 

 

 

due to error.

END

[G40]

PX001

 

 

 

[F30]

RST M3260

 

[K102]

VPSTART

 

Axis

4

[G50]

RST M3265=M2465

 

!M2004

 

[G60] !PX000*!PX001*!PX002

END

Wait until PX001 turn on.

Axis 4 stop command OFF

Re-start

Axis used . . .. . . . . Axis 4

Speed/position switching enable command OFF with axis 4 speed/position switching latch ON.

Axis 4 start accept flag OFF.

Wait until PX000, PX001 and PX002 turn off with

re-starting after stop during speed-position switching control.

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

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