6 POSITIONING CONTROL

[Cautions]

(1)The number of control axes cannot be changed during control.

(2)The speed-switching point can be specified the absolute data method (VABS†) and incremental data method (VINC†) by mixed use.

(3)The speed-switching point cannot be specified an address which change in travel direction. If the travel direction change, the error code [215] is stored in the minor error storage register for each axis and the deceleration stop is performed.

(4)It checks whether to be the end address within the stroke limit range at the start. If it is positioning to outside the stroke limit range, the error code [106] is stored in the minor error storage register for each axis and operation does not start.

(5)If the travel value between speed-switching points is so short and it shifts to the next speed-switching point during speed-switching control, the speed-switching does not perform.

(6)If the M-code from the previous point is retained in the point with which M-code is not specified.

[Program]

Program for speed-switching is shown as the following conditions.

(1) System configuration

Speed-switching control of Axis 2 and Axis 3.

Motion CPU control module

Q61P

Q02H

Q172H

Q172

QX41

 

CPU

CPU

LX

 

 

 

 

 

 

 

 

 

Start command (PX000)

AMP

AMP

AMP

AMP

Axis

Axis

Axis

Axis

1 M

2 M

3 M

4 M

(2) Positioning conditions

(a) Speed-switching control conditions are shown below.

Item

Setting

 

Servo program No.

500

 

Control axis

Axis 2

 

Axis 3

End address

100000

 

50000

(b) Speed-switching control start command ....... Turning PX000 off to on

(OFF ON)

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