6 POSITIONING CONTROL

(5) Motion SFC program

Motion SFC program for which executes the speed-switching control is shown below.

Speed-switching control

Speed-switching control

[F10]

SET M2042

 

[G10] PX000*M2435*M2455

[K500] VSTART ABS-2

Axis 2, 100000PLS

Axis 3, 50000PLS

Speed 2000PLS/s

VABS

Axis 2, 40000PLS

Speed 8000PLS/s

VABS

Axis 2, 70000PLS

Speed 5000PLS/s

VEND

Turn on all axes servo ON command.

Wait until PX000, Axis 2 servo ready and Axis 3 servo ready turn on.

Start speed-switching control

2 axes linear interpolation control (absolute data method)

Axis used . . . . . . . . . . . Axis 2, Axis 3

 

End address

Axis 2 . . . 100000[PLS]

 

 

Axis 3 . . . . 50000[PLS]

 

Positioning speed

. . . . . . . .. . 2000[PLS/s]

Speed-switching point, speed setting

 

Indicated axis No.

Axis2

Speed-switching point

40000

 

70000

Speed to speed-switching point

8000

 

5000

(Unit : Point [PLS]/speed[PLS/s])

End speed-switching control

[G20]

!PX000

Wait until PX000 turn off after speed-switching control

 

completion.

END

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

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