6 POSITIONING CONTROL

(5) Motion SFC program

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

Speed-switching during instruction execution

Speed-switching during instruction execution

[F10]

SET M2042

 

 

 

 

 

[G10]

 

 

 

 

 

 

 

 

PX000*M2415*M2435

 

[F20]

 

 

 

 

 

 

 

 

SET M2040=PX010

 

 

RST M2040=!PX010

[K310]

CPSTART2

 

 

 

 

 

 

 

 

 

 

Axis

1

 

 

 

Axis

2

 

 

 

Speed

 

10000PLS/s

 

ABS-2

 

 

 

 

Axis

1,

20000PLS

 

Axis

2,

10000PLS

 

ABS

 

 

 

 

Axis

1,

30000PLS

 

Axis

2,

20000PLS

 

Center

1,

30000PLS

 

Center

2,

10000PLS

 

ABS-2

 

 

 

 

Axis

1,

40000PLS

 

Axis

2,

25000PLS

 

Speed

 

15000PLS/s

 

ABS-2

 

 

 

 

Axis

1,

50000PLS

 

Axis

2,

40000PLS

 

CPEND

 

 

 

Turn on all axes servo ON command.

Wait until PX000, Axis 1 servo ready and Axis 2 servo ready turn on.

Speed-switching point specified flag turn on when PX010 turn on.

Speed-switching point specified flag turn off when PX010 turn off.

Set P1

Set P2

Set P3

Speed change

Set P4

[G20]

 

 

Wait until PX000 turn off after constant-speed control

!PX000

 

 

 

completion.

END

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

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