6 POSITIONING CONTROL

(e)Motion SFC program

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

2 axes constant-speed control

2 axes constant-speed control

[F10]

SET M2042

 

 

 

[G10]

PX000*M2435*M2455

 

[K505] CPSTART2

 

 

Axis

2

 

 

 

Axis

3

 

 

 

Speed

 

10000PLS/s

 

ABS-2

 

 

 

Axis

 

2,

30000PLS

 

Axis

 

3,

30000PLS

 

ABS

 

 

 

 

Axis

 

2,

50000PLS

 

Axis

 

3,

50000PLS

 

Radius

 

20000PLS

 

ABS-2

 

 

 

Axis

 

2,

90000PLS

 

Axis

 

3, 100000PLS

 

CPEND

 

 

Turn on all axes servo ON command.

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

Start constant-speed control

Axis used . . . Axis 2, Axis 3

Positioning speed . . . . . . . . . . 10000[PLS/s] 2 axes linear interpolation control

Positioning address Axis 2 . . . 30000[PLS]

Axis 3 . . . 30000[PLS]

Circular interpolation control

Positioning address Axis 2 . . . 50000[PLS]

Axis 3 . . . 50000[PLS] Radius . . . 20000[PLS]

2 axes linear interpolation control

Positioning address Axis 2 . . . 90000[PLS]

Axis 3 . . 100000[PLS]

End constant-speed control

[G20]

!PX000

Wait until PX000 turn off after constant-speed control

 

completion.

 

 

END

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

(2)Program for 4 axes constant-speed control is shown as the following conditions.

(a)System configuration

Constant-speed control for Axis 1, Axis 2, Axis 3, and Axis 4.

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

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