6 POSITIONING CONTROL

6.17.7 FIN signal wait function

By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed.

Turn the FIN signal on/off using the Motion SFC program or PLC program.

[Data setting]

(1)When the FIN signal wait function is selected, the fixed acceleration/deceleration time method is used. Set the acceleration/deceleration time within the range of 1 to 5000 [ms] by "FIN acceleration/deceleration" (selecting item) in the servo program.

Indirect setting is also possible by D, W and # devices (1 word).

[Cautions]

(1)If the acceleration/deceleration time is specified outside the setting range, the servo program setting error [13] will occur at the start and it is controlled with the acceleration/deceleration time of 1000[ms].

(2)M-code outputting signal is output to all interpolation axes at the interpolation control. In this case, turn on the signal for one of the interpolation axes.

(3)When M-code is set at the end point, positioning ends after the FIN signal has turn OFF to ON to OFF.

[Operation]

Servo program K0 for FIN signal wait function is shown below.

<K 0>

CPSTART2

 

 

 

Axis

1

 

 

Axis

2

 

 

Speed

 

10000

[ms]

FIN acceleration/

100

deceleration

 

 

 

ABS-2

 

 

 

Axis

1,

200000

 

Axis

2,

200000

 

M code

 

10

 

ABS-2

 

 

 

Axis

1,

300000

 

Axis

2,

250000

 

M code

 

11

 

ABS-2

 

 

 

Axis

1,

350000

 

Axis

2,

300000

 

M code

 

12

 

ABS-2

 

 

 

Axis

1,

400000

 

Axis

2,

400000

 

CPEND

 

 

 

Combined-speed

 

100[ms]

 

 

 

 

Point

1

WAIT

 

2

M-code

 

10

 

11

M-code outputting

FIN signal Explanatory

1.When the positioning of point 1 starts, M-code 10 is output and M-code outputting signal turns on.

2.FIN signal turns on after performing required processing in the Motion SFC program.

Transition to the next point does not execute until the FIN signal turns on.

3.When the FIN signal turns on, M-code outputting signal turns off.

4.When the FIN signal turns off after the M-code outputting signal turns off, the positioning to the next point 2 starts.

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