6 POSITIONING CONTROL

(5) Motion SFC program

Motion SFC program, PLC program and parameter setting for position follow-up control is shown below.

(a)Motion SFC program

Motion SFC program example for position follow-up control is shown below. This program is started using S(P).SFCS instruction from PLC CPU (CPU No.1).

Position follow-up control

Position follow-up control

[F10]

SET M2042

 

[G10] M2049*M2455

[F20] D4000L=K100

[K100] PFSTART

 

 

Axis

3,

D4000

 

Speed

 

20000PLS/s

[G20]

!M2003

 

 

 

 

 

 

 

 

 

Turn on all axes servo ON command.

Wait until all axes servo ON accept flag and Axis 3 servo ready turn on.

Transfer the axis 3 positioning address to D4000.

Position follow-up control

 

Axis used . . . . . . . . . .

Axis 3

Positioning address . . .

D4000

Positioning speed . . . .

2000[PLS/s]

Wait until Axis 3 start accept flag turn off after position follow-up control completion.

END

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

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