6 POSITIONING CONTROL

(10)Deceleration speed by the stop command (M3200+20n)/rapid stop command (M3201+20n) is controlled with fixed inclination (deceleration speed). Deceleration processing is executed using the speed limit value or deceleration/ rapid stop deceleration time set in the parameter block.

 

V

 

Rapid stop by fixed inclination

 

 

 

(Note-1)

(deceleration speed).

 

 

 

 

 

 

(Inclination is set by the speed

 

 

 

 

 

 

(Note-1)

 

limit value and rapid stop

 

 

 

deceleration time of parameter

 

 

 

 

block.)

 

 

 

 

 

t

 

 

ON

 

 

 

 

 

 

 

 

 

 

 

 

Servo program start

 

OFF

 

 

 

Rapid stop command

 

OFF

 

ON

 

 

 

 

(M3201+20n),

 

 

 

 

 

 

 

 

 

servo error, etc.

 

 

ON

 

 

Speed change request

 

OFF

 

 

 

 

 

 

(CHGV)

 

 

 

 

 

 

 

 

 

Positioning complete

 

ON

 

 

 

signal (M2401+20n)

 

OFF

 

 

 

 

 

 

 

 

Command in-position

 

ON

 

 

 

signal (M2403+20n)

 

OFF

 

 

 

 

 

 

 

 

 

 

 

 

(Note-1): Rapid stop cause

 

 

 

 

 

 

(11)When the fixed position stop command turns on, the command in-position check starts. When the absolute value of difference between the setting address and feed current value below the "command in-position range" set in the fixed parameter, the command in-position signal (M2403+20n) turns on. The command in-position signal (M2403+20n) turns on by a positioning start.

[Program]

Program for speed control with fixed position stop is shown as the following conditions.

(1) System configuration

Speed control with fixed position stop for "Axis 1.

Motion CPU control module

Q61P Q02H Q172H Q172 QX41

CPU CPU LX

Positioning start command (PX000)

AMP AMP AMP AMP

Axis

Axis

Axis

Axis

1 M

2 M

3 M

4 M

6 - 167