6 POSITIONING CONTROL

6.20Simultaneous Start

Simultaneous start of the specified servo program at one start is executed. Simultaneous start is started using the START servo program instruction.

 

 

 

 

 

Items are set in peripheral devices

 

 

 

 

 

Common

Arc

Parameter block

Others

 

 

 

blockParameterNo.

Axis valueAddress/travel speedCommand timeDwell code-M

valuelimitTorque pointAuxiliary Radius pointCentral unitControl

input

interpolation

Servo

Positioning

 

valuelimitSpeed timeAcceleration timeDeceleration decelerationstopRapid time valuelimitTorque processingDecelerationon stop

errorAllowablerange for circular ratiocurve-S Others No.Program

Number of

 

 

 

 

instruction

method

control axes

 

 

 

 

START

: Must be set

Speed change

: It changes by the servo program for simultaneous start.

[Control details]

Control using START instruction

(1)Simultaneous start of the specified servo programs is executed.

(2)The servo program except for the simultaneous start (START instruction) can be specified.

(3)Up to 3 servo programs can be specified.

(4)Each axis is controlled using the specified servo program after the simultaneous start.

[Cautions]

(1)A check is made at the start. An error occurs and operation does not start in the following cases.

Error

Error processing

Stored codes

D9189

D9190

 

 

Specified servo program

 

 

 

does not exist.

 

 

 

START instruction is set as

Servo program setting

Erroneous program No. of

19

the specified servo program.

error flag

simultaneous start.

 

The specified servo program

(M9079): ON

 

 

start axis is already used.

Start accept flag

 

 

A servo program cannot

(M2001+n): OFF

Erroneous program No. of

Error Item data

 

program specified with

start by an error.

 

(Refer to Section 3.5)

 

simultaneous start.

 

 

 

(2)The servo program No. specified using START instruction cannot be set indirectly.

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