7. POSITIONING CONTROL
7 − 99
(4) Servo program
The servo program No. 510 for constant-speed control is shown below.
Start constant-speed control
Axis used Axis 2, Axis 3
Positioning speed 10000
Pass point setting
Number of repetitions 4
Pass point setting
End constant-speed range
End constant-speed control
<K 510>
CPSTART2
Axis 2
Axis 3
Speed 10000
ABS-2
Axis 2, 40000
Axis 3, 20000
FOR-TIMES
K 4
INC-2
Axis 2, 30000
Axis 3, 0
INC
Axis 2, 20000
Axis 3, 20000
Radius 20000
NEXT
CPEND
30000 20000
0 20000
Positioning
Method
2-axes linear
interpolation
Circular interpolation
control using radius
designation
Travel
value
Axis 2
Axis 3
(5) Sequence program
The sequence program which runs the servo program is shown below.
Turns ON PLC ready.
Turns ON all axes servo start command.
Turns ON servo program No.510 start
command flag (M561) when X000 turns
OFF ON.
Servo program No.510 execution request.
Turns OFF M561 on completion of servo
program No.510 execution request.
M9039
CIRCUIT END
M2000
PLS M560
K
SVST J2J3 510
0
13
M2042
SET M561
RST M561
2
4
11
M9074
X000
M560
M9074
M9074 M2049 M9076
M561 M2002 M2003
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