31 POSITIONING INSTRUCTION
31.10 Multiple-axis Table Operation
505
31
■Axis #1 Positioning Data
■Axis #2 Positioning Data
■Axis #4 Positioning Data
NO. Device Control Method Positioning
Address
Command
Speed
Dwell Time Interrupt Input
Signal 2 Device No.
1 1: 1 Speed Positioning (Relative Address
Specification)
100000 pulse 10000 pps 0 ms
2 5: Table Transition Variable Speed
Operation
7000 pps 0 ms X2
3 3: Interrupt 1 Speed Positioning 50000 pulse 15000 pps 0 ms
NO. Device Control Method Positioning Address Command Speed Dwell Time
1 1: 1 Speed Positioning (Relative Address
Specification)
50000 pulse 10000 pps 0 ms
2 2: 1 Speed Positioning (Absolute Address
Specification)
60000 pulse 5000 pps 0 ms
3 1: 1 Speed Positioning (Relative Address
Specification)
20000 pulse 15000 pps 0 ms
4 1: 1 Speed Positioning (Relative Address
Specification)
30000 pulse 7500 pps 0 ms
NO. Device Control Method Positioning Address Command Speed Dwell Time
1 2: 1 Speed Positioning (Absolute Address
Specification)
100000 pulse 30000 pps 100 ms
X17 M21SM5500 M1
SM5500 M21
K0D2 M5
SM5500
K1
SM402
K2 D0
K3 D1
MOV
MOV
D0DRVMUL
M5 M7 M11
M6 M8 M12
M1
K1 D2MOV
K4 D3MOV
K0 K4M5MOVP
K1
Head table number of axis 1
Last table number of axis 1
Head table number of axis 2
Last table number of axis 2
Clear the user completion flag
Initial process
Initial pulse
Drive
contact
Positioning
instruction
activation axis1
DRVMUL
instruction
activation
DRVMUL
instruction
activation
Positioning
instruction
activation axis1
Drive DRVMUL instruction
Positioning
instruction
activation axis1
Axis 1
Normally end
Axis 2
Normally end
Axis 4
Normally end
Axis 1
Abnormal end
Axis 2
Abnormal end
Axis 4
Abnormal end
Axis 1, 2
and 4 are
complete
Axis 1, 2
and 4 are
complete
Drive DRVMUL instruction
Confirm end of axes 1, 2, and 4
(No check for normal/abnormal end)
(The positioning instruction activation flags for each axis are simultaneously updated. Thus, only the flag for the head axis is used for judgment.)
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