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6 POSITIONING CONTROL
[Program]
Program for which executes the speed-switching control by turning on M2040 during
constant-speed instruction is shown as the following conditions.
(1) System configuration
Switches speed for Axis 1 and Axis 2.
Q172D
CPU
Q172D
LX
QX41 QY41PQ61P Q03UD
CPU
Motion CPU control module
AMP
M
Axis
1
AMP
M
Axis
2
AMP
M
Axis
4
AMP
M
Axis
3
Start command (PX000)
Speed switching point specified flag
(M2040) ON command (PX010)
(2) Positioning conditions
(a) Speed switching conditions are shown below.
Item Setting
Servo program No. 310
Positioning speed 10000 15000
Positioning method
2 axes linear
interpolation
Central point-
specified circular
interpolation
2 axes linear
interpolation
2 axes linear
interpolation
Pass point
Axis 1 20000 30000 40000 50000
Axis 2 10000 20000 25000 40000
(b) The constant-speed start command for speed switching
..................................................................PX000 Leading edge (OFF
ON)
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