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6 POSITIONING CONTROL
6.18 Position Follow-Up Control
Positioning to the address set in the word device of the Motion CPU specified with the
servo program at one start is executed.
Position follow-up control is started using the PFSTART servo program instruction.
Servo
instruction
Positioning
method
Number of
control axes
Items set using MT Developer2
Speed
change
Common Arc Parameter block Others
Parameter block No.
Axis
Address/travel value
Command speed
Dwell time
M-code
Torque limit value
Auxiliary point
Radius
Central point
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Rapid Stop deceleration time
Torque limit value
Deceleration processing on stop input
Allowable error range for circular interpolation
S-curve ratio
Advanced S-curve acceleration/deceleration
Cancel
WAIT-ON/OFF
PFSTART
Absolute 1
Valid
: Must be set
: Set if required
[Control details]
(1) Positioning to the address set in the word device of the Motion CPU specified with
the servo program is executed.
(2) Position follow-up control is executed until the stop instruction is input.
If the word device value changes during operation, positioning is executed to the
changed address.
V
Positioning address has not
change using PFSTART instruction
t
Before reaching A, positioning address
changed to B (return direction)
B
Positioning address
A
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