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6 POSITIONING CONTROL
6.20 Simultaneous Start
Simultaneous start of the specified servo program at one start is executed.
Simultaneous start is started using the START 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
Others
Program No.
START
: Must be set
: 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
SD516 SD517
Specified servo program
does not exist.
Servo program setting
error flag
(SM516): ON
Start accept flag
(M2001+n): OFF
Erroneous program No. of
simultaneous start.
19
START instruction is set as
the specified servo program.
The specified servo program
start axis is already used.
A servo program cannot
start by an error.
Erroneous program No. of
program specified with
simultaneous start.
Error Item data
(Refer to Section 3.5)
(2) The servo program No. specified using START instruction cannot be set indirectly.
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