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3 MAJOR POSITIONING CONTROL
3.2 Setting the Positioning Data
Operation timing and processing time
• The t1 timing time could be delayed by the operation state of other axes.
• When using the near-point dog signal and "[Cd.46] Speed-position switching command", the t6 timing time could be
delayed or vary influenced by the PLC scan time or communication with servo amplifier.
Operation
cycle
Normal timing time Unit: [ms]
t1 t2 t3 t4 t5 t6
0.444 0.286 to 1.382 0.000 to 0.444 0.000 to 0.444 0.991 to 1.608 0.343
0.888 0.286 to 1.382 0.000 to 0.888 0.000 to 0.888 2.165 to 3.009 0.346
1.777 0.286 to 1.382 0.000 to 1.777 0.000 to 1.777 3.777 to 4.406 0.347
3.555 0.286 to 1.382 0.000 to 3.555 0.000 to 3.555 5.552 to 7.960 0.349
Positioning start signal [Y10, Y11, Y12, Y13]
BUSY signal [X10, X11, X12, X13]
M code ON signal
([Md.31] Status: b12)(WITH mode)
Standby
Position control
Stopped
[Md.26] Axis operation status
[Cd.7] M code OFF request
Start complete signal ([Md.31] Status: b14)
Positioning operation
t1
t2
t3
t4
Positioning complete signal
([Md.31] Status: b15)
Speed control
Position
control
Speed
control
Position-speed switching command
t6
Speed control command speed is from the input position of
the external position-speed switching signal.
[Cd.25] Position-speed switching
control speed change register
[Cd.180] Axis stop
Home position return complete flag
([Md.31] Status: b4)
*Position control carried out until position-speed switching signal
turns ON.
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