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7. POSITIONING CONTROL
PLC ready (M2000)
All axes servo start command (M2042)
All axes servo start accept flag (M2049)
Start command (X000)
SVST instruction
Axis 4 start accept flag (M2004)
(4) Operation timing
The operation timing for servo program No. 500 is shown below.
V
10000
-10000
(5) Servo program
The servo program No. 500 for constant-speed control is shown below.
<K 500>
CPSTART2
Axis
4
Speed
INC-1
Axis
4,
FOR-TIMES
INC-1
Axis
4,
Speed
INC-1
Axis
4,
NEXT
INC-1
Axis
4,
CPEND
1)
P1
P2
P3
Start constant-speed control
Axis
1000 0
Positioning speed
- 1000
1-axis linear positioning control
Axis
K 100
Positioning address
Set 100 repeats
0
200
0
2000
1-axis linear positioning control
Axis
- 2000
Positioning address
1-axis linear positioning control
1000
Axis
Positioning address
End repeated region
1-axis linear positioning control
Axis
Positioning address
End constant-speed control
7 − 106
P4
used
4
Axis
10000
used
4
Axis
-1000
used
4
Axis
2000
used
4
Axis
-2000
used
4
Axis
1000
t
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