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7. POSITIONING CONTROL
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(c) Reference-axis speed designation
The servo system CPU uses the travel value of each axis (D
calculate the positioning speed of each axis (V
positioning speed of the reference axis (reference axis speed: V).
Set the reference axis number, reference axis speed, and the travel value of
each axis in the servo program.
Example
4-axes linear interpolation control
Axis 1 travel value:
D
= 10,000 PLS
1
Axis 2 travel value:
D
= 15,000 PLS
2
Axis 3 travel value:
D
= 5,000 PLS
3
Axis 4 travel value:
D
= 20,000 PLS
4
Reference axis speed:
V = 7,000 PLS/s
Reference axis number: Axis 4
In this example, Axis 4 is set as the
reference axis and the control is
based on the positioning speed of Axis
4.
The servo system CPU calculates the
positioning speed of each of the other
axes using the following calculation
formulas:
Axis 1 positioning speed: V
Axis 2 positioning speed: V
Axis 3 positioning speed: V
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[Program Example]
<K 52>
ABS-4
Axis
Axis
Axis
Axis
Reference axis speed
Reference axis number
×
= D
/D
V
1
1
4
×
= D
/D
V
2
2
4
×
= D
/D
V
3
3
4
7 − 5
to D
) to
1
4
to V
) from the set
1
4
1,
10000
(PLS)
2,
15000
(PLS)
3,
5000
(PLS)
4,
20000
(PLS)
7000
(PLS/s)
4
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