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7. POSITIONING CONTROL
M9039
0
M9074
2
X0000
M9074 M2009 M9076
4
M510
11
M9074 M511
13
CIRCUIT END
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(4) Servo program
The servo program No. 501 for speed-switching control is shown below.
<K 501>
VSTART
INC-2
Axis
2,
Axis
3,
Speed
VINC
Axis
2,
Speed
FOR-TIMES
K
VINC
Axis
2,
Speed
VINC
Axis
2,
Speed
NEXT
VEND
(5) Sequence program
The sequence program which runs the servo program is shown below.
M2002 M2003
search engine
Start speed-switching control
2-axes linear interpolation control (incremental method)
230000
100000
Axis used
10000
End address
40000
40000
Positioning speed
Speed-switching point, speed setting
2
Indicated axis
Travel value to speed-switching point
30000
Number or repeats 2
20000
Speed-switching point and speed setting
50000
40000
Indicated axis number
Travel value to speed-switching point
Speed to speed-switching point
End speed-switching range
End speed-switching control
M2000
M2042
PLS
M510
M511
SET
K
SVST
J2J3
501
M511
RST
7 − 89
Axis 2, Axis 3
Axis 2
230000
Axis 3
100000
10000
Axis 2
40000
Axis 2
30000
50000
20000
40000
Turns ON PLC ready.
Turns ON all axes servo start command.
Turns ON servo program No.501 start
command flag (M511) when X000 turns
OFF → ON.
Servo program No.501 execution
request.
Turns OFF M511 on completion of
servo program No.501 execution
request.
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