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7. POSITIONING CONTROL
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(3) Operation timing
The operation timing for position follow-up control is shown below.
Positioning address (D50)
PLC ready (M2000)
PCPU ready (M9074)
All axes servo start command (M2042)
All-axis servo start accept flag (M2009)
Start command (X000)
SVST instruction
Start accept flag (M2001+n)
Positioning start completed
Positioning completed
Command in-position
Stop command (M1800+20n)
Complete signal OFF command
M-code
Torque limit value
(4) Servo program
The servo program No. 100 for position follow-up control is shown below.
<K 101>
PFSTART
Axis
Speed
search engine
V
(M1600+20n)
(M1601+20n)
(M1603+20n)
(M1804+20n)
3,
D 5 0
20000
7 − 120
Command in-position
set value
Position follow-up control
Axis used
Axis
Positioning address
D50
Speed
20000
t
3
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