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7. POSITIONING CONTROL
M9039
0
M9074
2
X000
M9074
M2049
4
M560
11
M9074
M561
M2002
13
CIRCUIT END
(4) Servo program
The servo program No. 510 for constant-speed control is shown below.
<K 510>
CPSTART2
Axis
2
Axis
3
Speed
ABS-2
Axis
2,
Axis
3,
FOR-TIMES
K
INC-2
Axis
2,
Axis
3,
INC
Axis
2,
Axis
3,
Radius
NEXT
CPEND
(5) Sequence program
The sequence program which runs the servo program is shown below.
M9076
M2003
Start constant-speed control
Axis used
Positioning speed
10000
Pass point setting
40000
20000
Number of repetitions 4
4
Pass point setting
30000
0
Positioning
Method
20000
20000
Travel
20000
value
End constant-speed range
End constant-speed control
PLS
SET
SVST
J2J3
RST
7 − 99
Axis 2, Axis 3
10000
Circular interpolation
2-axes linear
control using radius
interpolation
Axis 2
30000
Axis 3
0
M2000
Turns ON PLC ready.
M2042
Turns ON all axes servo start command.
M560
Turns ON servo program No.510 start
command flag (M561) when X000 turns
OFF
ON.
M561
K
510
Servo program No.510 execution request.
Turns OFF M561 on completion of servo
M561
program No.510 execution request.
designation
20000
20000
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