7. POSITIONING CONTROL
7
−
57
7.11
Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation
Fixed-pitch feed control using 3-axes linear interpolation from the current stop
position with the 3-axes designated in the sequence program positioning
commands.
Fixed-pitch feed control using 3-axes linear interpolation uses the FEED-3 servo
instruction.
Items Set by Peripherals
Common
Arc
Parameter Block
Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Pa
ra
me
te
r B
lo
c
k
N
o
.
Ax
is
A
d
d
ress/T
rav
el V
a
lu
e
C
o
mma
nd
e
d
Sp
e
e
d
Dwell T
im
e
M
C
ode
T
o
rq
ue
L
imi
t Va
lu
e
A
u
xiliar
y
P
o
in
t
Ra
d
iu
s
Cen
ter
P
o
in
t
Co
n
tr
o
l Un
it
Sp
e
e
d
L
imi
t Va
lu
e
A
c
celer
atio
n
T
im
e
D
e
celer
atio
n
T
im
e
R
a
pi
d S
top D
e
c
e
le
ra
ti
on
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
e
celer
atio
n
P
ro
cessin
g
o
n
S
to
p
I
n
p
u
t
A
ll
o
w
a
b
le
Erro
r R
a
ng
e
f
o
r C
irc
ul
a
r I
n
te
rp
o
la
ti
o
n
SCurv
e
Ra
ti
o
Ca
n
c
e
l
St
a
rt
S
p
eed
C
h
an
g
e
FEED-3
Incremental
3
∆
!
!
!
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
∆
OK
!
: Must be set
∆
: Set if required
[Control Details]
(1) Positioning control from the current stop position (0) to the position which is the
resultant of the designated travel directions and travel values of the respective
axes.
(2) The travel direction is designated by the sign of the travel value, as follows:
•
Positive travel value ..........forward direction (increased address)
•
Negative travel value.........reverse direction (decreased address)
Fixed-pitch feed using
FEED-3 instruction
Commanded speed
DSFRP
instruction
t
V
Operation timing
Indicates set data
Positioning direction
Commanded
speed
Forward direction
Reverse direction
Y-axis travel value
X-axis travel value
Z-axis
travel value
Forward
direction
Forward
direction
Reverse direction
Reverse direction
∗
Fig. 7.25 Fixed-Pitch Feed Control Using 3-Axes Linear Interpolation
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