7. POSITIONING CONTROL
7
−
90
7.16 Constant-Speed
Control
(1) After a single control start, positioning control is executed using the designated
positioning method and positioning speed to the preset pass point.
(2) The positioning method and positioning speed can be changed for each pass
point.
(3) Set the following parameters with the servo program.
•
pass point
•
positioning method from one pass point to the next pass point.
•
positioning speed from one pass point to the next pass point.
(4) Repeat instructions permit repeated control between any pass points.
(5) M-code and torque limit value can be changed at each pass point.
(6) From one to 4-axes can be controlled.
[Procedure to Write Servo Programs]
The method to write servo programs for constant-speed control is shown below.
[Procedure]
[Example: Servo program for 2-axis
constant-speed control]
Start
Designated constant-speed
controlled axes and speed
Designate all pass points
All pass points designated?
End constant-speed control
End
<K 1 >
CPSTART2
Axis
2,
Axis
3,
Resultant speed
10000 (PLS/s)
ABS-2
Axis
2,
40000 (PLS)
Axis
3,
60000 (PLS)
ABS-2
Axis
2,
60000 (PLS)
Axis
3,
60000 (PLS)
Resultant speed
15000 (PLS/s)
ABS-2
Axis
2,
100000 (PLS)
Axis
3,
80000 (PLS)
CPEND
4
1
2
3
4
Point
NO
YES
Designate positioning method
Designate positioning address
(travel value)
Designate speed-switching
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