7. POSITIONING CONTROL
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CAUTION
The operation that takes place on execution of a skip designated during constant speed control,
when an axis for which "degree" is designated as the unit and which has no stroke range is in-
cluded, is described here. If, under these conditions, there is an ABS instruction following the
skip, the final positioning point and the travel distance in the program as a whole will be the same
ragardless of whether the skip is executed or not. Examples are presented below.
(1) When all the instructions after the skip are INC instructions:
CPSTART1
Axis
1
Speed
10.000
INC-1
Axis
1,
180.00000
Skip
X100
INC-1
Axis
1,
180.00000
INC-1
Axis
1,
270.00000
CPEND
0
180
0
270[degree]
0
100
280
190[degree]
Motion when skip is not executed
Motion when skip is executed
(when the skip occurs at 100 [degree])
Program example
(2) When the instruction immediately following the skip is an ABS instruction
CPSTART1
Axis
1
Speed
10.000
INC-1
Axis
1,
180.00000
Skip
X100
ABS-1
Axis
1,
350.00000
INC-1
Axis
1,
270.00000
CPEND
0
180
350
260[degree]
0
100
350
260[degree]
Motion when skip is not executed
Motion when skip is executed
(when the skip occurs at 100 [degree])
Program example
Whether or not the skip occurs, the final positioning
point will be the same.
(3) When the instruction immediately following the skip is an INC instruction and there is an ABS
instruction after that
CPSTART1
Axis
1
Speed
10.000
INC-1
Axis
1,
360.00000
Skip
X100
INC-1
Axis
1,
180.00000
INC-1
Axis
1,
180.00000
ABS-1
Axis
1,
90.00000
CPEND
0
0
180
90[degree]
0
80
260
90[degree]
Motion when skip is not executed
Motion when skip is executed
(when the skip occurs at 80 [degree])
Program example
At this point there is a motion of 370 degrees, not 10 degrees.
0
80
Whether or not the skip occurs, the final positioning
point will be the same.
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