7. POSITIONING CONTROL
7
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116
7.16.6
FIN signal wait function
This is a function whereby, when the FIN wait function is selected and an M-code is
set for each point on the way, the end of processing of each point on the way is
synchronized with the FIN signal, and positioning at the subsequent point is carried
out when the FIN signal comes ON.
[Data setting]
(1) When the FIN signal wait function is selected, the fixed
acceleration/deceleration time method is used.
Set the acceleration/deceleration time within the range 1 ms to 5000ms in the
servo program by using the “FIN acceleration/deceleration” option.
Indirect setting is also possible by using D and w devices (1 word).
[Notes]
(1) If the acceleration/deceleration time designation is outside the permissible
range, the servo program setting error “13” will occur on starting and control will
be performed with an acceleration/deceleration time of 1000 ms.
(2) When interpolation is performed, the M-code output in progress signal is output
for all interpolation axes. In this case, turn ON the signal for one of the inter-
polating axes.
(3) When an M-code is set at the final point, positioning is completed after the FIN
signal has gone from OFF to ON to OFF.
[Program example]
<K 0 >
CPSTART2
Axis
1
Axis
2
Speed
10000
FIN acceleration/
100
[ms]
deceleration
ABS-2
Axis
1,
200000
Axis
2,
200000
M code
10
ABS-2
Axis
1,
300000
Axis
2,
250000
M code
11
ABS-2
Axis
1,
350000
Axis
2,
300000
M code
12
ABS-2
Axis
1,
400000
Axis
2,
400000
CPEND
1
2
WAIT
10
11
1
2
3
4
Currently
executed point
M-code output
in progress
P
S
M-code
P
S
FIN signal
S
P
Explanatory
When the positioning at point 1 starts, an M-code is output and the
M code output in progress signal comes ON.
On receiving this signal, the relevant processing is performed at
the PLC, and then the FIN signal is switched ON. Operation does
not proceed to the next point until the FIN signal comes ON.
When the FIN signal is turned ON from the PLC, the M-code output
in progress signal goes OFF.
After the M-code output in progress signal has gone OFF, the FIN
signal is turned OFF from the PLC. After that, positioning at the next
point, point 2, starts.
1.
2.
3.
4.
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