7. POSITIONING CONTROL
7
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119
[Cautions]
(1) The number of controllable axes is limited to one.
(2) Only the absolute data method (ABS ) is used for positioning control to the
pass points.
(3) The speed can be changed after control is started.
The changed speed remains valid until the stop command is input.
(4) Set the positioning address in the servo program using indirect designation with
the word devices D and W.
(5) Use only even-numbered devices for indirect designation of positioning ad-
dresses in a servo program.
If odd-numbered devices are used, when an attempt is made to start the con-
trol error 141 occurs and control does not start.
(6) Positioning speeds can be set in the servo program using indirect designation
with the word devices D and W.
However, this set speed is valid only at the start of position follow-up control (on
execution of SVST, DSFRP instructions) and the speed does not change if the
indirect designations are changed while control is in progress.
[Program Example]
(1) System configuration
Position follow-up control of Axis 3.
A172SHCPUN
Axis 1
Positioning start command
A172B
M
M
M
M
A172S
ENC
A1S
X10
Axis 2
Axis 3
Axis
4
MR-[]-B
MR-[]-B
MR-[]-B
MR-[]-B
(2) Positioning conditions
(a) The position follow-up conditions are shown below.
Item
Setting
Servo program number
100
Controlled axis
Axis 3
Positioning address
D50
Positioning speed
20000
(b) Position follow-up control start command .... leading edge of X000
(OFF
→
ON)
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