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Automatic Operation (Position Control)
Operation diagram
f [pps]
10000
Positioning start contact of axis 1 Y1140
BUSY flag of axis 1 X1130
BUSY flag of axis 2 X1131
BUSY flag of axis 3 X1132
Operation done flag of axis 1 X1140
Operation done flag of axis 2 X1141
Operation done flag of axis 3 X1142
Current value of axis 1
Current value of axis 2
Current value of axis 3
Operation of each contact
• The 1st axis, 2nd axis, and 3rd axis BUSY flags (X1130, X1131, and X1132) indicating the
state that a motor is running will turn ON when the positioning control starts, and they will
turn OFF when the operation completes.
• The 1st axis, 2nd axis, and 3rd axis operation done flags (X1140, X1141, and X1142)
indicating the state that an operation completed will turn ON when the JOG operation is
completed, and they will be held until the next positioning control, JOG operation, home
return, or pulser operation starts.
Programming precautions
• For X-Y plane, in the case of the center point specification, the X-axis auxiliary point is the
center point of X-axis, and the Y-axis auxiliary point is the center point of Y-axis. In the case
of the pass point, each pass point is set as the pass point of X-axis and Y-axis. These
settings are the same for Y-Z plane and X-Z plane.
• When the control method is increment, both the center point and pass point will be increment
coordinates from the start point.
• When the start point and the operation done point is the same, it performs one circular
operation when using the center point method. However, when using the pass point method,
an error will occur.
• In the case of the pass point method, when the start point, pass point, and operation done
point exist in the same straight line, an arc will not be comprised and an error will occur.
• In the case of specifying long axis speed, the composite speed will be faster than the long
axis speed.
• If any value such as a movement amount, acceleration time, deceleration time or target
speed is out of the specified range, a set value error will occur when the positioning control
starts.
• The starting point and flag number vary with the axis number.
11-22
Composite speed
100
20000
10000
0
t [ms]
100
20000
30000
5000
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