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7. POSITIONING CONTROL
M9039
0
M9074
2
X000
M9074
M2049 M9076
4
M500
11
M9074
M501
M2002
M2003
13
CIRCUIT END
(4) Servo program
The servo program No. 500 for speed-switching control is shown below.
<K500>
VSTART
ABS-2
Axis
2,
100000
Axis
3,
50000
Speed
2000
VABS
Axis
2,
40000
Speed
8000
VABS
Axis
2,
70000
Speed
5000
VEND
(5) Sequence program
The sequence program which runs the servo program is shown below.
Start speed-switching control
2-axes linear interpolation control (absolute data method)
Axis used ...............Axis 2, Axis 3
End address
Positioning speed ......2000
Speed-switching point, speed setting
Indicated axis number
Speed-switching points
Speed to speed-switching point
End speed-switching control
M2000
M2042
PLS
M500
SET
M501
K
SVST
J2J3
500
RST
M501
7 − 85
Axis 2......100000
Axis 3......50000
Axis 2
40000
8000
Turns ON PLC ready.
Turns ON all axes servo start command.
Turns ON servo program No.500 start
command flag (M501) when X000 turns
OFF
ON.
Servo program No.500 execution request.
Turns OFF M501 on completion of servo
program No.500 execution request.
70000
5000
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