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7. POSITIONING CONTROL
X0010
0
M9039
2
M9074
4
X000
M9074 M2049 M9076
8
M550
13
M9074 M551
M2001 M2002
15
CIRCUIT END
(4) Servo program
The servo program No. 310 for speed switching is shown below.
<K 310>
CPSTART2
Axis
1
Axis
2
Speed
ABS-2
Axis
1,
Axis
2,
ABS
Axis
1,
Axis
2,
Center
1,
Center
2,
ABS-2
Axis
1,
Axis
2,
Speed
ABS-2
Axis
1,
Axis
2,
CPEND
(5) Sequence program
The sequence program which runs the servo program is shown below.
10000
P1 designation
20000
10000
P2 designation
30000
20000
30000
10000
P3 designation
40000
25000
Speed change
15000
P4 designation
50000
40000
SET
PLS
SET
SVST
J1J2
RST
RST
7 − 103
Turns ON speed-switching point
designation flag (M2040) when
M2040
X110 turns OFF
M2000
Turns ON PLC ready.
Turns ON all axes servo start
M2042
command.
M550
Turns ON servo program No. 310
start command flag (M551) when
X000 turns OFF
M551
K
Servo program No. 310 execution
310
request.
M551
Turns OFF M551 and M2016 on
completion of servo program
M2040
No. 310 execution request.
ON.
ON.
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