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7. POSITIONING CONTROL
The operation that takes place on execution of a skip designated during constant-speed control,
when an axis for which "degree" is designated as the unit and which has no stroke range is in-
cluded, is described here. If, under these conditions, there is an ABS instruction following the
skip, the final positioning point and the travel distance in the program as a whole will be the same
ragardless of whether the skip is executed or not. Examples are presented below.
(1) When all the instructions after the skip are INC instructions:
Program example
CPSTART1
Axis
1
Speed
INC-1
Axis
1,
Skip
INC-1
Axis
1,
INC-1
Axis
1,
CPEND
(2) When the instruction immediately following the skip is an ABS instruction
Program example
CPSTART1
Axis
1
Speed
INC-1
Axis
1,
Skip
ABS-1
Axis
1,
INC-1
Axis
1,
CPEND
(3) When the instruction immediately following the skip is an INC instruction and there is an ABS
instruction after that
Program example
CPSTART1
Axis
1
Speed
INC-1
Axis
1,
Skip
INC-1
Axis
1,
INC-1
Axis
1,
ABS-1
Axis
1,
CPEND
0
@ 1 0.000
180.00000
X100
180.00000
0
270.00000
0
@ 10.000
180.00000
X100
350.00000
0
270.00000
0
10.000
360.00000
X100
180.00000
0
180.00000
90.00000
CAUTION
Motion when skip is not executed
180
Motion when skip is executed
(when the skip occurs at 100 [ degree ] )
100
280
Motion when skip is not executed
180
350
Motion when skip is executed
(when the skip occurs at 100 [ degree ] )
100
350
Motion when skip is not executed
0
Motion when skip is executed
(when the skip occurs at 80 [ degree ] )
80
260
At this point there is a motion of 370 degrees, not 10 degrees.
7 − 116
0
270[degree]
190[degree]
260[degree]
260[degree]
180
0
90[degree]
80
90[degree]
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