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7. POSITIONING CONTROL
(3) Operation timing
The operation timing for position follow-up control is shown below.
Positioning address (D50)
PLC ready (M2000)
PCPU ready (M9074)
All axes servo start command (M2042)
All axes servo start accept flag (M2049)
Start command (X000)
SVST instruction
Start accept flag (M2001+n)
Positioning start completed
(M2400+20n)
Positioning completed
(M2401+20n)
Command in-position
(M2403+20n)
Stop command (M3200+20n)
Complete signal OFF command
(M3204+20n)
M-code
Torque limit value
(4) Servo program
The servo program No. 100 for position follow-up control is shown below.
<K 101>
PFSTART
Axis
3,
Speed
V
Position follow-up control
D 5 0
Axis
20000
Positioning address
Speed
7 − 121
Command in-position
set value
used
3
Axis
D50
20000
t
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