7. POSITIONING CONTROL
7 − 104
7.16.3 One-axis constant-speed control
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Parameter Block No.
Axis
Address/Travel Value
Commanded Speed
Dwell Time
M-Code
Torque Limit Value
Auxiliary Point
Radius
Center Point
Control Unit
Speed Limit Value
Acceleration Time
Deceleration Time
Rapid Stop Deceleration Time
Torque Limit Value
Deceleration Processing on Stop Input
Allowable Error Range for Circular Interpolation
S-Curve Ratio
Commanded Speed (constant-speed)
Cancel
Start
Skip
FIN acceleration
Speed Change
Start
CPSTART1
− 1 ∆ !! ∆∆∆∆∆∆ ∆ ∆∆ ∆
End
CPEND
−− ∆
ABS-1
Absolute data 1 !! ∆∆ ∆ ∆
Pass
point
INC-1
Incremental 1 !! ∆∆ ∆ ∆
OK
! : Must be set
∆ : Set if required
[Control Details]
Starting and ending one-axis constant-speed control
1-axis constant-speed control is started and ended using the following instructions:
(1) CPSTART1
Starts 1-axis constant-speed control. Sets the axis number used and the com-
manded speed.
(2) CPEND
Ends the 1-axis constant-speed control which was started using CPSTART1.
Positioning control method to the pass point
The positioning control to the point where control is changed is designated using
the following instructions:
(1) ABS-1/INC-1
Designates 1-axis linear positioning control.
See Section 7.2 "1-axis Linear Positioning Control" for details.
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