7. POSITIONING CONTROL
7 − 119
7.17 Position Follow-Up Control
After a single control start, positioning occurs to the address set with the word de-
vice of the servo system CPU designated in the servo program.
Position follow-up control is started using the PFSTART servo program instruction.
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
Cancel
Start
Speed Change
PFSTART
Absolute 1 ∆ !!! ∆ ∆∆∆∆∆∆ ∆∆∆OK
! : Must be set
∆ : Set if required
[Control Details]
Control Using PFSTART Instruction
(1) Positioning to the address set with the word device of the servo system CPU
designated in the servo program.
(2) Position follow-up control is executed until the stop instruction is input.
If the word device value changes while control is progress, positioning is exe-
cuted to the changed address.
V
t
AB
Positioning address
Positioning address changed
during follow-up control
Before reaching A, positioning address
changed to B (return direction)
To Next Page
Loading...
Need help?
General
