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9 - 1

CHAPTER 9 MAJOR POSITIONING

CONTROL

The details and usage of the major positioning controls (control functions using the

"positioning data") are explained in this chapter.

The major positioning controls include such controls as "positioning control" in which

positioning is carried out to a designated position using the address information,

"speed control" in which a rotating object is controlled at a constant speed,

"speed-position switching control" in which the operation is shifted from "speed control"

to "position control" and "position-speed switching control" in which the operation is

shifted from "position control" to "speed control".

Carry out the required settings to match each control.

9.1 Outline of major positioning controls .......................................................................... 9- 2

9.1.1

Data required for major positioning control .................................................. 9- 4

9.1.2

Operation patterns of major positioning controls ......................................... 9- 5

9.1.3

Designating

the

positioning address ............................................................ 9- 16

9.1.4

Confirming the current value ........................................................................ 9- 17

9.1.5

Control unit "degree" handling ...................................................................... 9- 19

9.1.6

Interpolation control ...................................................................................... 9- 22

9.2 Setting the positioning data ...................................................................................... 9- 26

9.2.1

Relation between each control and positioning data ................................... 9- 26

9.2.2

1-axis linear control ....................................................................................... 9- 28

9.2.3

2-axis linear interpolation control .................................................................. 9- 30

9.2.4

3-axis linear interpolation control .................................................................. 9- 34

9.2.5

4-axis linear interpolation control .................................................................. 9 -40

9.2.6

1-axis fixed-feed control................................................................................ 9- 44

9.2.7

2-axis fixed-feed control (interpolation) ........................................................ 9- 46

9.2.8

3-axis fixed-feed control (interpolation) ........................................................ 9- 49

9.2.9

4-axis fixed-feed control (interpolation) ...................................................... 9- 54

9.2.10 2-axis circular interpolation control with sub point designation ................... 9- 57

9.2.11 2-axis circular interpolation control with center point designation ............... 9- 63

9.2.12 1-axis speed control ...................................................................................... 9- 71

9.2.13 2-axis speed control ...................................................................................... 9- 74

9.2.14 3-axis speed control ...................................................................................... 9- 77

9.2.15 4-axis speed control ...................................................................................... 9- 81

9.2.16

Speed-position

switching control (INC mode) ............................................. 9- 86

9.2.17

Speed-position

switching control (ABS mode) ............................................ 9- 95

9.2.18 Position-speed switching control .................................................................. 9-103

9.2.19

Current

value

changing

................................................................................

9-110

9.2.20

NOP

instruction

.............................................................................................

9-115

9.2.21

JUMP

instruction

...........................................................................................

9-116

9.2.22

LOOP

............................................................................................................

9-118

9.2.23

LEND

.............................................................................................................

9-119