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Chapter 7 Usage of Various Functions
7-72
7.3.2 Positioning function
1) Positioning function
Positioning Control includes position control, speed control.
(1) Position control
Positioning control from start address (present stopped position) to goal address (transfer amount) for the assigned axis
A) Control by Absolute method (Absolute coordinate)
ⓐ Positioning control from start address to goal address (the address assigned by positioning data).
ⓑ Positioning control is carried out based on the address assigned (origin address) by return to origin.
ⓒ Transfer direction shall be determined by start address and goal address.
• Start address < Goal address : forward direction positioning
• Start address > Goal address : reverse direction positioning
Example] When Start address is 1000 and goal address is 8000, this will be forward direction and transfer amount
shall be 7000 (7000=8000-1000).
• Parameter setting
Items of positioning data Step No. Coordinate Operation mode Operation method Goal address Speed(pps)
Dwell time(
㎳
)
Setting 1 Absolute End Single 8,000 5,000 100
B) Control by Incremental method (Relative coordinate)
ⓐ Positioning control as much as the goal transfer amount from start address.
ⓑ Transfer direction shall be determined by the sign of transfer amount.
• When transfer direction is (+) or no sign : forward direction (address increase) positioning
• When transfer direction is (-) : reverse direction (address decrease) positioning
Example) When start address is 5000 and goal address is -7000, this will be reverse direction and positioning will be at
the point of 2000
• Parameter setting
Items of positioning data Step No. Coordinate Operation mode Operation method Goal address Speed(pps)
Dwell time(
㎳
)
Setting 1 Incremental End Single -7,000 5,000 100
1000
Start address Goal address
0 8000
Transfer amount :7000
Start Address
Transfer direction when transfer amount
(
-
)
Transfer direction when transfer amount
(
+
)
Normal Reverse
-2000
Goal address Start address
5000
Reverse positioning control (transfer amount
-7000)
0