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9 MAIN POSITIONING CONTROL
9.1.2 Operation patterns of main positioning controls
In "main positioning control" (advanced positioning control), " Da.1 Operation
pattern" can be set to designate whether to continue executing positioning data after
the started positioning data. The "operation pattern" includes the following 3 types.
Positioning complete
(1) Independent positioning control
(operation pattern: 00)
·
Positioning continue (2) Continuous positioning control
(operation pattern: 01)
(3) Continuous path control
(operation pattern: 11)
·
The following shows examples of operation patterns when "1-axis linear control (ABS
linear 1)" is set in positioning data No. 1 to No. 6 of axis 1. Details of each operation
pattern are shown on the following pages.
< Operation example when "1-axis linear positioning" is set in the positioning data of axis 1 >
(Direction in which axis 1 addresses increase)
1-axis linear control
(One motor is driven, and positioning is carried out to an addresses designated in one direction.)
S
peed
Positioning data No.1
0
Operation pattern = 11: Continuous path control
Positioning to address [A] at command speed [a]
No.2
No.3
No.4
No.5
Address
a
b
NO.1
No.2 No.3 No.4 No.5
Speed is changed
without stopping
The machine stops, and
then continues the next
positioning operation.
Positioning is terminated
No.6
Control stop
No.1 Start
11
11
01
01
00
Time
Da. 1 Operation pattern
(Positioning data)
(Setting details)
Positioning to address [C] at command speed [a]
Positioning to address [D] at command speed [b]
Positioning to address [E] at command speed [a]
Positioning to address [F] at command speed [a]
Positioning to address [B] at command speed [b]
Operation pattern = 11: Continuous path control
Operation pattern = 01:
Continuous positioning control
Operation pattern = 00: Independent positioning control
(Positioning complete)
Operation pattern = 11: Continuous path control
Operation pattern = 01:
Continuous positioning control
A
E
D
C
BF
For
POINT
When position control of movement amount 0 is executed, the BUSY signal [RXn4,
RXn5] also turns ON. However, since the ON time is short, the ON status may not
be detected in the sequence program.