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CHAPTER 7 PROGRAMMING
7
7.4 When Using the Module in a Remote I/O Network
7.4.3 Major positioning control program
(2) Two-phase trapezoidal positioning control program
This program executes two-phase trapezoidal positioning control in the absolute system. Suppose that the
parameter setting and OPR were completed. ( Page 149, Section 7.4.1, Page 151, Section 7.4.2)
(a) Program detail
• As X27 is turned on, the following positioning data are written.
• As X28 is turned on, the module executes two-phase trapezoidal positioning control in the absolute
system.
(b) Execution condition
The execution condition is the same as that of positioning control program. ( Page 157, Section 7.4.3 (1)
(b))
(c) Device used by the user
Item Setting detail
Positioning pattern
1: Two-phase trapezoidal positioning control
Positioning address P1
100000pulse
Positioning speed V1
10000pulse/s
Positioning address P2
150000pulse
Positioning speed V2
12000pulse/s
Device Description
X27 Positioning data write command
X28 Two-phase trapezoidal positioning control start command
D31 Positioning pattern
D32 Positioning address P1 (lower 16 bits)
D33 Positioning address P1 (upper 16 bits)
D34 Positioning speed V1 (lower 16 bits)
D35 Positioning speed V1 (upper 16 bits)
D36 Positioning address P2 (lower 16 bits)
D37 Positioning address P2 (upper 16 bits)
D38 Positioning speed V2 (lower 16 bits)
D39 Positioning speed V2 (upper 16 bits)
M15 Positioning data writing
M45 Two-phase trapezoidal positioning control start command pulse
M230 Z(P).REMTO instruction completion
M231 Z(P).REMTO instruction failure
Da.1
Da.2
Da.3
Da.4
Da.5