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9.6 Details of Major Positioning Control
This section describes details on the position control mode (positioning control and two-phase trapezoidal positioning
control) and the speed-position control switch mode.
(1) Precautions
(a) Dwell-time function
The QD73A1 does not have the dwell-time function. When dwell-time is necessary, start the next operation
using the timer in the sequence program once the specified period of time passed after Positioning complete
signal (X15) turned on.
(b) Combined use of incremental system and absolute system
The QD73A1 controls the current value during positioning. If incremental system positioning or combined
positioning of incremental system and absolute system is repeated, the workpiece may move outside the
stroke limit range and an error may occur. If an error occurs, change the current value to the one within the
stroke limit range.
(2) Stop and restart during positioning
Refer to the following.
Page 230, CHAPTER 12