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CHAPTER 9 MAJOR POSITIONING CONTROL
9
9.6 Details of Major Positioning Control
9.6.1 Position control mode
9.6.1 Position control mode
In the position control mode, positioning is executed toward the positioning address specified with positioning data at
the specified speed.
There are two types of control in the position control mode.
• Positioning control ( Page 191, Section 9.6.1 (1))
• Two-phase trapezoidal positioning control ( Page 192, Section 9.6.1 (2))
There are two systems to specify a positioning address: the absolute system in which a positioning end address is
specified and the incremental system in which movement amount from a start address to an end address is specified.
Specify the absolute system or the incremental system using one of the following start signals.
(1) Positioning control
Set a positioning address and positioning speed for this type of control. Absolute system positioning or
incremental system positioning is executed by a positioning start command.
(a) Operation of positioning control
The operation is as follows.
Start signal Positioning system
Absolute positioning start signal (Y21) Positioning start in the absolute system
Forward start signal (Y22) Forward start in the incremental system (address increasing)
Reverse start signal (Y23)
Reverse start in the incremental system (address
decreasing)
Executed by the QD73A1
t
v
OFF
OFF
OFF
ON
ON
ON
Positioning start signal
(Y21 to Y23)
BUSY signal
(X14)
Positioning complete signal
(X15)
Positioning address P1
Positioning speed V1
Da.2
Da.3