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CHAPTER 9 MAJOR POSITIONING CONTROL
9
9.6 Details of Major Positioning Control
9.6.1 Position control mode
(b) Deceleration distance
If the movement amount from the positioning address P1 to the positioning address P2 is less than the
deceleration distance from the positioning address P1, two-phase trapezoidal positioning control is not formed.
In this case, the deceleration from the positioning speed V1 starts before the workpiece reaches the positioning
address P1 so that the operation stops at the positioning address P2.
To execute two-phase trapezoidal positioning, set the positioning data so that the deceleration distance from
the positioning address P1 does not exceed the movement amount from the positioning address P1 to the
positioning address P2.
(c) Two-phase trapezoidal positioning control in the absolute system
To execute two-phase trapezoidal positioning control in the absolute system, the positioning direction from
" Positioning address P1" to " Positioning address P2" and the positioning direction from the
current value to " Positioning address P1" must be the same.
If not, the error "Two-phase trapezoidal positioning address error" (error code: 31) occurs, and the two-phase
trapezoidal positioning control does not start.
(d) Positioning speed V1 and V2
Any value within the setting range can be set in " Positioning speed V1" and " Positioning speed
V2" regardless the relation between the two setting values.
Setting example
Moving direction from the current value to
the positioning address P1
Positioning address
P1
Positioning address
P2
Address increasing
direction
Address decreasing
direction
10000 5000 Error Positioning executed
10000 15000 Positioning executed Error
Positioning
speed V1
Da.3
Da.5
Positioning
speed V2
Da.2
Da.4
Da.2
Da.2
Da.4
Positioning
speed V1
Da.3
Da.5
Positioning
speed V2
Deceleration stop fails.
Positioning address P1
Positioning address P2
Positioning address P1
Positioning address P2
Deceleration distance from
" Positioning address P1"
Da.2
Da.4
Da.2
Da.2
Da.4
Da.3
Da.5