Chapter 7 Motion Control Functions
Position Commands and Position Registers:
Five different types of position commands: Absolute, Incremental, Stop, Homing and Speed
commands.
Type
After position command
accepted ＝＞
＝＞When position
command being
executed ＝＞
＝＞ When position
command is completed
Absolute
position
command
Cmd_E = command data
(absolute)
Cmd_O: unchanged
DO signal: CMD_OK is
OFF
Cmd_E: unchanged
Cmd_O continuously
output
...
Cmd_E: unchanged
Cmd_O = Cmd_E
DO signal: CMD_OK is
ON
Incremental
position
command
Cmd_E+= command data
(incremental)
Cmd_O: unchanged
DO signal: CMD_OK is
OFF
Cmd_E: unchanged
Cmd_O continuously
output
...
Cmd_E: unchanged
Cmd_O = Cmd_E
DO signal: CMD_OK is
ON
Stop
command
DI signal,
STP
Cmd_E: unchanged
Cmd_O continuously
output
DO: CMD_OK output
unchanged
Cmd_E: unchanged
Cmd_O stop in
accordance with
deceleration curve
Cmd_E: unchanged
Cmd_O = position at
stop
DO signal: CMD_OK is
ON
Homing
command
Cmd_E: unchanged
Cmd_O: unchanged
DO signal: CMD_OK is
OFF
DO signal: HOME is OFF
Cmd_E continuously
output
Cmd_O continuously
output
...
...
Cmd_E = Z pulse
(absolute position)
Cmd_O = position at
stop
DO signal: CMD_OK is
ON
DO signal: HOME is ON
Speed
command
Cmd_E continuously output
Cmd_O continuously output. After speed command is completed, it indicates
that the speed reaches the setting value and the motor will not stop.
DO signal: CMD_OK is OFF
Enter PR at the first time ( Servo Off->
Servo On or other mode for entering PR
mode)
Cmd_O = Cmd_E = current motor feedback
position
Note: The incremental position command performs accumulation according to the end of the
position command (Cmd_E). It is irrelevant to current motor position and command timing as
well.
Revision January 2011 7-15
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Call 1(800)985-6929 for Sales
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