Chapter 7 Motion Control Functions
OPT:
OPT
Bit 7 Bit 6 Bit 5 Bit 4
CMD OVLP INS
Explanation
0 0 Absolute position command: Cmd_E = DATA (Note 1)
1 0 Incremental position command: Cmd_E = Cmd_E + DATA
(Note 2)
0 1 Relative position command: Cmd_E = Current feedback
position + DATA (Note 3)
1 1
- -
Capture position command: Cmd_E = Capture position +
DATA (Note 4)
※ When the TYPE is set to 1 ~ 3, it can accept DO signals, STP (Motor Stop), SNL(SCWL,
Reverse Software Limit), SPL(SCCWL, Forward Software Limit).
INS: Insertion command on PR.
OVLP: Overlap the next PR. This function is not available in speed mode. In position mode,
DLY becomes disabled.
CMD: The calculation method for Cmd_E (End of position command) is described in the notes
below:
Note 1: The end of position command is an absolute position command which is equal to
DATA directly.
Note 2: The end of the position command is an incremental position command which is
equal to the end of the position command (Cmd_E, monitor variable 40h) plus a
designated DATA.
Note 3: The end of the position command is a relative position command which is equal to
current feedback position (monitor variable 00h) plus a designated DATA.
Note 4: The end of the position command is a capture position command which is equal to
capture position (monitor variable 2Bh) plus a designated DATA.
8) Special Function: TYPE = 7. Jump to the dedicated PR.
Bit
31 ~ 28 27 ~ 24 23 ~ 20
19 ~ 16
15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
DW0 - - DLY - FUNC_CODE
OPT 7 -
DW1 PR Number ( 0 ~ 63 )
OPT:
OPT
Bit 7 Bit 6 Bit 5 Bit 4
- - - INS
PR Number: Dedicated jump PR
Revision January 2011 7-21
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Call 1(800)985-6929 for Sales
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