Chapter 3 Before positioning
3- 4
3.1.2 Position control
Position control is to move the designated axis from start address (present position) up to target
address (movement). There are two position control methods, absolute and incremental.
(1) Control by absolute coordinates (Absolute coordinates)
Object moves from start address to target address. Position control is performed, based on the
address designated in Home Return (home address).
Direction is determined by start address and target address.
• Start address < target address: forward positioning
• Start address > target address: reverse positioning
(a) example
• It assumes that operation data is specified as shown table 3-1. (For how to set operation
parameter, refer to the Ch.3.3)
Step
no.
Coord. Pattern Control Method
Rep
step
Address
[Pulse]
M
Code
A/D
No.
Speed
[pls/s]
Dwell [㎳]
1 ABS END POS SIN 0 8,000 0 1 100 10
<Table 3-1 operation data example of absolute coordinates type>
• In table 3-1, since coordinates is ‘ABS’, control method is ‘POS’, step no. 1 is position control
by absolute coordinates.
• It assumes that the current poison is 1000. Since address in step no.1 is 8000, object moves
to 8000 as shown figure and increment is 8000-1000=7000. Object moves forward because
target address is larger than start address.
<Figure 3-1 operation example of absolute coordinates type>
Remark
• Every position/speed control is available as long as the origin is determined preliminarily.
• If it is executed while origin is not determined, error code 234 occurs and it doesn’t move.
- In case error occurs, refer to App.1.2 and remove the cause of error.
• Complete signal is on during one scan.
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