Chapter 3 Before positioning
3- 5
(2) Control by incremental coordinates
Object moves from current position as far as the address set in operation data. At this time, target
address is based on start address. Direction is determined by sign (+,-).
• In case Address is positive number: forward positioning (Direction increasing address)
• In case Address is negative number: reverse positioning (Direction decreasing address)
(a) Example
• It assumes that operation data is specified as shown table 3-2. (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 INC END POS SIN 0 -7,000 0 1 100 10
<Table 3-2 operation data example of incremental coordinates type>
• In table 3-1, since coordinates is ‘INC’, control method is ‘POS’, step no. 1 is position control
by incremental coordinates.
• It assumes that current position is 5000. Since object moves as long as -7000, target stop at -
2000 (absolute coordinates) as shown figure 3-2. At this time, increment is -7000 pulse and
direction is reverse.
< Figure 3-2 operation example of incremental coordinates type>
3.1.3 Speed control
• Speed control means that object moves with steady speed (steady pulse string) until stop
command.
• In case of speed control, direction is determined by sign of Address set in operation data.
Forward : Address is positive number
Reverse : Address is negative number
In the speed control, direction is determined by sign of target address regardless of current
position and target position.
For example, current position is 100 and target position is 90, though target position is less than
current position, since sign is positive, it moves forward.
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