Chapter 8 Motion Control Function
8.2 Type of Control Operation
Motion control modules execute control through programs set in motion control program. Kinds of motion control operations include
speed position control, speed velocity control, speed torque control, interpolation control, switching control between position/velocity,
switching control between position/torque, and switching control between velocity/torque.
8.2.1 Single-axis Position Control
It conducts position control of the axis specified after the execution by motion function block (「Relative position operation
(MC_MoveRelative)」and 「Absolute position operation (MC_MoveAbsolute)」) from starting position (current stop position) to
target position (position of the point to move)
1. Control by absolute coordinate method (「Absolute position operation (MC_MoveAbsolute)」)
(1) It conducts position control from starting position to target position (location specified in ‘Position’ of absolute
position operation command).
(2) The position control is carried out based on the position (the origin position) specified in the homing.
(3) In direction (Direction) input, the direction to be operated is specified. It is valid only if operation parameter
「Infinite running repetition」setting is ‘1: Enable’.
Setting value: 0-Not specified, 1–Forward direction, 2–Shortest distance direction, 3–Reverse direction, 4–Current
direction
When the shortest direction distance is specified, the operation is made by selecting the direction that can go to the
shortest direction automatically depending on the form of the axis.
Motions according to the direction (Direction) input are as follows.
(a) 0- Not specified
The position value that exceeds repetitive length repetition position can be specified. In case of setting the position
value that exceeds the infinite running repetition position, the difference from target position to current position
becomes positioning distance. The command position after the absolute position operation is calculated by the
following equation.
Command position = Target position – (Infinite running repetition position x n)
(n: Integer value in which infinite running repetition position x n does not exceed the target position)
[Example] The absolute position operation is executed with the following settings.
- Infinite running repetition position: 100.0
- Starting position: 40.0
- Target position: 120.0
- Command position after the absolute position operation = 120.0 – (100.0 x 1) = 20.0
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