374
29 POSITIONING CONTROL FUNCTION
29.4 Auxiliary Function
Remaining distance operation
When pulse output is stopped by the pulse decelerate and stop command during positioning instruction operation and the
remaining distance operation enabled is ON, the remaining distance operation ready status is acquired. (Page 400
Remaining distance operation, Page 373 Pulse decelerate and stop) When the pulse decelerate and stop command turns off,
the remaining distance operation starts. Or if the external start signal (when enabled) is detected, remaining transfer amount
from deceleration stop is output. After the remaining distance operation is completed, the complete flag turns on. (Page
398 External Start Signal)
*1 The external start signal can start the remaining distance operation as well.
The following table shows applicable positioning instructions and control methods of the table operation.
*2 Only CPU module is supported.
Changes to the positioning address and command speed during positioning operation are valid until the system starts
deceleration stop under the pulse decelerate and stop command. After deceleration stop, changes are applied when the
positioning instruction is started again.
When dwell time is set, and the remaining distance operation start command is turned on immediately after deceleration stop,
remaining distance operation is started regardless of the dwell time.
• Where the system starts the remaining distance operation after changing the positioning address under the relative address
specification, positioning operation is performed with the current address at start of the positioning or table instruction as
the basis.
• After the interrupt input signal 1 is detected, the table operation instruction (control method: [6: Interrupt Stop (Relative
Address Specification)] or [7: Interrupt Stop (Absolute Address Specification)]) becomes unable to execute the remaining
distance operation.
• For positioning instructions or control methods of the table operation that are not compatible with the remaining distance
operation, only deceleration stop is performed. The operation ends with an error. For the PLSV/DPLSV instruction and
table operation instruction (control method: [4: Variable Speed Operation] or [5: Table Transition Variable Speed
Operation]), after the deceleration stop the operation ends normally.
• When the operation is stopped by other than the pulse decelerate and stop command remaining distance operation
enabled is ON, the operation ends with an error. (Page 421 Pulse output stop)
Positioning instruction Table operation control method
Relative positioning (DRVI/DDRVI) instruction • 1: 1 Speed Positioning (Relative Address Specification)
• 2: 1 Speed Positioning (Absolute Address Specification)
• 6: Interrupt Stop (Relative Address Specification)
• 7: Interrupt Stop (Absolute Address Specification)
Absolute positioning (DRVA/DDRVA) instruction
Table operation (TBL
*2
/DRVTBL/DRVMUL) instruction
Acceleration
time
Deceleration
time
Command
speed
Maximum
speed
Remaining
transfer amount
Current position
Positioning
address
Pulse decelerate
and stop command
Remaining distance
operation enabled
Remaining
distance operation start
*1
Complete flag
Forced deceleration
stop by the pulse
decelerate and stop
command
Bias spee
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