10 POSITIONING MODE (POINT TABLE METHOD) (CP) [G]
10.2 Point table mode (pt)
549
10
Continuous positioning operation (absolute value command method)
Select one point table and turn on bit 4 (New set-point) of [Controlword (Obj. 6040h)] to continuously operate the point table
with consecutive numbers.
The following shows the timing chart.
*1 It is disabled even if bit 4 (New set-point) of [Controlword (Obj. 6040h)] is turned on while the servo motor is rotating.
*2 The bit turns on when the droop pulse of the command unit is equal to or less than the setting value of [Pr. PA10 In-position range].
*3 The bit turns on when the command remaining distance is equal to or less than the setting value of [Pr. PT12_Rough match output
range (CRP)]. The bit is off during continuous operation.
*4 The bit turns on when S_INP (in-position) is on and command remaining distance is "0". The bit is off during continuous operation.
Continuous operation can be performed by specifying absolute and relative position commands with the auxiliary function of
the point table.
The selection method is as follows.
Point table setting
Dwell time Auxiliary function
When the position data is an absolute position When the position data is a relative position
1 or more 1 3
Statusword bit 12
(Set-point acknowledge)
Controlword bit 4
(New set-point)
Point actual value
Point demand value
1
1
1
2
M code actual value
*1
ON
OFF
ON
OFF
ON
OFF
Statusword bit 10
(Target reached)
ON
OFF
ON
OFF
ON
OFF
INP/S_INP
Status DO 5 bit 5
Status DO 5 bit 6
0 r/min
Target point table
Point table
No. 1
Forward
rotation
Servo motor speed
Point table
No. 2
Reverse
rotation
(In-position)
*2
(S_CPO (Rough match))
*3
(S_MEND (Travel completion))
*4
M code of
point table number 1
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