4-207
PosRef is origin, as shown in figure 4.3.129.
For the setting of motor position loop, please refer to 11-49.
For the setting of motor speed loop, please refer to 20-00 and 20-01.
2. Multi-position positioning function (MultiPosRef)
After inputting external positioning command trigger (MultiPosRefEn) in the
zero-servo positioning mode (Zero-Srvo), multi-speed command 1~4 will be
changed into multi-position positioning command 1~4.
Figure 4.3.130 Sketch diagram of Multi-position positioning function
Position setting description of positioning:
For the direction of motor rotation, please refer to 20-28
Command of rotating a circle = command of pulse number
Position = Command of cycles + Command of pulse number
For example, the motor encoder is 1024 PPR
Make the motor rotate forwardly for a semi-circle, the command of rotation cycle is
set to 0, and the command of the pulse number is set to 512 (1/2 * 1024).
Mke the motor rotate reversally one and three fourth cycles, the command of
rotation cycle is set to-1,the pulse number is set to -768 ( -3/4 * 1024).
Run
Zero-Srvo
S4
S1
S3
S2
MultiPosRefEn
PosRef 0~15
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