YASKAWA SVC - 1.2 Types of Motion Control

1.2 Types of Motion Control
1.2.1 Position Control
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Basic Information on Motion Control
1.2 Types of Motion Control
Motion control includes position control, phase control, torque control, and speed control. This
section describes each type of motion control.
1.2.1 Position Control
To implement position control, the target axis is moved to the target position according to the
specified travel distance and travel speed. There are two types of position control: positioning
and interpolation.
Positioning
Positioning is used to accurately stop the target axis at the target position. Positioning can be
performed for individual axes. When positioning commands are executed for multiple axes at
the same time, each axis is moved from the current position and stopped at the specified tar-
get position independently.
The following table describes programming for positioning.
Interpolation
Interpolation synchronizes the operation of multiple axes to move the controlled object along a
specified trajectory to a target position. The target object can be moved in a linear, circular, or
helical trajectory.
Interpolation can also be performed for a single axis.
The following table describes programming for interpolation.
Program Command/Instruction
Reference
Programming Command/Instruction
Ladder
program
POSING (Positioning),
EX_POSING (External
Positioning), etc.
Machine Controller MP3000 Series
Ladder Programming Manual (Manual
No.: SIEP C880725 13)
8.1 One Axis Positioning on page 8-2
4.1 Commands on
page 4-3
Motion
program
MOV (Positioning),
EXM (External Posi-
tioning), etc.
Machine Controller MP3000 Series
Motion Programming Manual (Manual
No.: SIEP C880725 14)
8.1 One Axis Positioning on page 8-2
4.5 Motion Language
Instructions on page
4-188
Program Command/Instruction
Reference
Programming Command/Instruction
Ladder
program
INTERPOLATE (Inter-
polation)
Machine Controller MP3000 Series
Ladder Programming Manual (Manual
No.: SIEP C880725 13)
4.1 Commands on
page 4-3
Motion
program
MVS (Linear Interpola-
tion), MCW (Clockwise
Circular Interpolation),
MCC (Counterclock-
wise Circular Interpola-
tion), etc.
Machine Controller MP3000 Series
Motion Programming Manual (Manual
No.: SIEP C880725 14)
8.2 Interpolation of Two Axes on page
8-6
4.5 Motion Language
Instructions on page
4-188