8.1 One Axis Positioning
8.1.1 Machine Configuration
8-2
8.1
One Axis Positioning
This section provides an example of positioning for a machine with a table mounted on a ball
screw that is directly coupled to a motor.
8.1.1
Machine Configuration
The following figure shows the machine configuration used in this example, which moves a
table horizontally with a ball screw that is directly driven by the Servomotor. The ball screw lead
(i.e., the travel distance for one rotation) is 6 mm.
8.1.2
Related Parameters
The parameters that are related to the sample programming are listed in the following table.
Fixed Parameters
Note: The default settings are used for the shaded parameters.
This section describes the basic programming necessary to move the machine. The example in
this section does not include interlocks or other elements that must be included for an actual sys-
tem.
Table
Ball screw
Coupling
Servomotor
No. Setting Description
0 0 Normal operation mode
1 0000 hex Finite length, software limits disabled, overtravel detection disabled, etc.
2 0000 hex Masking disabled.
4 1 Selected reference unit: mm
5 3 Number of digits below decimal point: 3 (i.e., 1 reference unit = 0.001 mm)
6 6000 Travel distance per machine rotation: 6,000 reference units = 6 mm
81
Servomotor gear ratio term: 1 (This is because the ball screw is directly driven by the
motor.)
91
Machine gear ratio term: 1 (This is because the ball screw is directly driven by the
motor.)
29 0 Rotary motor
30 1 Absolute encoder
34 3000
Rated motor speed: 3,000 min
-1
36 1048576 Number of pulses per motor rotation: 1,048,576 P/R
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