6 POSITIONING CONTROL

Control using INC-1 (Incremental data method)

(1)Positioning control of the specified travel value from the current stop position address is executed.

(2)The travel direction is set by the sign (+/ -) of the travel value, as follows:

•Positive travel value .............Positioning control to forward direction (Address Increase direction)

•Negative travel value............Positioning control to reverse direction (Address decrease direction)

Reverse

 

 

Current stop address

 

 

 

Forward

direction

 

 

 

 

direction

 

Travel direction for

 

 

Travel direction for

 

negative travel value

 

 

positive travel value

Example When the current stop address is -3000, and the travel value is -5000.

 

 

 

 

Current stop address

-8000

-3000 -2000 -1000 0

 

 

 

 

 

 

 

 

 

Travel value = -5000

 

Home position

 

 

 

 

 

 

 

 

 

Fig.6.2 Positioning using incremental data method

[Program]

Servo program No. 0 for positioning control is shown as the following conditions.

(1) System configuration

1 axis linear positioning control of Axis 4.

Motion CPU control module

Q61P Q02H Q172H Q172 QX41

CPU CPU LX

Positioning start command (PX000)

AMP AMP AMP AMP

Axis

Axis

Axis

Axis

1 M

2 M

3 M

4 M

(2) Positioning operation details

Positioning using the servo program No.0 is shown below.

In this example, Axis 4 is used in servo program No.0.

Home position Current stop address Positioning address using the servo program No.0

0

1000

80000

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