6 POSITIONING CONTROL

Control details for the servo instructions are shown below.

Instruction

Rotation direction

Controllable angle of

Positioning pass

of servomotor

 

arc

 

 

 

 

 

 

INH

 

 

 

Start

 

 

Positioning path

Radius-specified

 

 

 

<180

End point

Clockwise (CW)

 

 

point

helical interpolation

 

 

Radius R

 

 

 

 

 

 

 

Central point

less than CW 180°

 

 

 

 

 

 

0° <

< 180°

 

 

 

 

INH

 

Radius R

 

Central point

 

 

 

 

Radius-specified

Counter

 

 

 

 

 

 

 

Start

<180

End point

helical interpolation

clockwise (CCW)

 

 

 

 

 

 

less than CCW 180°

 

 

 

point

 

 

Positioning path

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Positioning path

INH

 

 

 

180

<

<

 

Radius-specified

 

 

 

=

=360

Central point

Clockwise (CW)

 

 

 

 

 

helical interpolation

 

 

 

 

 

 

 

 

 

 

 

 

 

CW 180° or more

 

 

 

Radius R

End point

 

 

 

 

Start point

 

 

 

 

 

 

 

 

 

180°

360°

 

 

 

 

 

 

Start point

 

End point

 

 

 

 

 

INH

 

 

 

Radius R

Radius-specified

Counter

 

 

 

 

 

Central point

helical interpolation

clockwise (CCW)

 

 

 

<

<

CCW 180° or more

 

 

 

180 =

=360

 

 

 

 

 

 

 

Positioning path

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

(1) The setting range of end point relative address for the both of circular interpolation axis and linear interpolation axis is 0 to (231-1).

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)

(2)The maximum arc radius on the circular interpolation plane is 231-1.

For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is 214748364.7[µm].

231-1

Maximum arc Arc central point

0

-231 231-1

Radius R

6 - 62