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MOTION CONTROL
2
19
Manual, Relative, and Absolute Moves (continued)
Absolute Moves (continued)
Immediate Stop Conditions
h
The Immediate Stop bit makes a 0
p
1 transition in the Network Input Data.
h
A positive transition on an input configured as a E-Stop Input.
h
A CW/CWW Limit Switch is reached.
1) The Motor Position must be valid before you can use an Absolute Move. The Motor Posi-
tion becomes valid when you preset the position or home the machine.
2) Absolute Moves allow you to move your machine without having to calculate relative posi-
tions. If you are indexing a rotary table, you can drive the table to any angle without having
to calculate the distance to travel. For example an Absolute Move to 180° will move the
table to the correct position regardless of where the move starts from.
Encoder Moves
When the SD17060E is configured to use a quadrature encoder, the position value from the encoder can be
used to control the move instead of the position of the motor. Absolute and relative type moves are both sup-
ported.
The figure below represents either a relative Encoder Move of 11,000 counts or an absolute Encoder Move to
position 16,000. The figure shows that the encoder position you program in the move defines the point at
which the motor begins to decelerate and stop. It does not define the stopping position as it does in other
move types. The endpoint of the move depends on the speed of the motor when the programmed encoder
position is reached and the deceleration values. This behavior is different from Absolute and Relative Moves
where the position you program into the move is the end point of the move.
Figure 2.12 Encoder Move
Controlled Stop Conditions
h
The move completes without error
h
You toggle the Hold Move control bit in the Network Input Data and do not resume the move. Note
that your holding position will most likely not be the final position you commanded. The use of the
Hold Move and Resume Move bits is explained in the
section of this
chapter starting on page 22.
Immediate Stop Conditions
h
The Immediate Stop bit makes a 0
p
1 transition in the Network Input Data.
h
A positive transition on an input configured as a E-Stop Input.
h
A CW/CWW Limit Switch is reached.
SP
EE
D
POSITION
Starting Speed
Programmed Speed
5,000
16,000
Programmed
Encoder Position
