E L C O p e r a t i o n M a n u a l
F o r m o r e i nf o r m a t i o n v i sit :
w w w. e a t o n . c o m
MN05003006E
4-24
Speed
T
ACC
T
DEC
V
MAX
Time
V
BIAS
Start
V(I)
P(I)
DOG
3.
CR#32_b2: 2-speed positioning operation
When b[2] is triggered and START ON, the 2
nd
positioning program will start to
execute. The 2
nd
positioning program will start immediately after the 1
st
positioning
program reaches P(I).
y
The relative coordinate positioning is determined by the sign bit of the control
register for P(I).
y
The absolute coordinate positioning is determined by P(I) (set in CR#23, #24).
Running forward when the absolute coordinate is bigger than the current position;
running reverse when the absolute coordinate is smaller than the current position.
y
The operation speed will be stable from V
BIAS
accelerating to the expected V(I).
After the MC01 module sends out the number of pulses equivalent to P(I), it will
accelerate/decelerate again from V(I) to V(II) and operate at V(II) stably until P(II)
is reached. The MC01 module will then decelerate to V
BIAS
and stop. Total P(I) +
P(II) pulses are sent during the operation.
y
The control registers involved: CR#8, #9 (V
BIAS
), CR#25, #26 (V(I)), CR#6, #7
(V
MAX
), CR#23, #24 (P(I)), CR#27, #28 (P(II)), CR#21 (T
ACC
), and CR#22 (T
DEC
).
Speed
T
ACC
T
DEC
V
MAX
Time
V
BIAS
Start
V(I)
V(II)
P(II)
P(I)
The output accelerates to V(I) and operates at V(I) stably until it reaches P(I). It will
then accelerate or decelerate to V(II) and operates at V(II) stably until it reaches P(II)
and stops.
4.
CR#32_b3: interrupt 2-speed positioning operation
When b[3] is triggered and START ON, the 2
nd
positioning program will start
immediately after an external DOG signal is enabled during the 1
st
positioning
program. The MC01 module will then start to send out pulses.
y
The relative coordinate positioning is determined by the sign bit of the control
