4 . P o s i t i o n i n g U n i ts
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4-31
4.1.1.9 Motion Modes and Application Examples
The MC01 module has 8 motion modes:
1. Mechanical zero return
5. 2-speed positioning
2. JOG operation
6. Interrupt 2-speed positioning
3. Single-speed positioning
7. Variable speed operation
4. Interrupt single-speed positioning
8. MPG input
The processing priority when multiple work modes are enabled at the same time:
1. STOP
6. Variable speed operation
2. Mechanical zero return
7. Single-speed positioning
3. JOG+ operation
8. Interrupting single-speed positioning
4. JOG- operation
9. 2-speed positioning
5. MPG input
10. Interrupting 2-speed positioning
When a work mode is enabled during the execution of another work mode, the MC01 module
will remain in the original work mode.
There are two pulse acceleration curves:
1. Trapezoid curve
2. S curve
The corresponding control registers in different motion modes:
Motion Modes
CR#
HW LW
Parameter
(Code)
JOG
Zero
Return
Single-
speed
positioni
ng
Interrupt
single-
speed
positioni
ng
2-
speed
positioni
ng
Interrupt
2-speed
positioni
ng
Variable
speed
MPG
input
#2 #1
Number of pulses required
per revolution of the motor
(A)
#4 #3
Distance created for 1 motor
revolution (B)
No need to be set up if the unit (CR#5_b0, b1) is a motor.
Machine unit or combined unit will need to be set up.
- #5
Parameter
setting
◎
◎
◎
◎
◎
◎
◎
◎
#7 #6 Maximum speed (V
MAX
)
◎
◎
◎
◎
◎
◎
◎
◎
#9 #8 Bias speed (V
BIAS
)
◎
◎
◎
◎
◎
◎
◎
◎
#11 #10 JOG speed (V
JOG
)
◎
- - - - - - -
#13 #12 Zero return speed (V
RT
)
#15 #14
Zero return deceleration
speed (V
CR
)
-
#16 Number of PG0 signals (N)
-
#17 Number of pulse signals (P)
-
#18 Zero return mode
#20 #19 Definition of zero point (HP)
-
◎
- - - - - -
-
#21 Acceleration time (T
ACC
)
◎
◎
◎
◎
◎
◎
◎
－
-
#22 Deceleration time (T
DEC
)
◎
◎
◎
◎
◎
◎
◎
－
#24 #23 Target position (I) (P(I))
-
-
◎
◎
◎
◎
-
◎
