4 . P o s i t i o n i n g U n i ts
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4-35
Single-speed Positioning Interrupt
1.
Control requirements
y
Write K2 (H’2, i.e. b1 = 1) into CR#32 to enable the single-speed positioning
interrupt.
y
Set up CR#23, #24 (target position) and CR#25, #26 (target speed).
y
The DOG signal must be input from the external DOG terminal.
2.
Devices
y
X0 = On: software starts (The execution follows the operation speed. After the
DOG signal is triggered, the target position will be calculated. The software will
stop when the target position is reached.)
y
X0 = Off: stop the execution (controlled by the software)
3.
Interrupt single-speed positioning mode
Speed
T
ACC
T
DEC
V
MAX
Time
V
BIAS
Start
V(I)
P(I)
DOG
4.
Program Description
y
Read CR#33, #34 (current position) and CR#35, #36 (current speed).
y
Write K2 (H’2, i.e. b1 = 1) into CR#32 to set up the single-speed positioning mode.
y
Set up CR#23, #24 (target position) and CR#25, #26 (operation speed).
y
When X0 = On, write K256 (H’100, i.e. b8 = 1) into CR#31 to enter the interrupt
single-speed positioning mode.
y
The execution follows the operation speed. After the DOG signal is triggered, the
target position will be calculated. The software will stop when the target position is
reached.
y
When X0 = Off, stop the execution of interrupt single-speed positioning.
