NPM PCL6113, User Manual

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11-2. Position override
This LSI can override (change) the target position freely during operation.
However, the PCL cannot execute a position override during linear interpolation.
There are two methods for overriding the target position.
11-2-1. Target position override 1
By rewriting the target position data (RMV register value), the target position can be changed.
The starting position is used as a reference to change target position.
1) If the new target position is further away from the original
target position during acceleration or low speed operation, the
axis will maintain the operation using the same speed pattern
and it will complete the positioning operation at the position
specified in the new data (new RMV value).
2) If the new target position is further away from the original
target position during deceleration, the axis will accelerate
from the current position to FH speed and complete the
positioning operation at the position specified in the new data
(new RMV value).
Assume that the current speed is Fu, and when RFL = Fu, a curve
of the next acceleration will be equal to a normal acceleration curve.
3) If the axis has already passed over the new target position, or
the target position is changed to a position that is closer than
the original position during deceleration, movement on the
axis will decelerate and stop. Then, the movement will reverse
and complete the positioning operation at the position
specified in the new data (new RMV value).
The axis accelerates/decelerates only when starting in high speed. The target position data (RMV
register value) can be rewritten any number of times until the positioning operation is complete.
Note1: When positioning while using acceleration/deceleration, even if the PCL cannot decelerate to
the FL speed, it will stop at the specified position (placing a priority on the stop position). If the
position override is applied and the PCL has to reverse feed, it will decelerate to the FL speed
and then stop (placing a priority on speed).
Therefore, it may possible that when a motor reverse is caused by the position override, the
motor may feed pulses that cross over the target position and then reverse back to it.