— 11-2 —
u
Positioning
Command
: AR, IR
Conditions
: CV, CA are may be omitted.
l
This is to program positioning.
Table 11-1
Command format
Description
Optional
AR d1 seq
·
Absolute format in unit of pulses.
·
The motor moves to reach the d1 (pulse)
position of absolute position scale.
IR d1 d2 seq
·
Incremental positioning in unit of pulses.
·
The motor moves to the d1 distance from
current position.
Optional code d2
/ n : (n
£
99)
à
This makes one operation unit by
dividing d1 into n.
à
Default is not to divide d1.
l
seq stands for the sequence code (*, &),which sets next operating instruction conditions of the
next channel in the sequence.
l
You may set CV (motion velocity) and CA (motion acceleration) in the same channel. If these
are omitted, velocity and acceleration follow the setting of MV and MA.
[Program example]
:CH0
IR9000/2
CV300
CA0.5
Figure 11-2
IR9000/2
IR9000/2
4500 [µm]
CH0
RUN input
Programmed
operation
4500
[µm]
CH0
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