System philosophy
HARDWARE REFERENCE MANUAL
10
Revision 5.0
Coordinate system
Positioning operations performed by the TJ2-MC__ are based on an axis
coordinate system. The TJ2-MC__ converts the position data from either the
connected Servo Drive or the connected encoder into an internal absolute
coordinate system.
The engineering unit that specifies the distances of travelling can be freely
defined for each axis separately. The conversion is performed through the
use of the unit conversion factor, which is defined by the
UNITS
axis
parameter. The origin point of the coordinate system can be determined
using the
DEFPOS
command. This command re-defines the current position
to zero or any other value.
fig. 2
A move is defined in either absolute or relative terms. An absolute move
takes the axis (A) to a specific predefined position with respect to the origin
point. A relative move takes the axis from the current position to a position
that is defined relative to this current position. The figure shows an example
of relative (command
MOVE
) and absolute (command
MOVEABS
) linear
moves.
2.2.1
PTP control
In point-to-point positioning, each axis is moved independently of the other
axis. The TJ2-MC__ supports the following operations:
•
Relative move
•
Absolute move
•
Continuous move forward
•
Continuous move reverse.
0
50
100
A
MOVE(30)
MOVE(50)
MOVEABS(50)
MOVE(60)
MOVEABS(30)
