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Absolute Position Control;
NOTE: absolute positioning can only be performed if an Origin Search has been
performed. If the “NO ORG” indicator is lit red, this means that the servo has no
origin reference position and absolute position movements will not be possible.
Please return to the SmartStep2 Menu and select “ORIGIN SEARCH” before
proceeding.
The motor can be moved a set distance, at a set speed, relative to its origin position, either
clockwise or counter-clockwise.
By default, the Absolute Position value is set to 0. If you have been jogging the motor or
performing relative movements, the motor will rotate back to its origin position when you
press the “GO TO POSITION” button. For instance, if, after performing an Origin Search
and using relative positioning, you rotated the motor 20 turns clockwise, 4 turns counter-
clockwise, then jogged it a quarter turn counter-clockwise, performing an Absolute Position
movement to 0 would cause the motor to rotate 15.75 revolutions counter-clockwise to its
home (origin) position.
As with relative positioning, the power-on default speed is of 5,000Hz, so a single
revolution will be completed on 0.5s
The absolute position reference can be set between 0 – 100,000 pulses (40 revolutions);
this is only limited by the data entry keypad on the HMI. The actual maximum value can
be 2,147,483,647 pulses (approx. 859,000 revolutions)
The pulse output speed can be set between 0 – 100,000Hz (40 revs/sec); this maximum
value is a restriction of the capability of the CP1L PLC.
The “PULSING” indicator will light green to indicate that the PLC is outputting the
requested number of pulses and the “IN POSN” indicator will extinguish to indicate that the
motor is moving. “IN POSN” will re-light when the movement profile has been completed.
