6.5 Motion Commands
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6.5
Motion Commands
Motion operations in position control are classified into two types: INTERPOLATE and POSING
6.5.1 INTERPOLATE Related Commands
INTERPOLATE commands are as follows:
INTERPOLATE, LATCH
Position reference is output every communication cycle.
6.5.2 POSING Related Commands
POSING related commands are as follows:
POSING, FEED, EX_POSING, ZRET, HOLD
POSING related commands execute positioning to the target position (TPOS) at the target speed
(TSPD) with acceleration/deceleration set in parameters.
Use the parameters listed below to set asymmetric acceleration/deceleration.
The set value will be valid when DEN = 1.
Max. reference distance: 2147483647 (7FFFFFFFH) [reference units]
Max. acceleration: 655350000 [reference units/s
2
]
Parameter
No.
Name
Data Size
Min.
Set Value
Max.
Set Value
Units
Factory
Setting
Pn80B
Linear acceler-
ation constant
2 bytes
1
65535
10000 refer-
ence units/s
2
100
Pn80E
Linear deceler-
ation constant
2 bytes
1
65535
10000 refer-
ence units/s
2
100
Reference speed
Pn80B
Pn80E
Target speed
(TSPD)
Time
TOEP_C710806_03A_1_0.book Seite 124 Montag, 2. Juli 2007 3:55 15
