System philosophy
HARDWARE REFERENCE MANUAL
16
Revi
si
on 3.0
2.2
Motion control concepts
The TJ1-MC__ offers these types of positioning control operations:
1. Point-to-Point (PTP) control
2. Continuous Path (CP) control
3. Electronic Gearing (EG) control.
This section introduces some of the commands and parameters
used in the BASIC programming of the motion control application.
Coordinate system
Positioning operations performed by the TJ1-MC__ are based on
an axis coordinate system. The TJ1-MC__ converts the position
data from either the connected Servo Driver 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.
0
50
100
A
MOVE(30)
MOVE(50)
MOVEABS(50)
MOVE(60)
MOVEABS(30)
I51E-EN-03.book Seite 16 Donnerstag, 28. Juni 2007 1:05 13
