Vector VEC-VA Series, Programming Manual

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VA Motion Controller Programming Manual
379
Relative to the input parameters define the relationship between the input parameter Position
reference position. When Relative = TRUE, Position relative relationship with the reference
position, the reference position setting position = + Position; when Relative = FALSE, Position
absolute relationship with the reference position, the position setting value = Position. As shown
below, the reference position instruction execution 10000, Position input parameter value 6000,
when the input parameters Relative to a different value, corresponding to the implementation of
the results were lower left and bottom right.

ReferenceType
ReferenceType input parameters for the command for selecting the reference position or
actual position. When ReferenceType = 0, the reference position for the axis command position;
when ReferenceType = 1, the reference position for the actual position of the shaft.
When selected as the reference position of the position command, the instruction command is
calculated based on the current position and the Position of the target position command, the
position and the modification value for the target value of the position command; while the actual
position of the shaft will also change , variation is: change in the amount equal to the change in
position command and the actual position, that is, the difference between the command position
and the actual position in the instruction execution time and the start time of the instruction
execution is completed unchanged.
Mode selecting process when the reference position is the actual position and the reference
position when the mode selection process for the same reason commanded position.
If the instruction execution MC_SetPosition, the axes are stationary, the reference position
are performed to select the actual effect of the command position and the actual position is no
difference, because the shaft is stationary, there is no difference (difference between the command
position and the actual position 0);
If the instruction execution MC_SetPosition, the axis is in motion, there is a difference
between the command position and the actual position (the difference is not 0, the response time
caused by the command), the reference position are executed when the actual selection command
position and the actual position MC_SetPosition instruction execution (absolute mode, position =
6000) when the curve as shown, for positioning the shaft is moving (target position 5000), then the
command position and the actual position of the shaft: differences in effect, as the example shown
in FIG. 3000 and 2300, respectively (difference
△
P = 700). If the reference position selection
command position, after executing the instructions, commands the shaft position becomes 6000,
the actual position becomes 5300 (5300 = 6000-
△
P), shown at bottom left; if the actual
position of the reference position selection, the command after the execution, the actual position of