9 Internal Position
195 SD780 Series Servo Technical Manual
9.3 The Point Function Operating Parameters
The point function plans the corresponding position trajectory according to the set speed,
acceleration/deceleration time, delay time, and target position value. The operation parameters of
the first segment of the command segment are taken as an example for description.
9.3.1 Position Command
In position mode, the number of position command pulses for point control is given by Pn806 +
POSNUM*4. The position command unit is the user unit. The position command pulse number is
given by the electronic gear ratio Pn204 and Pn206.
In position mode, the target position value can be an incremental position value, a relative position
value, and an absolute position value.
The incremental position command is mainly used for the operation mode in which the target
position is clear and the target position value is independent of the actual position. The reference
point for the incremental position is the position command value. The incremental position
operation mode is as shown below:
PosCmd0
PosCmd1
Pos0
PosRem0
As shown in the figure above, the first position command setting value is PosCmd0. After the pulse
of Pos0 is run, the operation ends and the remaining PosRem0 pulses are not completed. If the
second incremental position command PosCmd1 is inserted at this time, the total number of pulses
of the second position command operation is P PosRem0. That is, the second
incremental position value PosCmd1 is based on the first position position command PosCmd0,
and the final running position value is P PosCmd1.
The relative position command is referenced to the actual position value. The position command
value of the latter segment is used as a reference point for the actual position value at the time of
operation, and the target position value is calculated. The relative position operation mode is as
shown below:
