9 Internal Position
199 SD780 Series Servo Technical Manual
9.4.2 Equivalent Position Command Insertion Position Command
As shown in the figure above, it is operation of the relative position insertion position. For the first
position command, the target position is Pos0, it is interrupted by the second position command
during running, and the remaining pulse is Rem. The second position command is a relative
position command, the target position is Pos1. After the second position command is interrupted, it
immediately runs at the target speed of the second position and runs the pulse number Pos1
relative to the actual position value. The total pulse number Pos0+ Pos1-Rem that has passed
after the end of the two-stage operation. That is, when the relative position is interrupted, the
position margin value of the previous segment is ignored, and a position is directly run based on
the current actual position. As shown in the figure above, the position equivalent to the Rem area
is ignored.
9.4.3 Absolute Position Interrupt Position Command
As shown in the figure above, it is absolute position
i
nterrupt
position. For the first position
command, the target position is Pos0, it is interrupted by the second position command during
running, and the remaining pulse is Rem. The second position command is an absolute position
command and the target position is Pos1. After the second segment position command is
interrupted, it is immediately run according to the target speed of the second segment position, run
into an absolute position Pos1. The total pulse number is Pos1after the two position operation.
That is, after the insertion, the previous position command value is ignored, and the absolute
position command value is directly operated according to the insertion.
POS0
POS1
Rem
T
S
POS0
POS1
Rem
S
T