YASKAWA CIMR-M5 Series, Instruction Manual

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9.10Functions
9 -15
9.10.2 User-set Position Stop Control Using Incremental Operations
Incremental positioning is used when positioning to a new stop position that adds to the current stop posi-
tion a specified amount of travel rotation (i.e., angle).
If an incremental signal is input and an orientation signal is input again after fixed positioning has been
completed, the shaft stops at the new stop position according to the servo loop and a completion signal is
output at the same time.
In this mode, the shaft advances by the specified rotation travel amount only whenever an orientation sig-
nal is input.
The timing chart for the incremental positioning operation is shown in the following diagram.
Operation signal (FWD or REV)
Orientation signal (ORT)
Orientation completion signal (ORE)
Incremental signal (INC)
Position signal (for control)
(Magnetic Sensor output)
Fixed position stop position
Incremental operation
0
ABS
0
0
ON ON
INC ON
ON
ON
ON
ON
Speed
( Reference)
( Actual speed)
Position
( Reference)
( Actual speed)
Note:
If performing incremental positioning, make sure that the position does not slip while the orientation signal
is turned OFF. If the position slips, stop position accuracy may be lost.
Fig 9.17 Incremental Positioning
To use user-set position stop control, select the stop position reference using control constant bit 7 of C1-36
(SEL1).
When bit 7 of C1-36 is set to ON, the stop position reference is enabled and user-set position stop can be
used during orientation control. Normally, user-set position stop is used as a digital speed reference, so the
standard setting is OFF. When bit 7 is OFF, fixed position stop control is used.
Bit 7
C1 − 36
9