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Chapter 3 Before positioning
3- 19
3.1.10 Position and speed override
•
Override means changing target address or speed without stop during positioning.
The XGB positioning provides three type of override, position override, speed override, speed
override with position.
(1) Position override
If changing a target position during positioning operation with positioning data, it may be changed
by using position override command (POR instruction).
• When using position override, be careful the followings.
(a) That is, if passing a position to change during operation, it decelerates, stops and keeps
positioning operation by the subsequent operation pattern; if not passing a position, it starts
positioning operation as taking a Incremental position as much as override set in the start point
of the step of position override instruction.
(Ex.) It assumes that current location is 20,000 and operation data is specified as table below.
(It assumes that position override amount is 15,000)
Step
no.
Coord. Pattern
Contr
ol
Metho
d
Rep
step
Address
[Pulse]
M
Code A/D No.
Speed
[pls/s]
Dwell
[
㎳
]
3 ABS END POS SIN 0 40,000 0 0 500 100
1) If operation step 3 starts, target moves to 40,000 by absolute coordinates forward.
2) If override is executed at the time current position is 30,000 during operation, since it doesn’t
pass 15,000 based on operation start point 20,000 target position changes 35000
(20,000+15,000).
3) If override is executed at the time current position is 38,000 during operation, since it passes
15,000 based on operation start point 20,000, target speed decreases and stops.
(b) Position override command is available in the ACC., KEEP, DEC. section among operation
pattern. If position override command is executed during dwell, error code 362 occurs.
(c) In case operation pattern is set as CONT, override is executed based on start position of
operation step used at this time.
(d) Position override ranges –2,147,483,648 2,14
∼
7,483,647 Pulse.