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5 POSITIONING CONTROL
5.1 Basics of Positioning Control
• Circular interpolation including the axis which set the stroke limit as invalid cannot be executed.
• When the upper/lower limit value of the axis which set the stroke limit as valid are changed, perform the
home position return after that.
• When the stroke limit is set as valid in the incremental data system, perform the home position return after
power supply on.
• Do not use the high-speed oscillation in the axis that invalidates a stroke limit of control unit "degree".
• The unlimited length feed is possible by setting the stroke limit to invalid even the control unit is "other than
degree axis" (mm, inch, pulse). (
Page 173 Stroke limit invalid setting)
Positioning control
Positioning control method in the control unit "degree" is shown below.
■
Absolute data method (ABS
instructions)
Positioning in a near direction to the specified address is performed based on the current value.
Ex.
Positioning is executed in a clockwise direction to travel from the current value of 315.00000
to 0
.
Positioning is executed in a counter clockwise direction to travel from the current value of 0
to 315.00000
.
• The positioning direction of absolute data method is set a clockwise/counter clockwise direction by the
setting method of stroke limit range, positioning in the shortest direction may not be possible.
(Example)
Travel from the current value 0
to 315.00000
must be clockwise positioning if the lower stroke limit value is
set to 0
and the upper limit value is set to 345.00000
.
• Set the positioning address within the range of 0
to 360
. Use the incremental data method for positioning
of one revolution or more.
■
Incremental data method (INC
instructions)
Positioning by the specified travel value to the specified direction. The travel direction is set by the sign of the travel value, as
follows:
• Positive travel value: Clockwise rotation
• Negative travel value: Counter clockwise rotation
Positioning of 360
or more can be executed in the incremental data method.
315.00000
°
315.00000
°
315.00000
° →
0
°
0
°
→
315.00000
°
0
°
0
°
315.00000
°
0
°
345.00000
°
Clockwise positioning
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