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PERFORMING AN ORIGIN SEARCH
PNSPO
In order for a servo to perform
“Absolute positioning”, it requires a
‘home’ reference point, so that all
movements can be made with respect
to this reference position.
There are many different ways
in which this can be done,
usually involving the servo
motor’s encoder ‘Z’ pulse and a
physical limit or proxi switch on
the mechanical system.
The method of origin search is
simply defined within the PLC’s
settings…
JOGGING THE SMARTSTEP2
PNSPO
The ‘SPED’ instruction sends
continuous pulses from an output
at a fixed speed (generally set
quite low!)
It will keep doing this until an
‘INI’ instruction is executed,
which kills the output.
In this example, bit 220.00 is a
touchswitch on the NQ3 HMI, and
the pulses are output as long as
you keep your finger on the
button. When you release it, the
‘INI’ instruction is executed,
stopping the pulses.
