Omron NJ501-1300, Руководство пользователя

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9 Motion Control Functions
9-34
NJ-series CPU Unit Motion Control User’s Manual (W507)
The following example illustrates when positioning is performed towards a target position of
−
20 when
the command current position is 50.
The direction of the previous operation is given in the Command Direction in the Axis Variable.
Precautions for Correct Use Precautions for Correct Use
Observe the following precautions on the operation direction of the previous operation.
• If the MC_Home instruction exceeds the point where the home input was detected and
reverses operation, the opposite direction of the home input detection direction is used.
• If a homing compensation value is set for the MC_Home instruction, the direction moved for
the compensation value is used.
• If an immediate stop is specified for the MC_TouchProbe (Enable External Latch) instruction,
the latch position may be exceeded and the direction may be reversed.
• The direction may be reversed for the MC_MoveFeed (Interrupt Feeding) instruction.
• When the MC_ResetFollowingError instruction is executed, the error is set to zero, so the
command direction is used.
• If an immediate stop is specified for an external input signal or resetting the error counter is
specified for stopping for a limit input, the operation may reverse direction toward the position
where the external input signal was received.
Example for Current Direction
0
Target position:
−
20
If the previous operation was
in the negative direction,
motion is in the negative
direction.
Target position:
−
20
Command current position:
50
Modulo minimum
position setting
value:
−
70
Modulo maximum
position setting
value: 100
If the previous operation was in
the positive direction, motion is in
the positive direction.