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3.
SPECIFICATIONS
,
.
. _
r . - .
POINTS
I
Interpolation operation is disabled.
When it is switched
to
positioning control, an error compensation is exe-
cuted.
The current value is set to
"0"
when starting. Then, the current value begins
to change when positioning control is started.
If
a restart is executed in positioning control, the current value continues from
the stop address.
If
a restart is executed in speed control, the pulse outputs from
"0".
The
current value
is
represented as follows: The positioning control starting point
of a current value
is
"0". The positioning control direction
of
a current value
is an address increase direction, and
it is represented as an absolute value
(absolute address).
The maximum number
of output pulses during speed control is about
16,000,000
PLS.
After outputting the maximum number
of output pulses, pulse output is
automatically stopped.
The switching signal after starting automatic deceleration in speed control
or after starting deceleration by a stop signal input becomes invalid.
When executing restart, the start data number must be the same as the
execution data number when it stops halfway.
If
a control switching signal is received when traveling within backlash, the
remaining amount
of
travel distance will fluctuate.
After a start completion signal goes
ON
when a
BUSY
signal is
ON,
the
control switching signal becomes valid. (It becomes invalid even
if
a control
switching signal is input after that.)
Start
--
b--=,
Control switching signal valid range
BUSY
I
,
,
I
Positioning
commenced
I
,
+
200 psec
Positioning error in the speed/positioning control switching mode
An external control switching signal is received during speed output and is
switched to positioning control in the speed/positioning control switching
mode.
However, since a little time is needed for the
OS to
complete the switching
to positioning control after receiving the signal, the number of pulses output
during switching becomes a positioning error.
Control switching signal
Setting travel
Error position
signal is received. control is completed.
@@!
distance
I t
Control switching Switching to positioning
Time
t
needed for control switching
If
the time needed for control switching is
tmsec,
the position error is calculated
by using the following:
Position error
(PLS)
=
(
x t ] *
1
Output speed (PLS/sec)
1
o6
Because the time (t-max.
1
msec) needed for the control change differs with
each
product, always take this factor into consideration.
3-39
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