Ptp Control - Omron TJ1-DRT Hardware Reference Manual

System philosophy
2.2.1

PTP control

In point-to-point positioning, each axis is moved independently of
the other axis. The TJ1-MC__ supports the following operations:
• Relative move
• Absolute move
• Continuous move forward
• Continuous move reverse.
Relative and absolute moves
To move a single axis either the command MOVE for a relative
move or the command MOVEABS for an absolute move is used.
Each axis has its own move characteristics, which are defined by
the axis parameters.
Suppose a control program is executed to move from the origin to
an axis no. 0 (A) coordinate of 100 and axis no. 1 (B) coordinate of
50. If the speed parameter is set to be the same for both axes and
the acceleration and deceleration rate are set sufficiently high, the
movements for axis 0 and axis 1 will be as shown in the figure.
At start, both the axis 0 and axis 1 moves to a coordinate of 50 over
the same duration of time. At this point, axis 1 stops and axis 0
continues to move to a coordinate of 100.
The move of a certain axis is determined by the axis parameters.
Some relevant parameters are:
/i
Parameter Description
UNITS Unit conversion factor
ACCEL Acceleration rate of an axis in units/s
DECEL Deceleration rate of an axis in units/s
SPEED Demand speed of an axis in units/s
HARDWARE REFERENCE MANUAL
2
2
2
fig. 3
B
MOVEABS(100) AXIS(0)
MOVEABS(50) AXIS(1)
50
0
50
A
100
17