Section 7 Positioning Function - Fuji Electric micrex-sx SPH User Manual

Section 7 Positioning Function

7-1 Positioning Function of the Pulse Train Positioning Control Combined
Module (NP1F-MP1/NP1F-MP2) ................................................................................. 7-1
(1) Pulse generation mode ........................................................................................................................... 7-1
(2) Position command mode ........................................................................................................................ 7-1
7-2 Functions of Each Operation Mode .......................................................................... 7-3
(1) Pulse generation mode ........................................................................................................................... 7-3
(2) Position command mode ........................................................................................................................ 7-3
7-3 Functions of Pulse Generation Mode ....................................................................... 7-4
7-3-1 Positional deviation calculation function ................................................................................ 7-5
7-3-2 Command pulse count control .............................................................................................. 7-6
7-3-3 Command pulse frequency control ....................................................................................... 7-7
7-3-4 Trapezoidal acceleration/deceleration ................................................................................... 7-8
7-3-5 Automatic deceleration point calculation ............................................................................. 7-10
7-3-6 Deceleration point setting ................................................................................................... 7-11
7-3-7 Continuous frequency rewriting .......................................................................................... 7-12
7-3-8 Setting data to a register ..................................................................................................... 7-13
7-3-9 Data reading from register .................................................................................................. 7-14
7-3-10 Current value data reading ................................................................................................ 7-15
7-3-11 Manual operation .............................................................................................................. 7-16
(1) When SOT (software OT) is enabled for finite-length motion ................................................................ 7-16
(2) When SOT (software OT) is disabled for infinite-length motion ............................................................ 7-16
7-3-12 Original point return motion .............................................................................................. 7-17
7-3-13 Positioning operation ......................................................................................................... 7-18
7-3-14 Interrupt point positioning motion ...................................................................................... 7-19
7-3-15 Deceleration-and-stop / quick stop motion ........................................................................ 7-20
7-3-16 Operation when an emergency stop error has been detected .......................................... 7-21
7-3-17 Operation when an ±OT error has been detected ............................................................. 7-22
7-3-18 Command pulse counting ................................................................................................. 7-24
7-3-19 Operation when a transmission error has been detected ................................................. 7-25
7-3-20 Positioning using the FIFO buffer ...................................................................................... 7-26
7-3-21 Setting the data to be added to the command pulse register while speed is
continuously changed over ................................................................................................ 7-28
7-3-22 Backlash compensation .................................................................................................... 7-29
7-3-23 Feedback pulse multiplication ........................................................................................... 7-29
7-4 Functions of the Position Command Mode ............................................................ 7-31
7-4-1 Positional deviation calculation ........................................................................................... 7-32
7-4-2 Operation at the rising edge of start signal ......................................................................... 7-33
7-4-3 Operation when start command is "ON" ............................................................................. 7-33
(1) Set values for each register (values automatically set in the module) .................................................. 7-33
(2) Processing of delay time in the position command mode ..................................................................... 7-33
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