Types Of Motion Control; Position Control - YASKAWA SVC User Manual

1.2

Types of Motion Control

Motion control includes position control, phase control, torque control, and speed control. This
section describes each type of motion control.
1.2.1

Position Control

To implement position control, the target axis is moved to the target position according to the
specified travel distance and travel speed. There are two types of position control: positioning
and interpolation.
Positioning
Positioning is used to accurately stop the target axis at the target position. Positioning can be
performed for individual axes. When positioning commands are executed for multiple axes at
the same time, each axis is moved from the current position and stopped at the specified tar-
get position independently.
The following table describes programming for positioning.
Program
Ladder
program
Motion
program
Interpolation
Interpolation synchronizes the operation of multiple axes to move the controlled object along a
specified trajectory to a target position. The target object can be moved in a linear, circular, or
helical trajectory.
Interpolation can also be performed for a single axis.
The following table describes programming for interpolation.
Program
Ladder
program
Motion
program
Command/Instruction
POSING (Positioning),
EX_POSING (External
Positioning), etc.
MOV (Positioning),
EXM (External Posi-
tioning), etc.
Command/Instruction
INTERPOLATE (Inter-
polation)
MVS (Linear Interpola-
tion), MCW (Clockwise
Circular Interpolation),
MCC (Counterclock-
wise Circular Interpola-
tion), etc.
Reference
Programming
Machine Controller MP3000 Series
Ladder Programming Manual (Manual
No.: SIEP C880725 13)
8.1 One Axis Positioning on page 8-2
Machine Controller MP3000 Series
Motion Programming Manual (Manual
No.: SIEP C880725 14)
8.1 One Axis Positioning on page 8-2
Reference
Programming
Machine Controller MP3000 Series
Ladder Programming Manual (Manual
No.: SIEP C880725 13)
Machine Controller MP3000 Series
Motion Programming Manual (Manual
No.: SIEP C880725 14)
8.2 Interpolation of Two Axes on page
8-6

1.2 Types of Motion Control

1.2.1 Position Control

Command/Instruction
4.1 Commands on
page 4-3
4.5 Motion Language
Instructions on page
4-188
Command/Instruction
4.1 Commands on
page 4-3
4.5 Motion Language
Instructions on page
4-188
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1-3