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3. SPECIFICATIONS
MELCFlGA
Table 3.3 AlSD71 Positioning Functions
Mothod wlth a aequanca program or nmthod(taat oporatlon)
u d n g
p d p h u d
dovisa (or AD7lTU)
Functlona
Two-area
Indapondant
opratlon
Two-axea lnterpolatlon operation
JOG operation function
JOG operations can be done when a JOG
operation command from tho PC CPU
(or
peripheral device) is turned ON.
Unavailable
Zero return
f r o m tho
PC
CPU
(or
parphersl device).
Returns by a zero return start command
The current value is corrected
to
the zero
Unavailab'e
address after zero return is completed.
Positioning is executed at a set speed
the
ourrmt
position to the s e t t i n g position
position.
two axas m v i n g i n l i m r diredions from
from
the
lo the setting
Positioning
m
executed at a s w e d with
positioning
cD
Positioning by linear interpolation can be
Changes speed in acwrdance with the
n-times
8
e .
(linear interpolation).
-
signal, and executes positioning.
(pattern change)
0
Unavailable
positioning data set
by a one-time start by
a change in speed
' ;
Changes speed in acwrdance with the
Positioning accompanied
.E
executed continuously as well
os
with the
positioning data set
by a one-time start
m
E
positioning
One-tlme
C
C
two-axis independent operation.
signal, and executes positioning.
.-
F a
Starts operations in accordance with the
positioning data sat
by a one-time start
signal. switches to positioning control by
an external control switching signal, and
Unavailable
- -
executes positioning.
Starts operations in accordance with the
positioning data set by
a one-time start
signal and stops operations due to a stop
signal from the PC CPU, external STOP
signal from the AD71TU. Operations con-
signal, the peripheral device, or
a stop
tinue until a stop signal is received. The
current value
management is not per-
formed.
Speed control mode
An operation that is similar to a two-axis
simultaneously with two axes.
independent operation can start and stop
(1) I f positioning is done using a sequence program in the positioning control
mode or speed/positioning control switching modes, a
PC CPU can
output the set M code from an AlSD71 when positioning starts or after
positioning is completed. (Peripheral devices do
not output
M
codes
during positioning.)
(2) Current values in an AlSD71 can be changed (rewritten) by a sequence
program or peripheral device before positioning is started.
(3) Positioning can be done continuously by setting a positioning start data
number to 20 points in the buffer memory (X axis: 0 to 39,
Y
axis: 300 to
339) in an A1 SD71 before positioning starts in the position control mode.
(4) The error compensation function and
the backlash compensation func-
tion are valid in the parameter settings indicated below.
L
Error Compensation
Backlash
JOG
0
' 2
0
Position control
~
~~~
.-
0
0
C
.O
- .
o
' 2
Speed control
0
'1
0
Speed/positioning control switching
.-
a
o
=
valid
* 1
If
the travel direction changes during restarting, backlash compensation
is executed. When starting for the first time, backlash compensation is
not
executed.
*2 If
a stop instruction is received during backlash compensation travel, it is
controlled so that positioning is stopped after traveling the amount of the
backlash.
3 - 4
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