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8.1.5 Coordinate and Travel Distance Command
(1)
Device coordinate
The position of the device's movable part is
normally managed at the position on the
coordinate in which homing completion
position is the origin.
A controlled axis includes the linear axis
and the rotation axis. The following shows
an example of the linear axis.
(2)
Travel distance command
The travel distance command is issued
with the difference between the current
position and the target position
(relative travel distance).
8.1.6 Command Counter and Machine Counter
A command counter is a cumulative counter that counts the number of pulses output by the motion controller.
A machine counter is a cumulative counter that counts the number of encoder pulses input by the motion
controller.
In the application software, the command counter is normally used as the device coordinate.
Command
Machine counter
8.1.7 Constant Speed and Acceleration/Deceleration Operations
(1)
Constant speed operation
Moves in a constant speed (operation speed) from the beginning to the end of the operation. Not
recommended for high-speed operation. (Accompanied by strong vibration and shock)
(2)
Acceleration/deceleration operation
After starting the operation at base speed, it accelerates to the operation speed, and moves at the operation
speed, then decelerates again to base speed before stopping.
Speed
Y
1000
Origin (0,0)
Y
2000
1000
Origin (0,0)
Motor
driver
Constant speed operation
Acceleration/deceleration
operation
Time
Current position (2000,1000)
2000
Current position (2000,1000)
2000
3000
Speed
139
X
Target position (3000,1000)
Travel distance X:+1000, Y:+1000
X
Time
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