Orientalmotor AZX Series Operating Manual page 96

Drive profile
„ Operation type of Profile position mode
The operation type of the Profile position mode is set with the Controlword (6040h) and the Wrap positioning mode
(414Fh). The operation modes are listed in the table.
Operation type
Absolute positioning
Incremental positioning (Based
on command position)
Incremental positioning (Based
on feedback position)
Wrap absolute positioning
Wrap proximity positioning
Wrap forward direction
absolute positioning
Wrap reverse direction absolute
positioning
z Absolute positioning
Positioning operation is performed from the present position to the set target position. In the Target position (607Ah),
set the target position on the coordinates with the home as a reference.
Example: When moving from the command position "1,000" to the target position "4,000"
Set 4,000 steps in the Target position (607Ah) to start absolute positioning operation.
z Incremental positioning (based on command position)
Positioning operation with the set travel amount is performed from the present command position. In the Target
position (607Ah), set the travel amount from the present command position to the target position.
Example: When moving from the command position "1,000" to the target position "4,000"
Set 3,000 steps in the Target position (607Ah) to start incremental positioning (based on command position)
operation.
96
Wrap positioning mode
(414Fh)
−
−
−
0
1
2
3
Home Present position
0 1,000
Setting of Target position (607Ah)=4,000
Actual travel amount=3,000
Present position
Home (command position)
0 1,000
Setting of Target position (607Ah)=3,000
Actual travel amount=3,000
Controlword (6040h)
Wrap Push
(Bit 14) (Bit 13)
0 0
0 0
0 0
1 0
1 0
1 0
1 0
Target position
2,000 3,000
Target position
2,000 3,000
Base position of Rel Abs/Rel
(Bit 12) (Bit 6)
− 0
0 1
1 1
− −
− −
− −
− −
4,000 5,000
4,000 5,000