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z Incremental positioning (Based on feedback position)
Positioning operation with the set travel amount is performed from the present feedback position. In the Target
position (607Ah), set the travel amount from the present feedback position.
Example: When moving 3,000 steps from the command position "1,000" and the feedback position
"900"
Set 3,000 steps in the Target position (607Ah) to start incremental positioning (based on feedback position) operation.
The command position and the feedback position after the operation is completed will be "3,900."
The reference position of the operation based on the feedback position varies depending on a load.
z Wrap absolute positioning
Positioning operation is performed to the target position within the wrap range. In the Target position (607Ah), set
the target position within the wrap range. Refer to p.122 for the wrap function.
Example: When moving from the command position "1,000" to the target position "4,000" (wrap
setting range: 1.0 rev, wrap offset ratio: 50.00 %)
Set the items in the table to start wrap absolute positioning operation.
Index
41C7h
Wrap (RND) setting
41C9h
Initial coordinate generation & wrap setting range [1=0.1 rev]
41CBh
Initial coordinate generation & wrap range offset ratio [1=0.01 %]
414Fh
Wrap positioning mode
607Ah
Target position [step]
Home
0
−2,500
−5,000
900 (Feedback position)
1,000 (Command position)
Home
0
Setting of Target position (607Ah)=3,000
Actual travel amount=3,000
Name
Present position
1,000
Setting of Target position (607Ah)=4,000
Actual travel amount=3,000
2,500
4,000
Target position
2,000
3,000
Drive profile
3,900 (Command position,
feedback position)
4,000
5,000
Setting value
1: Enable
10
5,000
0: Wrap absolute positioning
4,000
97
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