POSCTRL - PLCS Positioning
- CIMON (Unlicensed)
Device area is used to conduct the positioning control instead of using the position data.
n1 (Positioning Module Slot number)
Must be zero (0) for PLC-S since the CPU module is in the 0th slot.
n2 (Control Parameter)
Device memory in which parameters such as axis, command and control parameter are stored.
When the 'Command Code' is 1, 2, 3, and 6
(n2) | Axis (1..2) |
(n2+1) | Command Code (1, 2, 3, 6) |
(n2+2) | Control Data (Lower word) |
(n2+3) | Control Data (Upper word) |
When the ‘Command Code’ is 7
(n2) | Axis (1..2) |
(n2+1) | Command Code (7) |
(n2+2) | Parameter Offset |
(n2+3) | Setting Data (Word) |
When the ‘Command Code’ is 8
(n2) | Axis (1..2) |
(n2+1) | Command Code (8) |
(n2+2) | Parameter Offset |
(n2+3) | Setting Data (Lower word) |
(n2+4) | Setting Data (Upper word) |
When the ‘Command Code’ is 10
(n2) | Axis (1..2) |
(n2+1) | Command Code (10) |
(n2+2) (n2+9) | Control Data (Lower) |
Position Data (8 Word) |
n2: Axis to be controlled (1..2)
n2+1: Command Code
n2+2 ~ n2+9: Data necessary for positioning control
The following table describes in detail with respect to the operation according to the Command Code.
Command Code | Operation | Description |
1 | Change current position address | Enter a new position address (DWORD) in the parameter. OPR completed flag will be set after this command. |
2 | Change speed | Write a new speed value in the parameter. |
3 | Inching operation | Record an inching movement amount (distance) in the parameter, if a negative value is entered, the axis moves backward. |
6 | Change target address | Enter a new target address in the parameter. |
7 | Change parameter (WORD) | This function changes the position control parameter in the sequence program. Parameter changed by this function does not carry out the validity check such as setting range. Therefore, pay an attention not to write an incorrect value. All the parameter changes will be lost when switching to STOP mode. |
8 | Change parameter (DWORD) | |
10 | Indirect position data | Position data block of 8 word size must be written in the parameter in place of the control data. |
n3 (Result flag)
Device memory in which an error code (if it exists) and result flag are to be written.
It must be a word device. (For example, M0100).
Upper Byte: Error Code
Lower Byte: displays command processing status
n Bit 0: Processing the command
n Bit 1: The command is processed completely
n Bit 2: Command processing error (gets set concurrently with Bit 1 completion flag)
n Bit 3~7: Reserved
*Refer to the section 1.11.2 'Positioning Example Using Positioning Data.'
(Example)
Change the current coordinates
When the M101 Bit is turned ON, the current coordinates will be set as 1000 and the OPR is completed.
Change the operation speed
When the M101 Bit is turned ON while the speed control is at 500 PPS using FSC or RSC commands, the current speed is changed to 1,000 PPS.
*Error Code occurs when executing a command to change operation speed during the JOG operation
Position Data No. | Control Pattern | Interpolation | Acceleration Time | Deceleration Time | Control Code | Dwell Time | Operation Speed | Target Address |
1 | Single Step | Non-Interpolation | No. 1 | No. 1 | FSC or RSC | 0 | 500 | 0 |
MOV 1 (Change current coordinates)
MOV 2 (Change operation speed)
MOV 3 (Inching operation)
MOV 6 (Change target address)
Inching Operation
The example below describes an inching operation that moves the distance of 300 PPS after configuring the inching speed as 100 PPS. In the X-Axis parameter setting, the inching speed is configured as 100 PPS and the amount of movement is configured as 300 PPS.
Change Target Address
When executing the position control to the target address (5,000) configured by ABS, INC and FEED position data, it changes the target address (8,000) configured in the POSCTRL.
Position Data No. | Control Pattern | Interpolation | Acceleration Time | Deceleration Time | Control Code | Dwell Time | Operation Speed | Target Address |
1 | Single Step | Non-Interpolation | No. 1 | No. 1 | ABS, INC, FEED | 0 | 500 | 5000 |
Change parameter for WORD or DWORD
It changes the WORD or DWORD configurations of the positioning parameter stated in Section 1.5.
When changing the WORD
When changing the Inching Speed
When changing the DWORD
When changing the Software Upper/Lower Limit (DWORD)
Indirect Operation
The position data such as the table below can be configured by indirect operation (ABS) via scan program.
Offset | 0 | 2 | 4 | 5 | 6 | ||||
Item | Control Pattern | Interpolation | Acceleration Time | Deceleration Time | Control Code | Dwell Time | Operation Speed | Target Address | |
The scan program shown below represents the position data specified in the table below.
Offset | Item | Bit | Description | Unit |
0 | Control Pattern | 0 | 00 = Single step control |
|
1 | ||||
Interpolation | 2 | 00 = Non-Interpolation |
| |
3 | ||||
Accelerate Time | 4 | Acc/Dec Number 1 |
| |
5 | ||||
Decelerate Time | 6 | Acc/Dec Number 1 |
| |
7 | ||||
Control Code | 8..F | ABS |
| |
1 |
|
|
| |
2 | Dwell Time | 10 | mSec | |
3 |
|
|
| |
4 | Operation Speed | L | 1,000 | PPS |
5 | H | |||
6 | Target Address | L | 5,000 | Pulse |
The analysis of [MOV H0100 D32] is shown in the table below.
| Control Code | Decelerate Time | Accelerate Time | Interpolation | Control Pattern | |||||||||||
Offset 0 (1 word) | F | E | D | C | B | A | 9 | 8 | 7 | 6 | 5 | 4 | 3 | 2 | 1 | 0 |
Value | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 1 | 0 | 0 | 0 | 0 | 0 | 0 | 0 | 0 |
| ABS (Absolute Coordinates Positioning Control) | No. 1 | No. 1 | Non-Interpolation | Single Step | |||||||||||