Chapter 7
Operations of teach-box
HA-675_V3_02
- 136 -
Speed changing position
Note: Symbol INC and ABS indicates the methods for increments of the position
command.
●
Function
The [CHP] specifies the speed changing position for the
compound speed profile where is a passing-through point.
Set increments and positions in relative value (incremental
value) or absolute value. Specify whether it is a relative
value or an absolute value when you carry out
programming.
The unit of the increments and positions is indicated at the
second digit in the fourth line of the display area.
pls:
pulse
deg: 1/1000
°
: Enter 1000 for 1
°
.
mm: 1/100 mm: Enter 100 for 1mm.
The unit is specified by [parameter mode]
⇒
[MQU: position unit] for all addresses, so that intermixed
usage of units are not allowed. A position value makes a difference in the actuator motion depending
on the units.
The actuator does not move without the position value.
It is not possible to enter “POS:
INC
increments,
ABS
positions” data and “CHP: Speed change
position” data in the same address. Entering it in one field clears the other.
“
CHP: Speed change position” is set to the place where “POS:
INC
increments,
ABS
positions” is
supposed to be set, “CN2-34 Operation complete: FINISH” signal won’t be issued.
●
Operations
(1) To enter a speed changing position, press [CHP] key. Or move the cursor on [CHP] by [
↑
] and
[
↓
] keys.
(2) To set a position in absolute value, press [ABS] key. [A] is indicated on the right of [CHP].
To enter a relative value, press [INC] key. [I] is indicated on the right of [CHP].
(3) Enter the data by numeral keys.
(4) To define the entered data, press [ENTER] key.
(5) To cancel the entering and to recover old data before defining, press [CANCEL] key.
●
Relational
items
Position unit: [parameter mode]
⇒
[MQU: position unit]
Stop position: [program mode]
⇒
[POS:
INC
increments,
ABS
positions]
CHP
Range: POS
pls: -2,000,000,000 to +2,000,000,000
deg: -360,000 to +360,000
mm: -2,000,000 to +2,000,000
Unit: MQU
pls: pulse
deg: 1/1000
°
mm: 1/100 mm
SPD 10000
POS I-----
CHP
■
-----
DSET pps pls No 00
Speed changing
Speed
POS
CHP
CHP
resolution
encoder
1000
360
)
pls
(
position
(deg)
Position
×
×
＝
1000
360
resolution
encoder
(deg)
position
)
pls
(
Position
×
×
＝
resolution
encoder
100
(mm)
lead
screw
ball
ls)
position(p
)
mm
(
Position
×
×
＝
100
(mm)
lead
screw
ball
ratio
reduction
resolution
encoder
m)
position(m
)
pls
(
Position
×
×
×
＝
