(20*(N-1)) will change.
●
when the motor enabled, it can clear the parameters in table 1 and 2.
●
there are four methods to change the present position:
①
return to origin through (20*(N-1)), (20*(N-1)), the present
position will change.
②
when PLC stop, modify the target position feedback pulse numbers (+20*(N-1)), the
present position will change
③
when PLC is running, execute MOWRITE can modify (20*(N-1)), the
present position will change.
④
when PLC is running, servo does not enable, the servo position is chagned by
external force, register (20*(N-1)) will change. When the servo enabled, this value is
valid.
Table 1: state quantity parameters (N=1~10)
Address
Definition
Type
Unit
Mark
60*(N-1)
Present
displacement
quantity
32-bit
integer
Pulse
number
The displacement relative to the last stop
position
60*(N-1)
Present
position
32-bit
integer
Pulse
number
The coordinate position, calculated from
target position feedback pulse numbers
Table 2: self preserving state (N =1~10)
Address
Definition
Type
Unit
Mark
20*(N-1)
Target position setting
pulse numbers
64-bit
integer
Encoder
count
Relative zero position
20*(N-1)
Target
position
feedback
pulse
numbers
64-bit
integer
Encoder
count
Relative zero position
20*(N-1)
Present displacement
pulse numbers
64-bit
integer
Encoder
count
Single
time
motion
instruction
displacement
quantity
Related register
