Yaskawa Varispeed 626M5 - Manual (Page 146)

Orientation Control Using an Encoder
8.8.2 Incremental Positioning
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8.8.2 Incremental Positioning
Incremental positioning is used when positioning to a new stop position that adds to the current stop posi-
tion a specified amount of travel (i.e., angle).
If an incremental signal is input and an orientation signal is input again after absolute positioning has been
completed, the shaft stops at the new stop position according to the servo loop, and a completion signal
is output at the same time.
In this mode, the shaft advances by the specified rotation travel amount only whenever an orientation sig-
nal is input.
The timing chart for the incremental positioning operation is shown in the following diagram.
Operation signal (FWD or REV)
Orientation signal (ORT)
Orientation completion signal
(ORE)
Incremental signal (INC)
Absolute stop position
Incremental operation
0
ABS
0
0
ON ON ON
ON INC
ON ON ON
Speed
( Reference)
( Actual speed)
Position
( Reference)
( Actual speed)
Fig 8.11 Incremental Positioning
When performing incremental positioning, make sure that the position does not slip while the orientation
signal is turned OFF. If the position slips, stop position accuracy will be lost.
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