Position Data

PLC-ES Positioning Data

• The basic controls, such as position and speed control, are executed by setting the required items.
• The special program, Positioning Program for PLC-ES, provides a tool for positioning data.
• A maximum of 30 position data can be configured for each axis.
• A position data occupies 8 WORDs of memory.
  • The same structure of 8 WORDs of memory is applied to the POSCTRL instruction.
• Control Code must be 0 at the end of the position data list.
• When in operation, if the Control Code is 0, the PLC-ES terminates the series of positioning control and does NOT go onto the next item in the list.
• When a set value is written to the data register used as indirect data in the sequence program, the set value of the position data gets modified.

Positioning Data

Offset	Item	Bit	Description
0	Control Pattern	0	Bit 0-1: Single Step Control: 00 Continuous Control: 01
0	Control Pattern	1	Bit 0-1: Single Step Control: 00 Continuous Control: 01
0	Interpolation	2	Bit 2-3: Non-Interpolation: 00 Main Axis: Y (Linear Interpolation): 01 Main Axis: X (Linear Interpolation): 10
0	Interpolation	3	Bit 2-3: Non-Interpolation: 00 Main Axis: Y (Linear Interpolation): 01 Main Axis: X (Linear Interpolation): 10
0	Accelerate Time	4	Bit 4-5: Acceleration/Deceleration Number (0 ~ 3)
0	Accelerate Time	5	Bit 4-5: Acceleration/Deceleration Number (0 ~ 3)
0	Decelerate Time	6	Bit 6-7: Acceleration/Deceleration Number (0 ~ 3)
0	Decelerate Time	7	Bit 6-7: Acceleration/Deceleration Number (0 ~ 3)
0	Control Codes	8	Refer to Control Codes table
0	Control Codes	9	Refer to Control Codes table
0	Control Codes	A	Refer to Control Codes table
0	Control Codes	B	Refer to Control Codes table
0	Control Codes	C	Refer to Control Codes table
0	Control Codes	D	Refer to Control Codes table
0	Control Codes	E	Refer to Control Codes table
0	Control Codes	F	Refer to Control Codes table
+1	Reserved	Reserved	Reserved
+2	Dwell Time		0 ~ 65,535ms or Indirect Data (Data Register)
+3	Reserved	Reserved	Reserved
+4	Operation Speed	Low WORD	1 ~ 100,000pps or Indirect Data (Data Register)
+5	Operation Speed	High Word
+6	Target Position Address	Low Word	1 ~ 100,000pps or Indirect Data (Data Register)
+7	Target Position Address	High Word

Control Pattern

Pattern 1: Single Step Control

• The single step control executes only 1 position data.
• If Dwell time is configured, the control is terminated after the Dwell time has expired.

Pattern 2: Continuous Control

• The continuous control is used when several position data need to be executed continuously.
• The PLC-ES automatically decelerated each time the positioning is complete.
• Acceleration is then carried out after the positioning speed reaches 0 to carry out the next position data operation.
• If Dwell time is set, the acceleration is carried out after the designated time elapses.
• In continuous control operations, the next positioning number is automatically executed.
  • Always set the operation pattern as Single Step in the last positioning data to terminate the continuous positioning.
    • If the operation pattern is set to Continuous, the operation will continue until the operation pattern Single Step is found.
      • If the Single Step operation pattern can’t be found, the positioning operation may carry out until the position data reaches 30 and terminates the operation automatically.

Interpolation

Set the main axis and sub axis for interpolation control.

Non-Interpolation:

• Used for normal single axis positioning control and does not require any additional configurations.

Main Axis Y (Sub Axis X):

• This configuration specifies the corresponding position data as interpolation and designates Y as the main axis and X as the sub axis for the interpolation operation.

Main Axis X (Sub Axis Y):

• This configuration specifies the corresponding position data as interpolation and designates X as the main axis and Y as the sub axis for the interpolation operation.

• If the main axis settings between X and Y position data don’t match, the system will select the main axis automatically.
  • This is based on the moving distance.
    • The axis which has a longer moving distance becomes the main axis.
• In continuous control, an interpolation axis waits until the other axis proceeds to the interpolation step.
  • In this case, there is no limit on the waiting time.
    • Use the Emergency Stop Request control flag to bypass the waiting status.
• In the interpolation operation, set values such as speed, Dwell time, and acceleration or deceleration time are taken from the main axis position data set.
  • On the target position address is effectively set in the position data of the sub axis.
• The speed control command is not applicable in an interpolation operation.
  • Commands for interpolation are restricted to ABS and INC.

Accelerate & Decelerate Time Number

• The acceleration and deceleration time to apply for the positioning operation is configured by selecting one of the 4 Accelerate Time/Decelerate Time values configured by this parameter.

Control Code

End Instruction

Code (Hex.)	Code (Dec.)	Command	Function	Note
00H	0	–	End of position data	Terminates continuous control

Operation Command Instruction

Code (Hex.)	Code (Dec.)	Command	Function	Note
01H	1	ABS	End of position data	–
05H	5	INC	Absolute Position Control	–
09H	9	FEED	Incremental Position Control After Resetting Address	–
13H	19	FSC	Forward Speed Control	–
17H	23	RSC	Reverse Speed Control	–
80H	128	NOP	No Operation	–

Program Control Command Instruction

Code (Hex.)	Code (Dec.)	Command	Function	Note
81H	129	JUMP	Force to Change Next Step Number	Next step set value is stored in target position address
82H	130	LOOP	First Step of Loop	Loop count is stored in target position address
83H	131	LEND	Last Step of Loop	–
84H	132	POS	Force Change Current Position Address	New address is stored in target position address