Control Codes

Positioning for PLC-ES Special Program Control Codes

ABS (Absolute Coordinate)

1. Position control by absolute coordinate is performed based on the address designated in the origin point address.
   • The object moves from the start address to the target address.
2. Direction of movement is determined by the sign (+ or -) and the pulse output method of the movement amount.
   • Pulse Output Method – High Active Mode:
     • When the movement direction is positive (+): Forward positioning.
     • When the movement direction is negative (-): Backward positioning.
   • Pulse Output Method – Low Active Mode:
     • When the movement direction is positive (+): Backward positioning.
     • When the movement direction is negative (-): Forward positioning.
   • Example: If the start address is 1,000 and the target address is 5,000, the PLC-ES moves forward and stops at 5,000.
     • The overall movement amount is 5,000 – 1,000 = 4,000.
3. Position Special Module (PLC-ES) Configuration
   • The default setting is as follows:

Item	Setting Value	Description
Pulse Output Method	High Active	Select a desired pulse output type
Bias Speed (pps)	100	Initial speed for the positioning operation
Speed Limit (pps)	1,000	Maximum speed for the positioning operation
Acc/Dec Time 1	1,000	Time taken for the speed to increase from 0 to the speed limit or decrease from the speed limit to 0
Acc/Dec Time 2	1,000	Time taken for the speed to increase from 0 to the speed limit or decrease from the speed limit to 0
Acc/Dec Time 3	1,000	Time taken for the speed to increase from 0 to the speed limit or decrease from the speed limit to 0
Acc/Dec Time 4	1,000	Time taken for the speed to increase from 0 to the speed limit or decrease from the speed limit to 0

Position Data Example

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	0	1,000	5,000

INC (Relative Coordinate)

1. The object moves from the starting address according to the target amount of movement.
   • So long as the target address is configured in the operation data.
2. The INC command is using a relative coordinate.
   • This means the target address is counted from the starting address.
3. Direction of movement is determined by the sign (+ or -) and the pulse output method of the movement amount.
   • Pulse Output Method – High Active Mode:
     • When the movement direction is positive (+): Forward positioning.
     • When the movement direction is negative (-): Backward positioning.
   • Pulse Output Method – Low Active Mode:
     • When the movement direction is positive (+): Backward positioning.
     • When the movement direction is negative (-): Forward positioning.
   • EXAMPLE:
     • If the start address is 1,000 and the target address is 5,000, the PLC-ES moves forward and stops at 6,000.
       • The overall movement amount is 6,000 – 1,000 = 5,000.

Position Data Example

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	INC	0	1,000	5,000

FEED

1. Before executing the FEED command, the current coordinate is cleared to 0.
   • The object will move by the specified amount.
2. Direction of movement is determined by the sign (+ or -) and the pulse output method of the movement amount.
   • Pulse Output Method – High Active Mode:
     • When the movement direction is positive (+): Forward positioning.
     • When the movement direction is negative (-): Backward positioning.
   • Pulse Output Method – Low Active Mode:
     • When the movement direction is positive (+): Backward positioning.
     • When the movement direction is negative (-): Forward positioning.
   • EXAMPLE:
     • If the start address is 1,000, the target address is 5,000, and the current coordinate, 1,000, is cleared to 0.
     • The PLC-ES moves forward and stops at 5,000.
       • The overall movement amount is 5,000 – 0 = 5,000.

Position Data Example

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	FEED	0	1,000	5,000

FSC (Forward Speed Control)

1. The FSC command performs speed control in the positive direction.
2. The speed control output the speed of each pulse until the deceleration stop request is entered (Control Flag, Offset 0 or 10, Bit 1).
3. The current position address is cleared to 0 or fixed during speed control.
   • Determined by position address under speed control in the parameter.

Position Data Example

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	0	1,000	0

RSC (Reverse Speed Control)

1. The RSC command performs speed control in the negative direction.
2. The speed control output the speed of each pulse until the deceleration stop request is entered (Control Flag, Offset 0 or 10, Bit 1).
3. The current position address is cleared to 0 or fixed during speed control.
   • Determined by position address under speed control in the parameter.

Position Data Example

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	RSC	0	1,000	0

NOP (No Operation)

• No operation is performed

LOOP & LEND

1. The LOOP command is used for repeated control.
2. The LEND command specifies the end of the LOOP command.
3. The commands contained between LOOP and LEND are repeated by the number assigned to the target address of the LOOP command.
4. The control pattern for each command between LOOP and LEND must be set to Continuous.
   • The LOOP and LEND commands must both be Continuous as well.
5. Nesting loops is supported.

EXAMPLE: The ABS, INC, and ABS commands will execute positioning 3 times as specified by the target address in the LOOP command.

Position Data Example

Position Data No.	Control Pattern	Interpolation	Acceleration Time	Deceleration Time	Control Code	Dwell Time	Operation Speed	Target Address
1	Continuous	Non-Interpolation	No. 1	No. 1	Loop	0	1	3
2	Continuous	Non-Interpolation	No. 1	No. 1	ABS	0	1,000	-1,000
3	Continuous	Non-Interpolation	No. 1	No. 1	INC	0	1,500	2,000
4	Continuous	Non-Interpolation	No. 1	No. 1	ABS	0	2,000	-2,000
5	Continuous	Non-Interpolation	No. 1	No. 1	LEND	0	1	0

POS (Change Current Position)

1. The POS command will force change the current position to the position assigned by the target address.

• EXAMPLE: The current position will be set to the target address: 4,000.

Position Data Example

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	POS	0	1,000	4,000

JUMP

1. The JUMP command is used to control the positioning operation so that it jumps to a positioning data number.
   • This is set in the positioning data during Continuous control.
2. The JUMP command enables repeating of the same positioning control.