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Chapter 3 Specifications and Functions
3.2 List of functions
3.2.1 QD77MS control functions
The Simple Motion module has several functions. In this manual, the Simple Motion
module functions are categorized and explained as follows.
Main functions
(1) OPR control
"OPR control" is a function (Fast OPR) that established the start point for
carrying out positioning control (Machine OPR), and carries out positioning
toward that start point. This is used to return a workpiece, located at a position
other than the OP when the power is turned ON or after positioning stop, to
the OP. The "OPR control" is pre-registered in the Simple Motion module as
the "Positioning start data No. 9001 (Machine OPR)", and "Positioning start
data No. 9002 (Fast OPR)". (Refer to Chapter 8 "OPR Control".)
(2) Major positioning control
This control is carried out using the "Positioning data" stored in the Simple
Motion module. Positioning control, such as position control and speed control,
is executed by setting the required items in this "positioning data" and starting
that positioning data. An "operation pattern" can be set in this "positioning
data", and with this whether to carry out control with continuous positioning
data (ex.: positioning data No. 1, No. 2, No. 3, ...) can be set. (Refer to
Chapter 9 "Major Positioning Control".)
(3) High-level positioning control
This control executes the "positioning data" stored in the Simple Motion
module using the "block start data". The following types of applied positioning
control can be carried out.
Random blocks, handling several continuing positioning data items as
"blocks", can be executed in the designated order.
"Condition judgment" can be added to position control and speed control.
The operation of the designated positioning data No. that is set for multiple
axes can be started simultaneously. (Command is output simultaneously to
multiple servo amplifiers.)
The designated positioning data can be executed repeatedly, etc.,
(Refer to Chapter 10 "High-Level Positioning Control".)
(4) Manual control
This control executes the random positioning operation by inputting a signal
into the Simple Motion module from an external device. Use this manual
control to move the workpiece to a random position (JOG operation), and to
finely adjust the positioning (inching operation, manual pulse generator
operation), etc. (Refer to Chapter 11 "Manual Control".)
(5) Expansion control
The following controls other than the positioning control can be executed.
(Refer to Chapter 12 "Expansion Control".)
Speed control and torque control not including the position loop for the
command to servo amplifier (Speed-torque control).
Synchronous control with gear, shaft, change gear and cam not by
mechanical, but by software use "synchronous control parameter", and is
synchronized with input axis (Synchronous control).