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Function Tables Arranged by Purpose Section 1-7
PTP positioning
using pulse I/O
Using Servo
Drivers compati-
ble with an
Absolute
Encoder
Reading PV
from Servo
Driver
• Absolute
counter opera-
tion (absolute
linear/circular)
• High-speed
counter abso-
lute encoder
read
7-7 Functions for Servo Drivers Compatible with
Absolute Encoders
Set counter operation to Absolute Linear (CW−),
Absolute Circular, or Absolute Linear (CW+).
Uses OMRON W-series Servo Drivers and
reads the absolute position from the Servo
Driver before operation starts.
Once the origin has been set, it is easier to find
the origin by reading the absolute position
before operation starts.
Presetting the
absolute posi-
tion to the pulse
output counter.
Pulse output
counter PV con-
vert (INI(880)
instruction)
7-6-6 Pulse Output Function Details
Reflects in the pulse output instruction the abso-
lute value read using the absolute encoder read
instruction outlined above.
PTP positioning
using analog I/O
Using Servo
Driver compati-
ble with an
incremental
encoder
Position control
in semi-closed
loop using vir-
tual pulse output
function
• Virtual axis
(AXIS instruc-
tion)
• High-speed
counter (FB
pulse)
• Analog output
instructions
with position
deviation using
virtual axis and
high-speed
counter
7-8 Virtual Pulse Output Function
Uses virtual axis (AXIS instruction) in relative
mode.
The current position output for the AXIS instruc-
tion is used as the command pulse to create a
position loop with the high-speed counter PV
(the feedback pulse from the Servo Driver). A
control loop for the analog output instruction is
generated according to this deviation and used.
Use Servo Driv-
ers compatible
with Absolute
Encoder
Position control
in semi-closed
loop using vir-
tual pulse output
function
As above 7-8 Virtual Pulse Output Function
Uses virtual axis (AXIS instruction) in absolute
mode. Everything else is the same as above.
Reading current
position from
Servo Driver
• Absolute
counter mode
(absolute lin-
ear/circular)
• High-speed
counter abso-
lute encoder
read
Same as PTP positioning with pulse I/O when
Servo Drivers compatible with Absolute Encoder
used.
Presets abso-
lute position in
AXIS instruction
• High-speed
counter PV
• MOVL instruc-
tion
7-8 Virtual Pulse Output Function
Presets the high-speed counter PV read using
the high-speed counter absolute encoder read
instruction outlined above, and presets and uses
this PV as the current position output in the
AXIS instruction.
The PV is preset before executing AXIS instruc-
tion.
Purpose Operation Main functions
used
Details