Positioning for PLC-S Special Program Introduction

General

The built-in positioning function of the PLC-S CPU is sinking, or negative-positive-negative (NPN), OPEN collector type for pulse train output.
By using the positioning module, positioning control is executed by a stepper or servo motor.

• Number of control axis:
  • The number of control axes for the positioning function is equal to the number of motors being controlled.
    • The PLC-S executes the two-axis (X & Y) positioning control and supports linear interpolation.

1. 1-Axis Linear Control (X or Y):

   

2. 2-Axis Linear Interpolation Control:

   

Positioning Instruction

• The PLC-S is equipped with dedicated instructions for positioning enabling easy control:
  • POSCTRL (CM1)/POSCTRL (CM3)
  • PSTRT1/PSTRT2
  • PINIT
  • PFWRT
  • TEACH1/TEACH2

Manual Operation

• Manual operation is made possible by the JOG operation, inching operation, and general purpose manual pulse generator (MPG).

OPR Control

• The PLC-S provides three Origin Point Return (OPR) methods:
  • DOG/Zero OFF
  • DOG/Zero ON
  • Near-point DOG

Output Pulse Level

• The direction of positioning control is determined by configuring the High Active or Low Active mode in a scan or special program.

High Active

Low Active