The motion control command of the PLC realizes the perfect positioning function. Briefly describe the Mitsubishi PLC positioning instructions, which can be divided into origin regression instructions DSZR, ZRN, positioning instructions PLSY, PLSR, DRVI, DRVA, variable speed operation PLSV.3 in the meantime, PLSY, PLSR is a pulse output instruction, its positioning function is relatively weak or the most basic positioning instruction, and the later positioning instruction is developed on the basis of it. We generally use DRVI, DRVA command to achieve positioning, DRVI relative positioning instruction, DRVA to confirm positioning instruction. When it comes to relative and affirmative orientations, we need to analyze and distinguish them in detail here.
According to the explanation in the Mitsubishi Positioning Manual, the relative orientation is incremental (the direction of the address is specified), and the direction and amount of movement (relative address) are specified as the starting point, and the direction and amount of movement (relative address) are used as the starting point. The relative orientation is based on the positive direction (the direction designation of the positive address) and the direction (positive address) is specified based on the origin, and it does not matter where the starting point is.
What exactly is the relative orientation and what is the resolution orientation will be introduced below
There is only one characteristic of relative orientation, which is the interval, which is determined by the starting point and the intention.
Affirmative azimuth has two characteristics, direction and bearing, which is independent of the starting point.
This is why the difference between them is somewhat similar to scalars and vectors in mathematics, where a scalar is a value and a vector is directional.
Good command DRVI S1 S2 D1 D2, S1 refers to the output pulse is the relative direction, S2 is the pulse output frequency refers to the motor rotation speed, D1 is the pulse output port (it is necessary to use the high-speed port), D2 is the pulse direction is automatically identified by the positive and negative resolutions of S1, which cannot be specified, that is, do not control D2, and the number of pulses output by S1 is determined.
Good command DRVAS1 S2 D1 D2, S1 refers to the output pulse is the positive direction, S2 is the pulse output frequency refers to the motor rotation speed, D1 is the pulse output port (it is necessary to use the high-speed port), D2 is the pulse direction is determined by the current direction and the size of the output pulse (positive direction) The same can not be specified, and the number of output pulses is calculated by the difference between the current direction and the output pulse (positive direction).
In servo motor control, we first need to understand the movement of a single pulse, confirm it according to the motor and mechanical parameters, convert the specific interval into pulses, and then select the positioning command according to the needs of the action.
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