3.2
Examples
of
Operation Controls
Rotary drive
When executing indexing control of a rotary table, relative drive or absolute drive can be performed
by designating the rotation angle with an ADR or
EXT instruction in the same manner as linear
movements.
The use
of
a DRV
ROT
instruction
will
allow a rotational drive automatically with a max. angle
of
360"
(see page
123).
Example
of
rotary control
ADR
+
is devoted to the designation
of
the position for a DRV ROT instruction. ADR
K,
ADR -are
also regarded as ADR
+.
The unit for an ADR instruction as a rotational angle is determined in accordance with the setting
value
("0"
to
"3")
of
the parameter number
3.
When the setting value is
"l",
for instance, the setting
unit is
0.1".
With a DRV
ROT
instruction, ADR
+
0
to
3,600
may be valid. (In this case, the value
of
parameter number
0
must be set
to
"0"
or
"2".)
If
it is necessary to drive in the order of dl
f,
b,
f,
and d when the current position is at point
d (as shown
on
the left), particular care must
be taken with its rotation direction in the case
of a DRV
ABS
instruction.
When a DRV
ROT
instruction is used, the
rotation direction
is
always made
so
that the
shortest route will be taken.
The following example compares them. (The
system unit is
1
in this example.)
I
Current position
(Combined use
of
the
DRV
ABS,
DRV
(Use
of
the
DRV
ROT
instruction)
-c
instructions)
ADR
(2)
DRV
TMR
ADR
(3)
DAV
TMR
SET
(4)
DRV
SET
ADR
(1)
DRV
WAIT
+
ABS
K
K
+
K
t
-
t
+
ABS
300
d-e-f
100
90
1
Note
1
f-a-b
100
30
(Change from
390'
to
30')
b-a-f
300 (Change from
-60'
to
300')
150
f-e-d
ADR
(2)
DRV
TM
R
ADR
(3)
DRV
TM
R
ADR
(4)
DRV
TMR
ADR
(1)
DRV
WAIT
+
ROT
K
+
ROT
K
t
ROT
K
t
ROT
300
d--e-f
100
30
1
Note
2
f-a-+b
100
300
b-a-f
100
150
1-e-d
-
Note
1:
If ADR
+30,
DRV ABS are used, then the
Note 2:
The shortest distance drive is executed from
operation is executed in the order off, e, c, and b. address
+300
to address
+30.
-38-
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