The difference between absolute and relative positioning is the way the target position is specified:
oFor absolute positioning, the target position is directly specified with its coordinate, in pulses, relatively to a previously set origin.
oFor relative positioning, the target position is specified by its distance, in pulses, from the current position of the axis.
Position control function blocks moves the axis by a relative or absolute distance (depending on the function block) according to the defined velocity, deceleration and acceleration values. Start and Stop frequency are defined by the PTOSetParam function block.
The distance can only have positive values (the direction is controlled by the Direction input)
The velocity of the axis will follow a trapezoidal profile:
NOTE: The Frequency represents the Velocity. The 2 terms are analogous.
If the set target velocity cannot be reached before attaining the target position, the axis velocity will then follow a triangular profile:
