Control In The Control Unit "Degree - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Discrepancy units: (3)
• The travel value and positioning speed are calculated for each axis.
• The electronic gear converts the travel value for the axis to [pulse].
• For axis where the units match, the electronic gear converts the positioning speed to units of [pulse/s]. Positioning is conducted using position commands
calculated from travel values converted to [pulse] and speeds and electronic gear converted to [pulse/s].
• If the interpolation control units match for two or more axes at the 3-axes or more linear interpolation, the positioning speed
is calculated with the electronic gear for the axis with the lowest No.
Although electric gear is not set for the command generation axis, the electric gear is set to "1" when
calculating the position command value or the positioning speed.

Control in the control unit "degree"

If the control units are "degree", the following items differ from other control units.
Current value address
The current addresses in the control unit "degree" are ring addresses from 0 to 360.
359.99999 ° 359.99999 °
0 ° 0 ° 0 °
Stroke limit valid/invalid setting
The upper/lower limit value of the stroke limit in the control unit "degree" is within the range of 0 to 359.99999.
■Stroke limit is valid
Set the "lower limit value to upper limit value of the stroke limit" in a clockwise direction to validate the stroke limit value.
0 °
315.00000 °
Area A
Area B
• If travel range in area A is set, the limit values are as follows:
Area Lower stroke limit value Upper stroke limit value
Area A 315.00000
Area B 90.00000
■Stroke limit is invalid
Set the "upper stroke limit value" equal to "lower stroke limit value" to invalidate the stroke limit value.
It can be controlled regardless the stroke limit settings.
Clockwise
90.00000 °
90.00000
315.00000
Remarks
When the feed current value is outside of the stroke limit range, movement
in both the forward and reverse direction is possible with JOG operation, or
manual pulse generator operation.
When the feed current value is outside of the stroke limit range, movement
in the reverse direction is possible when "feed current value > upper limit
stroke limit", and movement in the forward direction is possible when "feed
current value < lower stroke limit" with JOG operation, or manual pulse
generator operation.
5 POSITIONING CONTROL
5.1 Basics of Positioning Control
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