Control When Control Unit Is "Degree - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

Control when control unit is "degree"

This section explains machine control when the control unit (coordinate axis unit) is "degree".
Machine configuration axes with "degree" control unit
• Refer to the following for details of axes with "degree" control unit.
MELSEC iQ-R Motion Controller Programming Manual (Positioning Control)
• Unlimited rotation axes cannot be used for machine configuration axes. Set the upper limit value/lower limit value of the
stroke limit and enable the stroke limit.
• The setting range of the upper limit value/lower limit value of the stroke limit differs by machine type. Refer to the instruction
manual of the machine library for details of the settings.
• The "[Md.20] Feed current value (R: D32000+48n, D32001+48n/Q: D0+20n, D1+20n)" of each axis monitor device is a ring
address of 0 to 360.
359.99999° 359.99999°
0° 0°
Joint type (JOINT)
• The value of joint axes can be monitored with "[Md.2033] to [Md.2038] Feed current value (joint coordinate system)(J1 to
J6)(D53190+128m to D53201+128m)". When the unit is "degree", the monitor value is a ring address of 0 to 360.
• When the unit is "degree", the joint type(JOINT) command range is as follows.
Coordinate
J1
J2
J3
J4
J5
J6
• The setting range, and end point compensation processing in the absolute method (shortcut processing, movement
direction compensation for commands outside the stroke limit range etc.) differ by machine type. Refer to the instruction
manual of the machine library for details.
Position type (POSE)
• The value of joint axes can be monitored with "[Md.2025] to [Md.2031] Feed current value (world coordinate system)(X to
FL1)(D53176+128m to D53188+128m)", and "[Md.2053] to [Md.2059] Feed current value (base coordinate system)(X to
FL1)(D53228+128m to D53240+128m)". When the unit is "degree", the monitor value is a ring address of 0 to 360.
• When the unit is "degree", the position type(POSE) command range is as follows.
Coordinate
A
B
C
• The setting range, and end point compensation processing in the absolute method (shortcut processing, movement
direction compensation for commands outside the stroke limit range etc.) differ by machine type. Refer to the instruction
manual of the machine library for details.
7 POSITIONING CONTROL
74
7.1 Basics of Positioning Control
0°
Absolute method
-5
0 to 35999999(10
Absolute method
-5
0 to 35999999(10
[degree])
[degree])
Incremental method
-5
-72000000 to 72000000(10 [degree])
Incremental method
-5
-72000000 to 72000000(10 [degree])