Polarity (607Eh); Positioning Option Code (60F2H) - Mitsubishi Electric MR-JE-C Series Instruction Manual

7. OBJECT DICTIONARY

7.6.6 Polarity (607Eh)

Sub
Index
Index
607Eh 0 Polarity
The rotation direction selection can be set.
The rotation direction of a servo motor to position commands, speed commands, and torque commands can
be set. To set the rotation direction to position commands and speed commands, turn on or off both bits 6
and 7 of Polarity (607Eh) or use [Pr. PA14]. To set the rotation direction to torque commands, turn on or off
all of bits 5 to 7 of Polarity (607Eh), or use [Pr. PA14] and "POL reflection selection at torque mode" of [Pr.
PC29]. The following table shows the descriptions of Polarity (607Eh).
Bit
0 Reserved
1 The value at reading is undefined. Set "0" when writing.
2
3
4
Torque POL
5
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bits 5 to 7 in combination.
Velocity POL
6
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bits 5 to 7 in combination.
Position POL
7
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bits 5 to 7 in combination.

7.6.7 Positioning option code (60F2h)

(1) Object list
Sub
Index
Index
60F2h 0 Positioning option code
Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] enables positioning to be performed on
modulo coordinates (rotary shafts). The following shows the differences when "degree" is selected.
Item (Index, Sub Index)
Target position (607Ah, 0)
Position actual value (6064h, 0)
Software position limit (607Dh, 0)
Position range limit (607Bh, 0)
Touch probe pos1 pos value (60BAh, 0)
Touch probe pos1 neg value (60BBh, 0)
Touch probe pos2 pos value (60BCh, 0)
Touch probe pos2 neg value (60BDh, 0)
Home offset (607Ch, 0)
Name
Description
Name
The range changes to between -360.000° to 360.000°.
The range changes to between 0° to 359.999°.
The range changes to between 0° to 359.999°. When a value outside the
range is set, the value is clamped within the range of 0° to 359.999°.
The range changes to between 0° to 359.999°.
The range changes to between 0° to 359.999°.
The range changes to between 0° to 359.999°.
The range changes to between 0° to 359.999°.
The range changes to between 0° to 359.999°.
The range changes to between 0° to 359.999°.
7 - 58
Data No. of Points/
Access
Type No. of Registers
U8 rw 1
Data No. of Points/
Access
Type No. of Registers
U16 rw 1
Description
Continuous read/
continuous write
Impossible
Continuous read/
continuous write
Impossible