Absolute Positioning Control - Mitsubishi Electric MELSEC iQ-R Series User Manual

Absolute Positioning Control

In MC_MoveAbsolute, Position, Velocity, Acceleration, Deceleration, Jerk, Direction, BufferMode, and Options can be set, and
positioning is executed from the current position at start (start point address) to the address set in Position (end point
address).
Ex.
When the start point address (current stop position) is 1000, and Position is 8000, positioning is carried out in the positive
direction for a movement amount of 7000 (8000 - 1000).
Start point address
(current stop position)
0 1000
Details of setting items
■Position (Target position)
Set the target position of the absolute position. The settable range differs depending on the software stroke limit valid/invalid,
Direction, and the setting of the target position specification (Options bit16) exceeding the ring counter.
• When the software stroke limit is valid (AxisName.Md.SwStrokeLimit_Target is other than "-1: Invalid")
The settable range is "Ring counter lower limit value  Target position  Ring counter upper limit value" regardless of the
setting of Direction or the target position specification (Options bit16) exceeding the ring counter. If a value outside the range
is set, the error "Out of Target Position Range" (error code: 1A05H) will occur, and the axis will not start.
Also, even when the value is within the above range, if a position which exceeds the software stroke limit is specified as the
target position, the error "Software Stroke Limit Over (Target Position)" (error code: 1A00H) will occur and the axis will not
start.
For the movement direction, refer to the following.
Page 177 Direction (Direction selection)
• When the software stroke limit is invalid (AxisName.Md.SwStrokeLimit_Target is "-1: Invalid"))
Positioning of the ring counter range 1 revolution or more can be executed by setting "Setting the target position exceeding
the ring counter (Options bit16)" is "1: Allow".
Setting value Direction
selection
(Direction)
mcPositiveDirection Positive direction
mcNegativeDirection Negative direction
mcShortestWay Shortest path
mcCurrentDirection Current direction
*1 For the positioning range lower/upper limit value, refer to the following.
Page 67 Positioning Range
If a value outside the above range is set, the error "Out of Target Position Range" (error code: 1A05H) will occur, and the axis
will not start.
■Velocity (Velocity)
Set the set velocity at positioning control. For details, refer to the following.
Page 71 Velocity set range
■Acceleration (Acceleration)
Set time from speed 0 to the speed limit value. For details, refer to the following.
Page 293 Acceleration/deceleration Processing Function
6 AXIS CONTROL FUNCTION
176
6.1 Single Axis Positioning Control
Positioning control (movement amount 7000)
Setting the target position exceeding the ring counter (Options bit16)
0: Not allow
Ring counter lower limit value  Target position <
Ring counter upper limit value
End point address
(positioning address)
8000
1: Allow
Ring counter lower limit value
Positioning range upper limit value
Positioning range lower limit value
position < Ring counter upper limit value
Ring counter lower limit value
Ring counter upper limit value
Depends on the positive/negative direction setting.

Target position <
*1

*1
Target

Target position <