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Mitsubishi Electric RD77MS2 User Manual Page 457

Melsec iq-r simple motion module.
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  • Contents

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■When "[Pr.1] Unit setting" is "inch"
The table below lists the control methods that require the setting of the arc address and shows the setting range.
(With any control method excluded from the table below, the arc address does not need to be set.)
[Da.2] setting value
Value set with the engineering tool (inch)
ABS circular sub: 0DH
• Set the address
ABS circular right: 0FH
-21474.83648 to 21474.83647
ABS circular left: 10H
INC circular sub: 0EH
• Set the movement amount
INC circular right: 11H
-21474.83648 to 21474.83647
INC circular left: 12H
ABS helical sub: 20H
• Set the address
ABS helical right: 22H
-21474.83648 to 21474.83647
ABS helical left: 24H
INC helical sub: 21H
• Set the movement amount
INC helical right: 23H
-21474.83648 to 21474.83647
INC helical left: 25H
*1 Set an integer because the program cannot handle fractions.
(The value will be converted properly within the system.)
*2 Note that the maximum radius that circular interpolation control is possible is 536870912 (  10
input within the range shown in the above table, as an arc address.
[Da.8] Command speed
Set the command speed for positioning.
• If the set command speed exceeds "[Pr.8] Speed limit value", positioning will be carried out at the speed limit value.
• If "-1" is set for the command speed, the current speed (speed set for previous positioning data No.) will be used for
positioning control. Use the current speed for uniform speed control, etc. If "-1" is set for continuing positioning data, and
the speed is changed, the following speed will also change.
Note that when starting positioning, if the "-1" speed is set for the positioning data that carries out positioning control first, the
error "Command speed is not set" (error code: 1A12H) will occur, and the positioning will not start.
Refer to the following for details on the errors.
Page 591 List of Error Codes
[Pr.1] setting value
Value set with the engineering tool (unit)
0: mm
0.01 to 20000000.00 (mm/min)
1: inch
0.001 to 2000000.000 (inch/min)
2: degree
0.001 to 2000000.000 (degree/min)
3: pulse
1 to 1000000000 (pulse/s)
*1 The range of command speed when "[Pr.83] Speed control 10  multiplier setting for degree axis" is valid: 0.01 to 20000000.00 (degree/
min)
*2 The range of command speed when "[Pr.83] Speed control 10  multiplier setting for degree axis" is valid: 1 to 2000000000 ( 10
2
degree/min)
Value set with a program
• Set the address
*2
-2147483648 to 2147483647
• Set the movement amount
*2
-2147483648 to 2147483647
• Set the address
-2147483648 to 2147483647
• Set the movement amount
*2
-2147483648 to 2147483647
Value set with a program (unit)
1 to 2000000000 (  10
1 to 2000000000 (  10
1 to 2000000000 (  10
*1
1 to 1000000000 (pulse/s)
12 DATA USED FOR POSITIONING CONTROL
*1
(  10
-5
inch)
*2
*2
-5
inch), although the setting value can be
-2
mm/min)
-3
inch/min)
-3
*2
degree/min)
12.4 Positioning Data
12
-
455

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Table of Contents

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