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Mitsubishi Electric RD77MS2 User Manual Page 64

Melsec iq-r simple motion module.
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Positioning control method when the control unit is set to "degree"
■Absolute system (When the software stroke limit is invalid)
Positioning is carried out in the nearest direction to the designated address, using the current value as a reference. (This is
called "shortcut control".)
Ex.
1) Positioning is carried out in a clockwise direction when the current value is moved from 315 to 45.
2) Positioning is carried out in a counterclockwise direction when the current value is moved from 45 to 315.
1) Moved from 315° to 45°
315
°
45
°
To designate the positioning direction (not carrying out the shortcut control), the shortcut control is invalidated and positioning
in a designated direction is carried out by the "[Cd.40] ABS direction in degrees".
This function can perform only when the software stroke limit is invalid. When the software stroke limit is valid, the error
"Illegal setting of ABS direction in unit of degree" (error code: 19A5H) occurs and positioning is not started.
To designate the movement direction in the ABS control, a "1" or "2" is written to the "[Cd.40] ABS direction in degrees" of the
buffer memory (initial value: 0).
The value written to the "[Cd.40] ABS direction in degrees" becomes valid only when the positioning control is started.
In the continuous positioning control and continuous path control, the operation is continued with the setting set at the time of
start even if the setting is changed during the operation.
n: Axis No. - 1
Name
Function
[Cd.40]
The ABS movement direction in the
ABS direction
unit of degree is designated.
in degrees
0: Shortcut (direction setting invalid)
1: ABS clockwise
2: ABS counterclockwise
■Absolute system (When the software stroke limit is valid)
The positioning is carried out in a clockwise/counterclockwise direction depending on the software stroke limit range setting
method.
Because of this, positioning with "shortcut control" may not be possible.
Ex.
When the current value is moved from 0 to 315, positioning is carried out in the clockwise direction if the software stroke
limit lower limit value is 0 and the upper limit value is 345.
0
°
345.00000
°
315.00000
°
Positioning addresses are within a range of 0 to 359.99999.
Use the incremental system to carry out positioning of one rotation or more.
3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
2) Moved from 45° to 315°
315
°
Buffer memory address
4350+100n
Positioning carried out in the clockwise direction.
45
°
Initial
value
0

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