Degree Function - Mitsubishi Electric MELSERVO-J4 MR-J4-TM Instruction Manual

8. MANUFACTURER FUNCTIONS

8.15 Degree function

(1) Description
Selecting "degree (_ 2 _ _)" in [Pr. PT01] allows for positioning with module coordinates (axis of
rotation). The following shows the differences when "degree" is selected.
Item
P24698: Target position
P24676: Position actual value
P24701: Software position limit
P24699: Position range limit
P24762: Touch probe pos1 pos value
P24763: Touch probe pos1 neg value
P24764: Touch probe pos2 pos value
P24765: Touch probe pos2 neg value
P24700: Home offset
The positioning operation pattern can be changed with Positioning option code (P24818) for the degree
setting as follows. Change the setting while the servo motor is stopped (Target reached is on). If the setting
is changed while the servo motor is rotating (Target reached is off), the setting value is not applied
immediately.
The new value is applied at a positioning start (Bit 4 of Controlword is turned on) after Target reached is
once turned on.
Bit 7 Bit 6
The servo motor rotates to the target position in a direction specified with a sign of the
0 0
position data.
The servo motor rotates in the address decreasing direction regardless of the sign of the
0 1
position data.
The servo motor rotates in the address increasing direction regardless of the sign of the
1 0
position data.
The servo motor rotates from the current position to the target position in the shorter
1 1 direction. If the distances from the current position to the target position are the same for
CCW and CW, the servo motor rotates in the CCW direction.
The range will be between -360.000° and 360.000°.
The range will be between 0° and 359.999°.
The range will be between 0° and 359.999°. A value outside the range is clamped
within the range 0° to 359.999°.
The range will be between 0° and 359.999°.
The range will be between 0° and 359.999°.
The range will be between 0° and 359.999°.
The range will be between 0° and 359.999°.
The range will be between 0° and 359.999°.
The range will be between 0° and 359.999°.
Rotation direction definition for the axis of rotation
8 - 18
Description
[Pr. PT03]
_ 0 _ _
_ 2 _ _
_ 3 _ _
_ 1 _ _