Polarity (607Eh); Degree (60F2H) - Mitsubishi MR-JE series Instruction Manual

7. OBJECT LIBRARY

7.4.6 Polarity (607Eh)

The rotation direction selection can be set.
To set the rotation direction to position commands and speed commands, turn on or off both bit 6 and bit 7 of
Polarity (607Eh) or use [Pr. PA14]. To set the rotation direction to torque commands, turn on or off all of bit 5
to bit 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 bit 5 to bit 7 in combination.
Velocity POL
6
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.
Position POL
7
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.

7.4.7 Degree (60F2h)

Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] allows for positioning with module
coordinates (axis of rotation). 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)
Sub
Index
Index
607Eh 0 Rotation direction selection (Polarity)
Sub
Index
Index
60F2h 0 Profile position mode setting (Positioning option code)
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°.
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Name
Description
Name
Description
Data Read/
type write
Read/
1 bytes
write
Data Read/
type write
Read/
2 bytes
write