Mitsubishi Electric MELSEC iQ-R-RD75P4 User Manual page 78

• To specify the rotation direction in degrees for each positioning data, especially for the continuous positioning control and
continuous path control, use "[Da.28] ABS direction in degrees".
• To set the same rotation direction for all positioning data, use "[Cd.40] ABS direction in degrees". The same rotation
direction can be set for each positioning data in a batch.
• When "[Cd.40] ABS direction in degrees" is used, set 0 in "[Da.28] ABS direction in degrees". When a value other than 0 is set, "[Da.28] ABS
direction in degrees" is enabled.
• The setting value in "[Cd.40] ABS direction in degrees" is effective only at the start of positioning control. In the continuous positioning control or
continuous path control, the operation continues with the setting configured at the start even if the setting is changed during the operation.
Name
[Cd.40] ABS direction in
degrees
[Da.28] ABS direction in
degrees
*1 N indicates the offset address of each positioning data.
N = ((Positioning data No.) - 1)  10
• When the software stroke limit is valid
The positioning is performed in a clockwise or counterclockwise direction depending on the setting method of the software
stroke limit range.
Therefore, the positioning with the shortcut control may not be possible.
Example
When the current value is moved from 0° to 315°, positioning is carried out in a clockwise direction
if the software stroke limit lower limit value is 0° and the upper limit value is 345°.
315.00000°
The range of positioning addresses is 0 to 359.99999.
To perform the positioning of one rotation or more, use the incremental system.
■When the incremental system is used
The positioning is performed for a specified movement amount in a specified direction. The movement direction is determined
by the sign of the movement amount.
• When the movement direction is positive: Clockwise
• When the movement direction is negative: Counterclockwise
The positioning of 360 or more can be performed with the incremental system.
In this case, invalidate the software stroke limit by setting values as follows.
(Set a value within the setting range of 0 to 359.99999.)
[Software stroke limit upper limit value = Software stroke limit lower limit value]
3 MAJOR POSITIONING CONTROL
76
3.1 Overview of the Major Positioning Controls
Function
Specify the ABS movement direction
in increments of degrees.
0: Shortcut (the direction setting is
invalid)
1: ABS clockwise
2: ABS counterclockwise
Set "[Cd.40] ABS direction in
degrees" for each positioning data.
0: Use the set value of "[Cd.40] ABS
direction in degrees"
1: ABS clockwise
2: ABS counterclockwise
3: Shortcut (Direction setting invalid)
0°
345.00000°
Buffer memory address
Axis 1 Axis 2
1550 1650
*1
2003 8003+N
(b2 to b3) (b2 to b3)
Positioning is carried out in a clockwise direction.
Axis 3 Axis 4
1750 1850
*1 *1 *1
14003+N 20003+N
(b2 to b3) (b2 to b3)
Initial value
0
0