Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 260

• Circular interpolation including the axis which set the stroke limit as invalid cannot be executed.
• When the upper/lower limit value of the axis which set the stroke limit as valid are changed, perform the
home position return after that.
• When the stroke limit is set as valid in the incremental data system, perform the home position return after
power supply on.
• Do not use the high-speed oscillation in the axis that invalidates a stroke limit of control unit "degree".
• The unlimited length feed is possible by setting the stroke limit to invalid even the control unit is "other than
degree axis" (mm, inch, pulse). (Page 173 Stroke limit invalid setting)
Positioning control
Positioning control method in the control unit "degree" is shown below.
■Absolute data method (ABS instructions)
Positioning in a near direction to the specified address is performed based on the current value.
Ex.
Positioning is executed in a clockwise direction to travel from the current value of 315.00000 to 0.
Positioning is executed in a counter clockwise direction to travel from the current value of 0 to 315.00000.
315.00000 ° → 0 °
0 °
315.00000 °
• The positioning direction of absolute data method is set a clockwise/counter clockwise direction by the
setting method of stroke limit range, positioning in the shortest direction may not be possible.
(Example)
Travel from the current value 0 to 315.00000 must be clockwise positioning if the lower stroke limit value is
set to 0 and the upper limit value is set to 345.00000.
315.00000°
• Set the positioning address within the range of 0 to 360. Use the incremental data method for positioning
of one revolution or more.
■Incremental data method (INC instructions)
Positioning by the specified travel value to the specified direction. The travel direction is set by the sign of the travel value, as
follows:
• Positive travel value: Clockwise rotation
• Negative travel value: Counter clockwise rotation
Positioning of 360 or more can be executed in the incremental data method.
5 POSITIONING CONTROL
258
5.1 Basics of Positioning Control
0 ° → 315.00000 °
315.00000 °
0°
345.00000°
Clockwise positioning
0 °