Mitsubishi Electric MELSEC iQ-R Series User Manual page 184

Ex.
Operation when setting the ring counter upper limit value to "100", the ring counter lower limit value to "-50", the current
position to "-20", and the target position to "-220"
Ring counter
100
upper limit value
0
Ring counter
-50
lower limit value
-200
-220
-350
• Shortest path
3: mcShortestWay
Based on the current position, positioning control is performed in the direction close to the target position (the one with the
smaller absolute value of the movement amount). If the distance is the same in the positive direction and the negative
direction, it is operated in the current direction.
The setting range of the target position is "Ring counter lower limit value  Target position < Ring counter upper limit value
"regardless of the setting of the target position specification (Options bit16) exceeding the ring counter.
If a value outside the above range is specified, the error "Out of Target Position Range" (error code: 1A05H) will occur and the
axis will not start.
Ex.
Operation when setting the ring counter upper limit value to "100", the lower limit value to "-100", the current position to "80",
and the target position to "-80"
Ring counter upper limit value: 100
Current value: 80
Target position: -80
Ring counter lower limit value: -100
Since the movement amount of (1) is 160 and that of (2) is 40, positioning moves to the positive direction of (2).
6 AXIS CONTROL FUNCTION
182
6.1 Single Axis Positioning Control
Position "80" after
positioning completion
Relative value positioning is executed at
-220 (target position) + (-50 (upper limit value)) = -170
¨
(2)
(1)
Current position
"-20"