Absolute Position Control; Relevant Variables - Mitsubishi Electric MELSEC iQ-R Series User Manual

2.6

Absolute Position Control

This function restores the current position of axes.
Absolute position system
The absolute position system maintains the current position of axes. The absolute position system configuration differs
depending on the axis type. For details, refer to the following.
Page 87 Current position restoration for each axis type
The absolute position data used in the absolute position control is maintained inside the motion system as a backup file.
Current position restoration
This function restores the current position of the axis to the previous position when the motion system power is turned ON
again or reset or when the slave device is connected.
Whether restoration is carried out with the maintained absolute position data or not can be specified in the absolute position
control setting of the axis parameter. For details, refer to the following.
Page 82 Current position restoration

Relevant variables

Variable/Structure name
AxisName.PrConst.
PosRestoration_AbsPosEnable
PosRestoration_AbsPosBase
AxisName.Pr.
Homing_Required
AxisName.Md.
Homing_Required
PosRestoration_Status
Homing_Request
SetPosition
CumulativePosition
FeedMachinePosition
System.Md.
2 AXIS MANAGEMENT FUNCTIONS
80
2.6 Absolute Position Control
Name
Absolute position management setting
Absolute position reference setting
Homing required or not
Homing required or not
Current position restoration status
Homing request
Set position
Cumulative current position
Feed machine position
Details
Sets the absolute position control setting.
0: ABSDisabled (Not use the absolute position system)
1: Enabled (Use the absolute position system)
-1: Auto Automatic setting (Acquire from connected device)
Sets the current position to be the basis at the current position restoration in
order to use the absolute position system.
3: FeedMachinePosition (Feed machine position)
Sets FALSE when the homing is not required. If FALSE is set, the homing
request will not turn TRUE at the current position restoration.
FALSE: Homing is unnecessary
TRUE: Homing is necessary
Displays whether the axis requires the homing or not. If FALSE is set, the
homing request will not turn TRUE at the current position restoration.
FALSE: Homing is unnecessary
TRUE: Homing is necessary
Displays the current position restoration status.
0: NotExecute (Not executed)
1: WaitingRequest (Waiting restoration request)
2: RestoredInIncSystem (Restoration completed by incremental system)
3: RestoredInAbsSystemUnHomed (Restored in absolute position system
(Homing uncompleted))
4: RestoredInAbsSystem (Restored in absolute position system)
"0: NotExecute" is displayed when the slave device is disconnected.
The timing of turning TRUE differs depending on the absolute position
control setting. For details, refer to the following.
Page 84 Homing request
Turns FALSE when the machine homing is completed.
Stores the current position address.
• The set position is a value which rounds the cumulative current value with
the ring counter range.
Stores the current position address.
• The address is changed to the current position change value when the
current position is changed.
Stores the current position address by the machine coordinate.
• It is the cumulative current value from the homing completion position.
• The address is not change even though the current position is changed.