Control Using Degrees As Control Units - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.1.5

Control using degrees as control units

If the control units are degrees, the following items differ from when other control
units are set.
(1) Current address
When degrees are set, the current addresses become ring addresses between
0° and 360°.
(2) Stroke limit valid/invalid setting
For degree settings, the upper limit value and lower limit value lie in the range
between 0° and 359.99999°.
(a) If the stroke limit is valid
If the stroke limit is valid, set the stroke limit upper limit value and lower limit
value in a clockwise direction.
315.00000 °
1) For travel in area A, set the limit values as follows:
a) Stroke limit lower limit value: 315.00000°
b) Stroke limit upper limit value: 90.00000°
2) For travel in area B, set the limit values as follows:
a) Stroke limit lower limit value: 90.00000°
b) Stroke limit upper limit value: 315.00000°
(b) If the stroke limit is invalid
If the stroke limit is invalid, set the stroke limit upper limit value equal to the
lower limit value.
The stroke limit settings are ignored during control.
POINT
(1) Circular interpolation is not possible for axis set with the stroke limit invalid.
(2) After you have changed the upper/lower limit value with the stroke limit
valid, perform zeroing.
(3) When the stroke limit is valid in an incremental system, perform zeroing
after power-on.
359.99999° 359.99999°
0° 0° 0°
0 °
Area A
Area B
7 − 9
Clockwise
90.00000 °