Index Structure - Parker P Series User Manual

If the value exceeds (Modulo Factor-1) during forward rotation, the lowest value (0)
is displayed. If the value exceeds 0 during forward rotation, the lowest value
(Modulo Factor-1) is displayed.
The control mode (0x3000) must be set to rotary coordinate when performing the 5
PTP position controls below, under the precondition that the Modulo Factor is set
properly.
A. Rotary Absolute Move
The direction is determined based on the relationship between the current
position and the distance value. The direction is not necessarily determined
based on shorter movement. Depending on the distance value, the motor
rotates within one cycle (the value set at the Modulo Factor)
B. Rotary Relative Move
Position operation is performed in the positive direction when the distance
value is +, in the negative direction when the distance value is -. Depending
on the distance value, the motor may rotate more than one cycle (the value
set at the Modulo Factor)
C. Rotary Shortest Move
The direction is determined based on the shorter distance from the current
position. Depending on the distance value, the motor rotates within one
cycle (the value set at the Modulo Factor. The distance value is handled as
absolute value.
D. Rotary Positive Move
The motor is operated always in the + direction. Depending on the distance
value, the motor rotates within one cycle (the value set at the Modulo Factor.
The distance value is handled as absolute value.
E. Rotary Negative Move
The motor is operated always in the - direction. Depending on the distance
value, the motor rotates within one cycle (the value set at the Modulo Factor.
The distance value is handled as absolute value.

8.1.3 Index Structure

The index structure is composed as follows.
Parker Hannifin
P series User Guide 164