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Positioning option code (60F2h)
Object list
Index
Sub Index
60F2h
0
"degree (_ 2 _ _)" can be set for "Unit for position data" in [Pr. PT01 Command mode selection].
When "degree" is selected, the range of some objects changes as follows. The unit is the unit for each object.
Item (address, sub-address)
Target position (607Ah, 0)
Position actual value (6064h, 0)
Software position limit (607Dh, 0)
Touch probe pos1 pos value (60BAh, 0)
Touch probe pos1 neg value (60BBh, 0)
Touch probe pos2 pos value (60BCh, 0)
Touch probe pos2 neg value (60BDh, 0)
Home offset (607Ch, 0)
Current position (2B2Fh, 0)
Command position (2B30h, 0)
Alarm Monitor 47 Current position (2BAFh, 0)
Alarm Monitor 48 Command position (2BB0h, 0)
Position range output address ([Pr. PT19] to [Pr. PT22])
Operation pattern setting
The positioning operation pattern can be changed with the Positioning option code (60F2h) or [Pr. PT03 Feeding function
selection]. Change the setting when the servo motor is stopped (Target reached is on). If the setting is changed while the
servo motor is rotating (Target reached is off), the setting value will be reflected when the positioning starts (Controlword bit 4
is on) after Target reached turns on. The following table lists the Positioning option code (60F2h) bits and [Pr. PT03] settings.
Bit 7
Bit 6
0
0
0
1
1
0
1
1
10 OBJECT DICTIONARY
300
10.4 Object dictionary details (objects in the 6000s)
Name
Positioning option code
Description
The range changes to -360.000° to 360.000°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°. When an out-of-range value is set, the value is
clamped within the range of 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°.
The range changes to 0° to 359.999°. When an out-of-range value is set, the value is
clamped within the range of 0° to 359.999°.
[Pr. PT03]
Rotation direction definition for the axis of rotation
_ 0 _ _
Rotates to the target position in the direction specified with the sign of the position data.
_ 2 _ _
Rotates in the address decreasing direction regardless of the sign of the position data.
_ 3 _ _
Rotates in the address increasing direction regardless of the sign of the position data.
_ 1 _ _
Rotates in the direction with the shorter distance from the current position to the target
position. If the distance from the current position to the target position is the same in the
CCW and CW directions, the servo motor rotates in the CCW direction.
Data Type
Access
2Byte
rw
No. of Points/
Continuous read/
No. of Registers
continuous write
1
Impossible
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