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■Degree unit
When [Pr. PA14 Travel direction selection] is "0" (initial value), set the target position with the CCW direction as + and the CW
direction as -.
When the direction is specified by absolute value, the direction of rotation can be specified by + or -.
Ex.
The following shows a setting example when [Pr. PA14] is set to "0".
0
(-360)
Position data
90
setting range
(-270)
[degree]
180
(-180)
• Coordinate system in degree unit
Coordinates are determined with respect to the position of 0 degree.
+ direction: 0, 90, 180, 270, 0, in that order.
- direction: 0, -90, -180, -270, -360 in that order.
270 degrees and -90 degrees are the same position.
0 degree, 360 degrees, and -360 degrees are the same position.
The direction for moving to the target position is the direction set in [Pr. PT03.2 Degree unit rotation direction selection].
[Pr. PT03.2]
0 (Specified rotation direction)
1 (Rotation in the direction with
the shortest distance)
2 (Rotation in the address
decreasing direction)
3 (Rotation in the address
increasing direction)
Point table operation (absolute value command method)
This a method used by specifying the absolute and relative position commands with the auxiliary function of the point table.
Point table
Set each value of the point table with [Point table 001 (Obj. 2801h)] to [Point table 255 (Obj. 28FFh)].
Set the position data, servo motor speed, acceleration time constant/acceleration, deceleration time constant/deceleration,
dwell time, auxiliary function, and M code to the point table.
When "0", "1", "8", or "9"is set for the auxiliary function, the absolute position command method is applied to the point table.
When "2", "3", "10", or "11"is set for the auxiliary function, the relative position command method is applied to the point table.
270
(-90)
Servo motor rotation direction
Rotates to the target position in the direction specified with the sign of the position data.
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.
Rotates in the address decreasing direction regardless of the sign of the position data.
Rotates in the address increasing direction regardless of the sign of the position data.
7 POSITIONING MODE (POINT TABLE METHOD) (CP)
7.2 Point table mode (pt)
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