6. MODBUS REGISTERS
6 - 39
6.4.6 Polarity (607Eh)
Address Name
Data
type
Read/
write
No. of Points/
No. of Registers
Continuous read/
continuous write
607Eh
Rotation direction selection (Polarity)
1 bytes
Read/
write
1 Impossible
The rotation direction selection can be set.
To set the rotation direction to position commands and speed commands, turn on or off both bit 6 and bit 7 of
Polarity (607Eh) or use [Pr. PA14]. To set the rotation direction to torque commands, turn on or off all of bit 5
to bit 7 of Polarity (607Eh) or use [Pr. PA14] and "POL reflection selection at torque mode" of [Pr. PC29].
The following table shows the descriptions of Polarity (607Eh).
Bit Description
0 Reserved
1
The value at reading is undefined. Set "0" when writing.
2
3
4
5
Torque POL
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.
6
Velocity POL
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.
7
Position POL
The polarity is reversed when this bit is turned on. Select a rotation direction by setting bit 5 to bit 7 in combination.
6.4.7 Degree (60F2h)
Address Name
Data
type
Read/
write
No. of Points/
No. of Registers
Continuous read/
continuous write
60F2h
Profile position mode setting (Positioning option code)
2 bytes
Read/
write
1 Impossible
Selecting "degree (_ 2 _ _)" in "Position data unit" of [Pr. PT01] allows for positioning with module
coordinates (axis of rotation). The following shows the differences when "degree" is selected.
Item (Index, Sub Index)
Description
Target position (607Ah, 0)
The range will be between -360.000° and 360.000°.
Position actual value (6064h, 0)
The range will be between 0° and 359.999°.
Software position limit (607Dh, 0)
The range will be between 0° and 359.999°. A value outside the range is
clamped within the range 0° to 359.999°.
Position range limit (607Bh, 0)
The range will be between 0° and 359.999°.
Touch probe pos1 pos value (60BAh, 0)
The range will be between 0° and 359.999°.
Touch probe pos1 neg value (60BBh, 0)
The range will be between 0° and 359.999°.
Touch probe pos2 pos value (60BCh, 0)
The range will be between 0° and 359.999°.
Touch probe pos2 neg value (60BDh, 0)
The range will be between 0° and 359.999°.
Home offset (607Ch, 0)
The range will be between 0° and 359.999°.
Summary of Contents for MELSERVO-JE MR-JE-C
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