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10 OBJECT DICTIONARY
10.4 Object dictionary details (objects in the 6000s)
Positioning option code (60F2h)
Object list
"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.
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.
Index
Sub Index
Name
Data Type
Access
No. of Points/
No. of Registers
Continuous read/
continuous write
60F2h
0
Positioning option code
2Byte
rw
1
Impossible
Item (address, sub-address)
Description
Target position (607Ah, 0)
The range changes to -360.000° to 360.000°.
Position actual value (6064h, 0)
The range changes to 0° to 359.999°.
Software position limit (607Dh, 0)
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°.
Touch probe pos1 pos value (60BAh, 0)
The range changes to 0° to 359.999°.
Touch probe pos1 neg value (60BBh, 0)
The range changes to 0° to 359.999°.
Touch probe pos2 pos value (60BCh, 0)
The range changes to 0° to 359.999°.
Touch probe pos2 neg value (60BDh, 0)
The range changes to 0° to 359.999°.
Home offset (607Ch, 0)
The range changes to 0° to 359.999°.
Current position (2B2Fh, 0)
The range changes to 0° to 359.999°.
Command position (2B30h, 0)
The range changes to 0° to 359.999°.
Alarm Monitor 47 Current position (2BAFh, 0)
The range changes to 0° to 359.999°.
Alarm Monitor 48 Command position (2BB0h, 0)
The range changes to 0° to 359.999°.
Position range output address ([Pr. PT19] to [Pr. PT22])
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°.
Bit 7
Bit 6
[Pr. PT03]
Rotation direction definition for the axis of rotation
0
0
_ 0 _ _
Rotates to the target position in the direction specified with the sign of the position data.
0
1
_ 2 _ _
Rotates in the address decreasing direction regardless of the sign of the position data.
1
0
_ 3 _ _
Rotates in the address increasing direction regardless of the sign of the position data.
1
1
_ 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.
