NSK EDD Megatorque Motor, User Manual

Page: 218 / 398

8. More Advanced Function
— 8-34 —
8.6.3. Shorter Way Positioning

Shorter way positioning is a function to move the Motor in the shorter way from the current position to the
target position.

For example, the Driver Unit performs the shorter way positioning when the positioning with
the command of “AD24000” without any option is inputted.

The function of shorter way positioning includes recognition of the software over travel limit zone.

The Motor rotates in the direction not to enter the off-limits area if it exists in the direction of
shorter way positioning.
Fig 8-15: Example of shorter way positioning
Current
position
Target
position
Shorter way
Current
position
Target
position
Off-limits area
(Set by the parameters OTP and OTM)
Opposite
direction to
off-limits area
If the off-limits area exists In case of no off-limits area

The function of shorter way positioning is available for the absolute positioning commands shown in the
table below.
Table 8-34: Absolute positioning command
Command Function
Initial
setting
Data range Unit
AR
Absolute positioning in units of pulse
(Shorter way)
–
0 to 2 621 439
pulse AR/PL
Absolute positioning in units of pulse
([+ direction] [Example:AR100000/PL])
–
0 to 2 621 439
AR/MI
Absolute positioning in units of pulse
([– direction] [Example:AR100000/MI])
–
0 to 2 621 439
AD
Absolute positioning in units of degree
(Shorter way)
–
0 to 35 999
0.01° AD/PL
Absolute positioning in units of degree
([+ direction] [Example:AD9000/PL])
–
0 to 35 999
AD/MI
Absolute positioning in units of degree
([– direction] [example: AD9000/MI])
–
0 to 35 999
AQ
Absolute positioning with user scale
(Shorter way)
–
0 to QR-1
360°/parameter
QR
AQ/PL
Absolute positioning with user scale
([+ direction] [Example: AQ180000/PL])
–
0 to QR-1
AQ/MI
Absolute positioning with user scale
([– direction] [Example: AQ180000/MI])
–
0 to QR-1