NSK Megatorque PS Series, User Manual

Page: 194 / 370

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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 8-33: Absolute posiitoning command
Command Function
Initial
setting
Data range Unit
AR
Absolute positioning in units of pulse
(Shorter way)
– 0 to 2 621 439
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
pulse
AD
Absolute positioning in units of degree
(Shorter way)
– 0 to 35 999
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
0.01°
AQ
Absolute positioning with user scale
(Shorter way)
– 0 to QR-1
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
360°/parameter
QR