5
o
peration
5-24
3.9 Limitless rotation function
This limitless rotation function achieves the multi-rotation motion in the same direction. Use of the limitless
rotation function makes it possible to support the index table using the rotary axis model. The limitless rotation
provides three kinds of operation methods, normal rotation, reverse rotation, and shorter rotation.
Setting procedure
n
As "Limitless setting" (K19) is set enabled (1), the limitless rotation select flag of the point data is enabled. At this time,
when "K19" is set at "2", all positioning operations are fixed at "shorter rotation".
Flag bit setting
Meaning
Setting Value/Setting Range
b3 to b2
Limitless rotation select
Selects the operation method of the limitless
rotation function.
b3 b2
0
0 : Normal rotation
0
1 : Reverse rotation
1
x : Shorter rotation
c
CAutIoN
the limitless rotation function is available from controller’s software version ver. 1.10.121.
Limitations (cautions) on limitless rotation
n
Absolute function
1.
When the multi-rotation motion continues in the same direction, the error alarm, "Absolute count error", occurs and
the rotation stops if the number of rotation motions exceeds its upper limit since the multi-rotation counter of the
absolute function is finite.
Therefore, when performing the multi-rotation motion in the same direction, it is recommended to set the absolute
function disabled.
Positioning operation
2.
The following describes the limitations on positioning operation when the limitless rotation function is selected.
• "Normal rotation", "reverse rotation", and "shorter rotation" functions are enabled only when the operation type is
"ABS" or "ABS Push".
• When the limitless rotation function is selected, the positioning merge operation cannot be performed. When the
limitless rotation function is executed with "ABS Merge", "INC Merge", "ABS
→
Push" or "INC
→
Push" set for the
operation type, the error alarm, "4B; LIMITLESS ERROR", occurs.
• The JOG operation stops temporarily when it steps over the 0° (360°) boundary. (The maximum movable range per
operation is limited to 360°.)
Point data setting
3.
The settable position data in the limitless rotation is limited to 0 to 360.00° when the operation type is "ABS". It is
limited to -360.00 to 360.00° when the operation type is "INC".
When the operation is performed with data beyond this limit written, the error alarm, "4B; LIMITLESS ERROR",
occurs. At this time, the softlimit function is disabled.
Details of limitless rotation
n
The limitless rotation provides three kinds of operation methods, normal rotation, reverse rotation, and shorter rotation.
The following describes operation examples of operation 1 (P1
→
P2) and operation 2 (P2
→
P1).
Limitless rotation method
0° (P1)
90°
(P2)
180°
270°
P1
P2
Operation 1
Operation 2
P1
P2
Operation 1
Operation 2
P1
P2
Operation 1
Operation 1
Operation 2
Operation 1 (P1
→
P2)
Operation 2 (P2
→
P1)
1. Normal rotation
2. Reverse rotation
3. Shorter rotation
The positioning operation with
"normal rotation" specified
moves in the plus direction of
the coordinates regardless of
the movement distance.
The positioning operation with
"reverse rotation" specified
moves in the minus direction of
the coordinates regardless of
the movement distance.
The positioning operation with
"shorter rotation" specified
moves in a rotation direction of
shorter movement distance.
23541-M0-00
Number
Operation type
-
Position
[mm]
Speed
[%]
Acceleration
[%]
Deceleration
[%]
P1
ABS
0.00
100
100
100
P2
ABS
90.00
100
100
100
