6.3 Moving Mode and Coordinate Settings
6.3.1 When the Coordinates are the Linear Type
6-8
6.3
Moving Mode and Coordinate Settings
Use the following parameters to set the moving mode and the coordinates.
6.3.1
When the Coordinates are the Linear Type
For a ball screw or other equipment with linear coordinates, set Pn637 to n.
0 (Moving
Mode), set the forward software limit (P-LS) in Pn638, and set the reverse software limit (N-LS)
in Pn63A.
One of the following errors will occur if the positioning target point exceeds a software limit:
Moving Disabled Error due to P-LS (E4DE) or Moving Disabled Error due to N-LS (E4EE).
One of the following errors will also occur if ±INFINITE is specified for the target position (POS)
in the program table: Moving Disabled Error due to P-LS (E4DE) or Moving Disabled Error due
to N-LS (E4EE).
If the motor reaches a software limit during jog speed table operation, the motor will be
stopped at the deceleration rate set in Pn640.
If you set both Pn638 and Pn63A to 0, the software limits are disabled.
The software limits are enabled when homing is completed.
Parameter
Meaning
When
Enabled
Classifica-
tion
Pn637
n.
0
[default
setting]
Sets coordinates to linear type.
After restart
Setup
n.
1
Sets coordinates to rotary type. Moving mode is set as
shortest path.
n.
2
Sets coordinates to rotary type. Moving mode is
always set as forward.
n.
3
Sets coordinates to rotary type. Moving mode is
always set as reverse.
Pn638
Linear Type (Pn637 = n.
0): Forward Software Limit (P-LS)
Rotary Type (Pn637
≠
n.
0): End Point of Rotational Coordinates
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
-536,870,911 to
+536,870,911
Reference unit
+536,870,911
After restart
Setup
Pn63A
Linear Type (Pn637 = n.
0): Reverse Software Limit (N-LS)
Rotary Type (Pn637
≠
n.
0): Starting Point of the Rotational Coordinates
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
-536,870,911 to
+536,870,911
Reference unit
-536,870,911
After restart
Setup
Pn63C
Origin (Incremental Encoder)
Absolute Encoder Offset (Absolute Encoder)
Setting Range
Setting Unit
Default Setting
When Enabled
Classification
-1,073,741,823
to
+1,073,741,823
Reference unit
0
After restart
Setup
Forward
S
oftware Limit
(P-L
S
): Pn6
3
8
Rever
s
e
S
oftware Limit
(N-L
S
): Pn6
3
A
Workpiece
