Mitsubishi MR-JE series, Инструкция по эксплуатации

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7. OBJECT LIBRARY
7 - 39
Positioning operation patterns can be changed with Positioning option code (60F2h). Change the setting
while 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 is not applied immediately. The new value is applied at a
positioning start (Bit 4 of Controlword is turned on) after Target reached is once turned on. The following
table shows the bits and settings of Positioning option code (60F2h).
Bit 7 Bit 6 [Pr. PT03] Rotation direction definition for the axis of rotation
0 0 _ 0 _ _
The servo motor rotates to the target position in a direction specified with a sign of the position
data.
0 1 _ 2 _ _
The servo motor rotates in the address decreasing direction regardless of the sign of the
position data.
1 0 _ 3 _ _
The servo motor rotates in the address increasing direction regardless of the sign of the
position data.
1 1 _ 1 _ _
The servo motor rotates from the current position to the target position in the shorter direction. If
the distances from the current position to the target position are the same for CCW and CW, the
servo motor rotates in the CCW direction.
The following shows the operation patterns corresponding to the settings of Positioning option code (60F2h).
(a) When POL is disabled ([Pr. PA14] = 0)
150 210
50
330
360 = 0
150 210
50
330
360 = 0
150 210
50
330
360 = 0
150 210
50
330
360 = 0
Bit 7: 0
Bit 6: 0
The servo motor rotates in a
direction specified with a sign
of the position data.
Bit 7: 0
Bit 6: 1
The servo motor rotates only
in the address decreasing
direction.
Bit 7: 1
Bit 6: 0
The servo motor rotates only
in the address increasing
direction.
Bit 7: 1
Bit 6: 1
The servo motor rotates in the
shorter direction.
(b) When POL is enabled ([Pr. PA14] = 1)
210 150
330
50
360 = 0
210 150
330
50
360 = 0
210 150
330
50
360 = 0
210 150
330
50
360 = 0
Bit 7: 0
Bit 6: 0
The servo motor rotates in a
direction specified with a sign
of the position data.
Bit 7: 0
Bit 6: 1
The servo motor rotates only
in the address decreasing
direction.
Bit 7: 1
Bit 6: 0
The servo motor rotates only
in the address increasing
direction.
Bit 7: 1
Bit 6: 1
The servo motor rotates in the
shorter direction.