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App. - 25
APPENDIX
(c) Position command unit
As "degree" cannot be used as a position command unit, note the following when using the axis as a
degree axis.
POINT
For positioning the automatic operation, etc., set "Relative position command"
to the auxiliary command of the point table, and set the difference of the
travel distance to the target position in the position data. Also, the rotating
direction is determined by the code of the position data. Use the user
program for shortcut control of a degree axis.
The function to judge based on the current command position or the current
feedback position such as the position switch, software limit, other axes start
cannot be used.
1) When the movement range is limited (-2147483648 to 2147483647)
For the electronic gear setting, set values so that conversion from travel distance per motor revolution
to the number of encoder pulses per revolution does not produce a round value for electronic gear
processing.
In this case, the travel distance per motor revolution can be converted to the number of encoder
pulses per revolution by the following formula.
Example: When the position command unit is 0.001
and the travel distance per motor revolution is
360000 [0.001
]
Electronic
gear numerator
Electronic
gear denominator
Number of encoder pulses
per revolution [pulse]
Travel distance per motor revolution
[position command unit]
Number of encoder pulses
per revolution [pulse]
360000
Electronic gear numerator
Electronic gear denominator
Number of encoder pulses
per revolution [pulse]
Travel distance per motor revolution
[position command unit]