3. L7P Indexer Overview
The rotary coordinate expresses position values only in positive values. The expressed
range depends on the set value of the modulo factor, within the range of 0 ~ (Modulo
Factor-1).
If the value exceeds (Modulo Factor-1) during forward rotation, the lowest value (0) is
displayed. If the value exceeds 0 during forward rotation, the lowest value (Modulo
Factor-1) is displayed.
Position
Forward rotation
Reverse rotation
The control mode (0x3000) must be set to rotatry coordinate when performing the 5 PTP
position controls below, under the precondition that the Modulo Factor is set properly.
Rotary Absolute Move
The direction is determined based on the relationship between the currentposition and the distance
value. The direction is not necessarily determined based on shorter movement. Depending on the
distance value, the motor rotates within one cycle (the value set at the Modulo Factor)
Rotary Relative Move
Position operation is performed in the positive direction when the distance value is +, in the
negative direction when the distance value is -. Depending on the distance value, the motor may
rotate more than one cycle (the value set at the Modulo Factor)
Rotary Shortest Move
The direction is determined based on the shorter distance from the current position. Depending on
the distance value, the motor rotates within one cycle (the value set at the Modulo Factor. The
distance value is handled as absolute value.
Rotary Positive Move
The motor is operated always in the + direction. Depending on the distance value, the motor rotates
within one cycle (the value set at the Modulo Factor. The distance value is handled as absolute
value.
Rotary Negative Move
The motor is operated always in the - direction. Depending on the distance value, the motor rotates
within one cycle (the value set at the Modulo Factor. The distance value is handled as absolute
value.
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