4. Indexing Position Operation
4.2.4 Rotary Absolute / Relative Move
Rotary Absolute Move
This mode can be used only when the coordinate is set to rotary coordinate.
The direction of rotation is determined based on the relationship between the start position
and the command position. If the start position is less than the command position, the motor
rotates forward. In the opposite case, the motor rotates counter-clock wise. The direction is
not necessarily determined based on shorter movement.
Distance may be set to above one cycle (the value set for Modulo Factor: 0x240C), and
negative values can be input (if Modulo Factor is 360o, -90ois the same as 270o)In this case,
the final position is determined considering the Modulo Factor. Inputting a negative value is a
useful way to make the motor rotate reverse past the 0 position.
Depending on the command value, the motor may rotate more than 1 cycle.
The figure below shows forward rotation from 30o to 240o and reverse rotation from 300o to
240o.
Rotary Relative Move
This mode can be used only when the coordinate is set to rotary coordinate.
If the distance has a positive value, the motor rotates in the positive direction, and if the
distance has a negative value, the motor rotates in the negative direction. Distance may be
set to above one cycle (the value set for Modulo Factor: 0x240C), and depending on the
command value, the motor may rotate more than 1 cycle.
The figure below shows rotating +180o from 30o to 210o and rotating -120ofrom 30o to-90o
4-20
