110Step OperationExample of Rotary Axis Operation SettingIf the rotary axis operation is specified, the shaft moves in a direction nearest from the current position to atarget position of a step parameter that the rotary axis operation (rotary) has been specified regarding32.Pr03 (Movement per rotation in rotation coordinates) as 360 degrees.A current position of running motor is automatically limited in a range between 0 and [travel per rotation at arotary coordinate –1] as shown below.Origin = 0... , 2, 1 9999, 9998, ...Point 1 = 1250Point 4 = 5000Point 7 = 8750Point 3 = 3750 Point 5 = 6250Point 6 = 7500Point 2 = 2500• If travel per rotation at a rotary coordinate is set to “10000” 32.Pr** 03Input value 10000Parameter name Movement per rotation in rotation coordinates• Setting of 32-bit positioning parameterRotary axis operation (Rotary) Rotary axis operation (Rotary) Rotary axis operation (Rotary) Rotary axis operation (Rotary) Rotary axis operation (Rotary) Rotary axis operation (Rotary) Rotary axis operation (Rotary)1250 2500 3750 5000 6250 7500 8750VEL1 VEL1 VEL1 VEL1 VEL1 VEL1 VEL1ACC1 ACC1 ACC1 ACC1 ACC1 ACC1 ACC1DEC1 DEC1 DEC1 DEC1 DEC1 DEC1 DEC1Single Single Single Single Single Single Single01 02 03 04 05 06 07• Setting of step parameterOperation mode Position/Waiting time Speed Acceleration Deceleration BlockNo.Caution1) Control modeThe rotary axis operation is enabled only for the position control (SV.Pr02 = 0). If the rotary axis operationis specified for the full-closed control (SV.Pr02 = 6), an error code No. 69 (undefined data error protection)is shown.2) Restrictions on parameterIf the rotary axis operation is used, the restrictions below are imposed to the parameters not to exceed thelimitation of the current position.Name Absolute encoder set up Home complete type Homing skip Block operation type Home offset Setting of maximum movement in plusdirection Setting of maximum movement in minus direction Movement per rotation in rotation coordinatesSet value 1 1 0 0 2 to 1073741824 0Description The rotary axis operation requires homing. If “0” or “2” isset, an error code No. 69 (undefined data error protection)is shown when the rotary shaft operation starts. Be sure to set “1” if you use the home offset function. The rotary axis operation requires homing. The combined block operation cannot be used. For 16.Pr37 = 0, set “0”. For 16.Pr37 = 0, set a value in arange between 0 and [movement per rotation at a rotarycoordinate - 1]. For any invalid value out of specified range, an error codeNo. 69 (undefined data error protection) is shown whenthe positioning operation starts. A maximum travel limitation error protection cannot beused for the rotary axis operation.PrNo. SV.Pr0B 16.Pr37 16.Pr38 16.Pr54 32.Pr00 32.Pr03 32.Pr01 32.Pr02
