Mitsubishi Electric A173UHCPU Programming Manual page 157

7. POSITIONING CONTROL
(3) Positioning control
Positioning control using degrees as control units is described below.
(a) Absolute data method (ABS " instructions)
The absolute data method uses the current value as reference to position
the axis in the shortest distance to the designated address.
Examples
(1) Positioning occurs clockwise to travel from the current value of 315.00000°
to 0°.
(2) Positioning occurs counterclockwise to travel from the current value of 0°
to 315.00000°.
315.00000° → 0°
315.00000°
POINTS
(1) In some cases the stroke limit settings determine clockwise or
counterclockwise rotation and absolute data method positioning in the
shortest distance may not be possible.
Example
Travel from the current value 0° to 315.00000° must be clockwise if the
stroke limit lower limit value is set to 0° and the upper limit value is set to
345.00000°.
345.00000°
315.00000°
(2) Set positioning addresses in the range between 0° and 360°.
Use the incremental method for positioning in excess of one revolution.
(b) Incremental method (INC " instructions)
The incremental method positions the axis by a designated travel value in
the designated direction.
The travel direction is designated by the sign of the travel value, as follows:
1) Positive travel value ................clockwise rotation
2) Negative travel value...............counterclockwise rotation
POINT
The incremental method permits positioning in excess of 360°.
0°
315.00000°
0°
Clockwise positioning
7 − 10
0° → 315.00000°
0°