Chapter 4 Configuring the Joint Parameters
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(3) When a joint keeps on rotating in the same direction, the current value might
jump (overflow) suddenly and greatly. Performing an absolute motion in this state
moves the joint to the position different from the specified one.
(4) In a boundless rotation motion command, the effective number of digits is 7. If a
value exceeding 7 digits is specified, the actual rotation amount will differ from
the specified one.
For example
If DRIVE (5, 11111115555) is specified, 11111115555 will be internally interpreted
as 1.111111*E+10 so that 5555 will be trimmed due to the definition of a single
precision floating point number.
(5) If a large value is specified as the amount of movement at one time in boundless
rotation, then the "Out of range" error will occur. The quantum of movement
depends on the gear ratio.
(6) When a joint is used as a rotary joint requiring positioning, e.g., index table,
observe the following instructions.
- For the reduction gear, enter an integer multiple. Entering a non-integer
multiple will result in a positioning error after a lot of rotations.
- If a relative motion command specifies a motion amount using a decimal, the
joint could reach the position slightly different from the specified one. Using
such a relative motion command repeatedly will result in a positioning error
after a lot of rotations.
To avoid such a positioning error, correct the difference from the specified
position, for example, using an absolute motion command or MoveIndexHome
library after completion of one rotation to return the joint to the home position.
(7) Rotating a joint exceeding ±32768 in the number of motor rotations from the
reference position (CALSET position) with the controller power being off will
require CALSET operation when the controller is powered on at the next time.
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