Mitsubishi Electric MELSEC iQ-R RD78G4 - 2.2 Command Generation Axis

2 INPUT AXIS MODULE
2.1 Servo Input Axis
33
2
Servo input axis monitor data
n: Axis No. - 1
*1 Servo input axis position units (Page 29 Servo input axis position units)
*2 Servo input axis speed units (Page 29 Servo input axis speed units)
[Md.300] Servo input axis position value
The position value for the servo input axis is stored in servo input axis position units (Page 29 Servo input axis position
units) as follows.
The position value for the servo input axis is the value after processing the smoothing, the phase compensation and the
rotation direction restriction.
[Md.301] Servo input axis speed
The speed for the servo input axis is stored in servo input axis speed units (Page 29 Servo input axis speed units).
The speed for the servo input axis is the value after processing smoothing, phase compensation, and rotation direction
restriction.
[Md.302] Servo input axis phase compensation amount
The phase compensation amount for a servo input axis is stored in servo input axis position units (Page 29 Servo input
axis position units).
The phase compensation amount for a servo input axis is the value after processing smoothing and phase compensation.
Monitor item Storage details Monitor value Buffer memory address
Axis 1 to axis 16
[Md.300]
Servo input axis position value
• The position value for the servo input axis
is stored.
Refresh cycle: Operation cycle
■Monitoring is carried out in
decimal.
-2147483648 to 2147483647
[Servo input axis position units
*1
]
33120+10n
33121+10n
[Md.301]
Servo input axis speed
• The speed for the servo input axis is
stored.
Refresh cycle: Operation cycle
■Monitoring is carried out in
decimal.
-2147483648 to 2147483647
[Servo input axis speed units
*2
]
33122+10n
33123+10n
[Md.302]
Servo input axis phase compensation
amount
• The current phase compensation amount
is stored.
Refresh cycle: Operation cycle
■Monitoring is carried out in
decimal.
-2147483648 to 2147483647
[Servo input axis position units
*1
]
33124+10n
33125+10n
[Md.303]
Servo input axis rotation direction
restriction amount
• While the rotation direction is restricted,
the accumulation for the input movement
amount in the opposite direction of the
enabled direction is stored.
Refresh cycle: Operation cycle
■Monitoring is carried out in
decimal.
-2147483648 to 2147483647
[Servo input axis position units
*1
]
33126+10n
33127+10n
Setting value of "[Pr.300] Servo
input axis type"
Storage details
1: Command position value
2: Actual position value
• The accumulative position value started with "[Md.20] Command position value"/"[Md.101] Actual position
value" for the connection to the servo amplifier is stored. It is also stored in the range from -21474.83648 to
21474.83647[degree] for degree units.
• When the "[Md.20] Command position value"/"[Md.101] Actual position value" is changed by the home position
return or the current value change, the value is changed to the new current value.
3: Servo command value
4: Feedback value
• When of the absolute position detection system setting is invalid, the accumulative position value that starts
from 0 for the connected servo amplifier is stored.
• When of the absolute position detection system setting is valid, the accumulative position value that starts from
the absolute position command/encoder feedback pulse for the connected servo amplifier is stored.
• The servo input axis position value will not change, even if the home position return or the current value is
changed.