Mitsubishi Electric R16MTCPU - Page 42

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2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
■Positioning data area
Device (S2)
*1
Name Description Setting range
+0 Positioning type/Number of points(R) Set the number of points for positioning
points when starting continuous trajectory
control (CPSTART).
Set "0" for a control other than continuous
trajectory control (CPSTART).
0: Start a control other than continuous
trajectory control (CPSTART).
1 to 128: Start continuous trajectory control
(CPSTART).
+1 Positioning data items setting Set the positioning data used to start
positioning. Valid/Invalid is set in units of
bits.
0: Invalid
1: Valid
(Page 44 Setting of positioning data
items)
+2 Positioning data item No.1 Set the value of positioning data in units of
two words
Range of the data item set to "1: Valid" in
setting of positioning data items
(Page 44 Setting of positioning data
items)
+3

+(2V) Positioning data item No.(V)
+(2V+1)
+(2V+2) Axis 1
data
Axis No.. Set the axis No. R64MTCPU: 1 to 64, 1001 to 1064
*2
R32MTCPU: 1 to 32, 1001 to 1032
*2
R16MTCPU: 1 to 16, 1001 to 1016
*2
+(2V+3) Unusable Set to "0" 0
+(2V+4) Positioning
point No.1
[Da.2] Control mode/
[Da.29] Interpolation
axis speed designation
Set the control mode and interpolation
axis speed designation method.
Page 45 Positioning point data
+(2V+5) [Da.10] M-code Set M-code.
Set the number of pitches against the
linear axis during helical interpolation.
M-code: 0 to 32767
Number of pitches: 0 to 999
+(2V+6) [Da.11] Dwell time Set the dwell time 0 to 5000 [ms]
+(2V+7) Torque limit value
during operation
*3
Set the torque limit value for every point 1 to 10000 [0.1%]
+(2V+8) [Da.8] Command
speed
Set the positioning speed mm: 1 to 60000000010
-2
[mm/min]
inch: 1 to 60000000010
-3
[inch/min]
degree: 1 to 214748364710
-3
[degree/min]
*4
pulse: 1 to 2147483647[pulse/s]
+(2V+9)
+(2V+10) [Da.6] Positioning
address/Travel value
Set the positioning address/travel value -2147483648 to 2147483647
[Optional units]
+(2V+11)
+(2V+12) [Da. 7] Arc address Set auxiliary point/central point address/
radius during circular interpolation
-2147483648 to 2147483647
[Optional units]
+(2V+13)
  
+(2V+10R-6) Positioning
point
No.(R)
[Da.2] Control mode/
[Da.29] Interpolation
axis speed designation
The number of positioning points set in
"Positioning type/Number of points" is
valid.
When "0" is set, only "positioning point No.
1" is valid.
Page 45 Positioning point data
+(2V+10R-5) [Da.10] M-code M-code: 0 to 32767
Number of pitches: 0 to 999
+(2V+10R-4) [Da.11] Dwell time 0 to 5000 [ms]
+(2V+10R-3) Torque limit value
during operation
*3
1 to 10000 [0.1%]
+(2V+10R-2) [Da.8] Command
speed
mm: 1 to 60000000010
-2
[mm/min]
inch: 1 to 60000000010
-3
[inch/min]
degree: 1 to 214748364710
-3
[degree/min]
*4
pulse: 1 to 2147483647[pulse/s]
+(2V+10R-1)
+(2V+10R) [Da.6] Positioning
address/Travel value
-2147483648 to 2147483647
[Optional units]
+(2V+10R+1)
+(2V+10R+2) [Da. 7] Arc address -2147483648 to 2147483647
[Optional units]
+(2V+10R+3)