Mitsubishi Electric R16MTCPU - Page 44

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2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
*1 The "R" and "V" of "+ (2V+10R+3)" in the positioning data area explanation indicate the following items for the offset values.
 R: Positioning point
 V: Positioning data item
Calculate the offset value for each item as follows.
(Example) When positioning data item is "5", and positioning point is "20"
+(2V+10R+3) = (25+1020+3) = +213
*2 When using command generation axis
+(2V+30R-2) Axis 3
data
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+30R-1) [Da.10] M-code M-code: 0 to 32767
Number of pitches: 0 to 999
+(2V+30R) [Da.11] Dwell time 0 to 5000 [ms]
+(2V+30R+1) Torque limit value
during operation
*3
1 to 10000 [0.1%]
+(2V+30R+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+30R+3)
+(2V+30R+4) [Da.6] Positioning
address/Travel value
-2147483648 to 2147483647
[Optional units]
+(2V+30R+5)
+(2V+30R+6) [Da. 7] Arc address -2147483648 to 2147483647
[Optional units]
+(2V+30R+7)
+(2V+30R+8) Axis 4
data
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+30R+9) Unusable 0
+(2V+30R+10) Positioning
point No.1
[Da.2] Control mode/
[Da.29] Interpolation
axis speed designation
Page 45 Positioning point data
+(2V+30R+11) [Da.10] M-code M-code: 0 to 32767
Number of pitches: 0 to 999
+(2V+30R+12) [Da.11] Dwell time 0 to 5000 [ms]
+(2V+30R+13) Torque limit value
during operation
*3
1 to 10000 [0.1%]
+(2V+30R+14) [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+30R+15)
+(2V+30R+16) [Da.6] Positioning
address/Travel value
-2147483648 to 2147483647
[Optional units]
+(2V+30R+17)
+(2V+30R+18) [Da. 7] Arc address -2147483648 to 2147483647
[Optional units]
+(2V+30R+19)
 
+(2V+40R) Positioning
point
No.(R)
[Da.2] Control mode/
[Da.29] Interpolation
axis speed designation
Page 45 Positioning point data
+(2V+40R+1) [Da.10] M-code M-code: 0 to 32767
Number of pitches: 0 to 999
+(2V+40R+2) [Da.11] Dwell time 0 to 5000 [ms]
+(2V+40R+3) Torque limit value
during operation
*3
1 to 10000 [0.1%]
+(2V+40R+4) [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+40R+5)
+(2V+40R+6) [Da.6] Positioning
address/Travel value
-2147483648 to 2147483647
[Optional units]
+(2V+40R+7)
+(2V+40R+8) [Da. 7] Arc address -2147483648 to 2147483647
[Optional units]
+(2V+40R+9)
Device (S2)
*1
Name Description Setting range