Mitsubishi MELSEC-Q QD77MS - Page 326

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Chapter 6 Sequence Program Used for Positioning Control
Device
Device
name
Axis 1 Axis 2 Axis 3 Axis 4
Application Details of storage
D52
Number of pulses per rotation
(low-order 16 bits)
D53
Number of pulses per rotation
(high-order 16 bits)
Pr.2
Number of pulses per rotation
(AP)
D54
Movement amount per rotation
(low-order 16 bits)
D55
Movement amount per rotation
(high-order 16 bits)
Pr.3
Movement amount per
rotation (AL)
D56 Bias speed at start (low-order 16 bits)
D57 Bias speed at start (high-order 16 bits)
Pr.7
Bias speed at start
D68 Point 1 (shape, start No.)
D69 Point 2 (shape, start No.)
D70 Point 3 (shape, start No.)
D71 Point 4 (shape, start No.)
D72 Point 5 (shape, start No.)
D73 Point 1 (special start instruction)
D74 Point 2 (special start instruction)
D75 Point 3 (special start instruction)
D76 Point 4 (special start instruction)
D77
Block start data (Block 0)
Point 5 (special start instruction)
Da.11
Shape
Da.12
Start data No.
Da.13
Special start instruction
Da.14
Parameter
D78 Torque change value —
D79 Error code
Md.23
Axis error No.
D80 Servo series
Pr.100
Servo series
D81 Absolute position system valid/invalid
Absolute position detection system
(PA03)
D82 Unused —
D85 Return home position method
Pr.43
OPR method
D100 Positioning identifier
D101 M code
D102 Dwell time
D103 Unused
D104 Command speed (low-order 16 bits)
D105 Command speed (high-order 16 bits)
D106 Positioning address (low-order 16 bits)
D107 Positioning address (high-order 16 bits)
D108
Arc address
(low-order 16 bits)
Data register
D109
—
Arc address
(high-order 16 bits)
Data No.1
Da.1
Operation pattern
Da.2
Control system
Da.3
Acceleration time No.
Da.4
Deceleration time No.
Da.5
Axis to be interpolated
Da.6
Positioning address/
movement amount
Da.7
Arc address
Da.8
Command speed
Da.9
Dwell time
Da.10
M code