Mitsubishi MR-JE-100A - Page 367

10. COMMUNICATION FUNCTION (MITSUBISHI ELECTRIC GENERAL-PURPOSE AC SERVO PROTOCOL)
10 - 8
(8) Point table setting data (command [4] [0], [4] [5], [5] [0], [5] [4], [5] [8], [6] [0], [6] [4])
Command Data No. Description
Control
mode
Frame
length
CP CL
[4] [0] [0] [1] to [1] [F] Reading position data of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
8
[4] [5] [0] [1] to [1] [F] Reading M code of each point table
This command will be available in the future.
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[5] [0] [0] [1] to [1] [F] Reading speed data of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[5] [4] [0] [1] to [1] [F] Reading acceleration time constant of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[5] [8] [0] [1] to [1] [F] Reading deceleration time constant of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[6] [0] [0] [1] to [1] [F] Reading dwell of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
[6] [4] [0] [1] to [1] [F] Reading auxiliary function of each point table
The data No. (hexadecimal) value which is converted to decimal corresponds to
the point table No.
(9) Position data unit/Current position latch data (command [6] [C])
Command Data No. Description
Control
mode
Frame
length
CP CL
[6] [C] [0] [0] Reading position data unit
_ _ _ x 0: mm, 1: inch, 2: pulse, 3: degree
_ _ x _ 0: Enabled, 1: Disabled
4
[0] [1] Reading current position latch data
Reads data latched at rising edge of LPS signal using LPOS command in the
program operation.
12
(10) General purpose register (Rx) value (command [6] [D])
Command Data No. Description
Control
mode
Frame
length
CP CL
[6] [D] [0] [1] Reading general purpose register (R1) value
8
[0] [2] Reading general purpose register (R2) value
[0] [3] Reading general purpose register (R3) value
[0] [4] Reading general purpose register (R4) value
(11) General purpose register (Dx) value (command [6] [E])
Command Data No. Description
Control
mode
Frame
length
CP CL
[6] [E] [0] [1] Reading general purpose register (D1) value
8
[0] [2] Reading general purpose register (D2) value
[0] [3] Reading general purpose register (D3) value
[0] [4] Reading general purpose register (D4) value