Mitsubishi Electric GOT 1000 Series, Connection Manual

Page: 111 / 436

2. CONNECTION TO IAI ROBOT CONTROLLER
2.6 Device Range that Can Be Set
2 - 33
1
P
R
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ARA
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P
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OCEDURES
FOR
MONIT
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ING
2
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IAI
ROBO
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T
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L
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3
CONNECTION T
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AZBI
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NTR
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EQUI
PMENT
4
CONNECTION T
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OMRON PLC
5
CONNECTI
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OMRO
N TEMPERA
TURE
CONTROL
LE
R
6
CONNECTION T
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KE
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C
7
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ION T
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PLC
8
CONN
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
Register (R) (Word device/Double word device)
The following shows device numbers which can be set for the register and the corresponding device contents.
Register Data length Area name Description
Abbrevi
ation
0000 to 0CFF - (Reserved for system)
0D00 Word
I/O control information category
Device control register 1 DRG1
0D01 Word Device control register 2 DRG2
0D03 Word Position number specification register POSR
0D04 to 0FFF - (Reserved for system)
1000 to 3FFF
Position table information
(low-speed memory area)
Offset (Hex.)
Double word +0000
H
Target position PCMD
Double word +0002
H
In-position bandPositioning
band
INP
Double word +0004
H
Speed command VCMD
Double word +0006
H
Individual zone bo ZNMP
Double word +0008
H
Individual zone boundary - ZNLP
Word +000A
H
Acceleration command ACMD
Word +000B
H
Deceleration command DCMD
Word +000C
H
Push-current limiting value PPOW
Word +000D
H
Load current threshold LPOW
Word +000E
H
Control flag specification CTLF
(Calculation of detailed device number)
Device number (Hex) = 1000
H
+ (16 Position number (0 to 767))
*1
+ (Offset value corresponding to the device content)
H
Example)
Position number: 5
Device content: Speed command (Offset value = 0004
H
)
Device number (Hex) = 1000
H
+ (16 5 = 80)
*1*2
+ 0004
H
= 1000
H
+ 50
H
*2
+ 0004
H
= 1054
H
*1 Calculated in decimal.
*2 Converting 16 5 = 80 to hexadecimal results 50
H
.
4000 to 8FFF - (Reserved for system)
9000 Double word
Controller monitor information
category
Current position monitor PNOW
9002 Word Present alarm code query ALMC
9003 Word Input port query DIPM
9004 Word Output port monitor query DOPM
9005 Word Device status 1 query DSS1
9006 Word Device status 2 query DSS2
9007 Word Expansionded device status query DSSE
9008 Double word System status query STAT
900A Double word Current speed monitor VNOW
900C Double word Current ampere monitor CNOW
900E Double word Deviation monitor DEVI
9010 Double word System timer query STIM
9012 Word Special input port query SIPM
9013 Word Zone status query ZONS
9014 Word
Completed position numberPosition complete number
status query
POSS
9015 to 97FF - (Reserved for system)
9800 Word
Position command
category
Position movement command register POSR
9801 to 98FF - (Reserved for system)
(Continued to next page)