Mitsubishi Electric MELSEC iQ-R16MTCPU, Programming Manual

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98
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
■
Input situation of positioning data in the Motion CPU
The internal processing shown above is described in the next page.
6 7 5 4 3 2 1 0
(1) (3)
(2)
(5)
(4)
(7)
(6)
(9)
(8)
(11)
(10)
(13)
(12) (14)
(15)
(16)
7 0 5 6 4 3 2 1
(3)
(4)
(5)
(6)
(7) (9)
(8)
(11)
(10)
(13)
(12)
(15)
(14) (16)
8
(17)
(18)
8 1 5 6 7 4 3 2
(5) (7)
(6)
(9)
(8)
(11)
(10)
(13)
(12)
(15)
(14)
(17)
(16) (18)
0
(A)
(B)
0 1 5 6 7 4 3
(7) (9)
(8)
(11)
(10)
(13)
(12)
(15)
(14)
(17)
(16) (18)
8
(A)
(B)
(C)
(D)
1 5 6 7 4
(9) (11)
(10)
(13)
(12)
(15)
(14)
(17)
(16) (18)
8
(A)
(B)
0 2
(C)
(D)
(5)
(6)
3 2 5 6 7
(11) (13)
(12)
(15)
(14)
(A)
(16)
8
(17)
(18) (B)
0
(C)
(D)
1
(5)
(6)
(7)
(8)
4 2 6 7
(13) (15)
(14)
(A)
(16)
8
(17)
(18) (B)
0
(C)
(D)
1
(5)
(6)
(7)
(8)
3
(9)
(10)
5 2 7
(15) (A)
(16)
8
(17)
(18) (B)
0
(C)
(D)
1
(5)
(6)
(7)
(8)
3
(9)
(10)
4
(11)
(12)
6 2
(17)
(18)
8
(A)
(B)
0
(C) (5)
(D)
1
(6)
(7)
(8)
3
(9)
(10)
4
(11)
(12)
5
(13)
(14)
2
3
4
5
6
7
6 2
(C) (5)
(D)
1
(6)
(7)
(8)
3
(9)
(10)
4
(11)
(12)
5
(13)
(14)
7
(15)
(16)
8
(17)
(18)
7 2
(A)
(B)
0
(C) (5)
(D)
1
(6)
(7)
(8)
3
(9)
(10)
4
(11)
(12)
5 6
(13)
(14)
(15)
(16)
8
Point 0
Second
positioning
Data set pointer for
continuous trajectory control
Indicates the last
positioning data input
to the Motion CPU.
Each time the
positioning at a point
is completed, the
value increases by one.
Update data set pointer
The user uses the Motion
SFC program to store the
positioning data updated
last time to the end of a
selected device.
Positioning point
Point
Input
Positioning
start
First
positioning
Indirect device D
(1) 0 (A)
(2) 2 (B)
(3) 4 (C)
(4) 6 (D)
(C)
(D)
(5) 8
(6) 10
(7) 12
(8) 14
(9) 16
(10) 18
(11) 20
(12) 22
(13) 24
(14) 26
(15) 28
(16) 30
(17) 32
(18) 34
Updated data
(A)
(B)
Updating
0
1
2
3
4
5
6
7
8
Update of data using the Motion SFC program Positioning data input to the Motion CPU at each point