Mitsubishi Electric Melservo-J3 Series MR-J3-B, Instruction Manual

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3. CC-LINK COMMUNICATION FUNCTIONS
Position/speed setting system changing command
Positioning start command
Turns on position instruction demand (RY20).
Turns on speed instruction demand (RY21).
Positioning start command
Command request time 6ms *1
Turns off position instruction demand (RY20).
Turns off speed instruction demand (RY21).
Forward rotation start (RY01)
Positioning start command reset
In
position
Rough
match
Home position
return completion
Position/speed specifying system selection
(RY2A)
Writes position command data (K50000) to
RWw4, RWw5, and speed data (K100) to
RWw6.
Reads respond code (RWr2) to D2 when
Position command execution completion (RX20)
and Speed command execution completion
(RX21) turn on.
Position and speed data establishment time
4ms *1
Reverse rotation start (RY02)
Sets monitor code (H0016) of motor speed to
RWw0.
Turns on monitor output execution demand
(RY08).
Reads motor speed (RWr0, RWr1) to D120 and
D121 when monitoring (RX08) turns on.
*1: This is when the high-speed timer limit is set to 1ms.
Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time
is short, the command cannot be received properly.