Mitsubishi A1SD75M1, User Manual

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MELSEC-A
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
6.1 Precautions for creating program
The common precautions to be taken when writing data from the PLC CPU to the
AD75 buffer memory are described below.
(1) Reading/writing the data
Setting the data explained in this chapter (various parameters, positioning data,
positioning start information) should be set using the AD75 software package.
When set with the sequence program, many sequence programs and devices
must be used. This will not only complicate the program, but will also increase
the scan time.
When rewriting the positioning data during continuous path control or continuous
positioning control, rewrite the data four positioning data items before the actual
execution. If the positioning data is not rewritten before the positioning data four
items earlier is executed, the process will be carried out as if the data was not
rewritten.
(2) Programming with the A0J2CPU
When using the AD75 with the A0J2CPU, there are commands that cannot be
used, such as TOP/FROMP.
Change these as shown below.
X0
[An,AnN,AnA,AnUCPU,A0J2HCPU]
H0 TOP K50 D1 K1
X0
[A0J2]
M0
H0 TO K50 D1 K1
M1
M2
H0 FROM K50 D5
K1
X1
M1
H0 FROMP K50 D5 K1
X1
SET M1 SET M1
PLS M2
PLS M0
H0 TO K50 D0 K1
X3
H0 TO K50 K10 K1
X3
MOV K10 D0
(3) Unusable commands
When the QnACPU is used, the dedicated commands for A1SD75P -
S3/AD75P -S3 (AD75 control commands) are unavailable.
(4) Restrictions to No. of FROM/TO commands executed in one scan
The FROM/TO command (during 16-bit data transmission), the DFRO/DTO
command (during 32-bit data transmission), and the command using the special
function module device (U \G ) that can be executed with one PLC CPU scan
using the AD75 are as follows.
(a) With the 1-axis and 2-axis module, the FROM/TO command, the
DFRO/DTO command, and the command using the special function module
device can be executed up to 10 times per axis.