Mitsubishi Melsec-Q QD75D1, User Manual

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6 - 9
MELSEC-Q
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
Device
Device
name
Axis 1 Axis 2 Axis 3 Axis 4
Application Details of storage
D15
Acceleration time setting
(low-order 16 bits)
D16
Acceleration time setting
(high-order 16 bits)
(
Cd.10
New acceleration time
value)
D17
Deceleration time setting
(low-order 16 bits)
D18
Deceleration time setting
(high-order 16 bits)
(
Cd.11
New deceleration time
value)
D19
Acceleration/deceleration time change
enable
(
Cd.12
Acceleration/deceleration
time change during speed change,
enable/disable selection)
D20 Step mode (
Cd.34
Step mode)
D21 Step valid flag (
Cd.35
Step valid flag)
D22 Unused —
D23 Target position (low-order 16 bits)
D24 Target position (high-order 16 bits)
(
Cd.27
Target position change
value (new address))
D25 Target speed (low-order 16 bits)
D26 Target speed (high-order 16 bits)
(
Cd.28
Target position change
value (new speed))
D27 Target position change request
(
Cd.29
Target position change
request flag)
D28 Unused
—
D29 Unused —
D30 ZP.PSTRT1 instruction control data —
D31 Completion status —
D32 Start number —
D33 ZP.TEACH1 instruction control data —
D34 Completion status —
D35 Teaching data
—
D36 Positioning data No.
—
D37 ZP.PINIT instruction control data
—
D38 Completion status —
D39 ZP.PFWRT instruction control data —
D40 Completion status —
D41 Z.ABRST1 control data —
D42 Completion status
—
D43 Signals received from servo
—
D44 Signals transmitted to servo
—
D45 Status
—
D46 System area —
D47 System area —
D48 System area —
D49 Error code
Error code at absolute position
restoration
D79 Error code ( Md.23 Axis error No.)
D50 Unit setting ( Pr.1 Unit setting)
Data register
D51
—
No. of pulses per rotation ( Pr.2 No. of pulses per rotation)