Chapter 7 Auxiliary And Applied Functions; M-Code Output Function - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

7
AUXILIARY AND APPLIED FUNCTIONS
This section describes the auxiliary and applied functions for positioning control in the Multiple CPU system.
7.1

M-code Output Function

M-code is a code No. between 0 and 32767 which can be set for every positioning control.
During positioning control, these M-codes are read using the Motion SFC program to check the servo program during
operation and to command auxiliary operations, such as clamping, drill rotation and tool replacement.
Setting of M-codes
M-code can be set using MT Developer2 at the creation and correction of the servo program.
Storage of M-code and read timing
• M-codes are stored in the M-code storage register of the axis specified with the positioning start completion and specified
points (continuous trajectory control). During interpolation control, the M-codes are stored in all axes which perform
interpolation control.
• When the M-code is read at the positioning start completion, use the "[St.1060] Positioning start complete (R: M32400+32n/
Q: M2400+20n)" as the reading command.
• When the M-code is read at positioning completion, use the "[St.1061] Positioning complete (R: M32401+32n/Q:
M2401+20n)" as the read command.
■At the position control or speed control
[Rq.1120] PLC ready flag
OFF
(R: M30000/Q: M2000)
Servo program start
[St.1040] Start accept flag
OFF
(R: M30080+n/Q: M2001+n)
[St.1060] Positioning start complete
OFF
(R: M32400+32n/Q: M2400+20n)
[St.1061] Positioning complete
OFF
(R: M32401+32n/Q: M2401+20n)
M-code
Resetting of M-codes
M-codes can be reset by setting of the M-code output devices to zero.
Use this method during positioning control to perform operations unrelated to the servo program, such as when it has been
difficult to output the M-code during the previous positioning control. However, M-code is set during the speed switching
control or continuous trajectory control, the M-code output of the servo program takes priority.
V
ON
ON
ON
Storage of setting M-code No.
Dwell time
t
ON
7 AUXILIARY AND APPLIED FUNCTIONS
7.1 M-code Output Function
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