Performance Specifications - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

1.2

Performance Specifications

Machine control specifications
Item
Control axes per machine
Machine Number of control machines
configuration
Supported machine types
Base/tool transformation
Operation range setting
Machine Coordinate system
control
Interpolation functions
Control method
Acceleration/deceleration processing
Machine Program format
program
Number of
operation
positioning
points
Point data
Start method
Machine JOG operation function
Machine manual pulse generator function
Teaching operation
Auxiliary M-code function
functions of
Servo motor maximum speed check
machine
Speed adjustment function
operation
WAIT-ON/OFF
Point arrival notification
Override function
Proximity function (proximity range specification
method)
Acceleration/deceleration time change
Control change Current value change (CHGA)
during machine
operation
Speed change (CHGV)
Torque limit value change (CHGT)
Target position change (CHGP)
Functions at start-up adjustment
Acceleration/deceleration after interpolation (speed smoothing
filter on each axis)
Simultaneous start (START)
*1 For operating system software version "09" or earlier, up to 128 points/program.
Specifications
Up to 4 axes per machine
8 machines
Each machine type is supported by the machine library (add-on library)
Base transformation (X, Y, Z, A, B, C), tool transformation (X, Y, Z)
(The enabled coordinate components differ according to machine type)
Stroke limit for each joint axis, XYZ stroke limit
World coordinate, base coordinate, tool coordinate, joint coordinate
3D linear interpolation (up to 4 axes), joint interpolation (up to 4 axes), 3D circular
interpolation (up to 4 axes), sequential coordinate command control (up to 4 axes)
3D interpolation control
Trapezoidal acceleration/deceleration, S-curve acceleration/deceleration
Motion profile table format (point data, set control data to device and startup)
Motion dedicated PLC Up to 128 points/program
instruction (M(P).MCNST/
D(P).MCNST)
Motion dedicated function Up to 256 points/program
(MCNST)
Up to 8192 points (depends on parameter settings)
(Position type(POSE)/Joint type(JOINT) specification available)
Motion dedicated PLC instruction (M(P).MCNST/D(P).MCNST), Motion dedicated
function (MCNST)
World coordinate system
None
None (point data on the devices, program can be changed by converting control data)
M-code output function provided
Provided (Motors of joint axes are stopped when maximum motor speed is exceeded)
Joint interpolation speed limit
WAIT-ON/OFF establishment function provided
Set the arrival rate to the end of each point (can be set in each point)
Provided
JOINT remaining distance method (end point distance)
Not available (ignored in machine control)
Not available (Current value change of machine configuration axes is not available during
machine operation)
Not available (ignored in machine operation)
Provided
Not available (change of machine program operation positioning point is not available)
Machine JOG operation with XYZ stroke limit disabled
Uses vibration suppression command filter
None
*1
1.2 Performance Specifications
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1 OVERVIEW
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