Chapter 3 Machines; Overview Of A Machine; Machine Position - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

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MACHINES
3.1

Overview of a Machine

A machine can be used by installing machine library (add-on library) for the machine type to be used to the Motion CPU
module.
For details on each machine type, refer to the instruction manual of the machine library.
Refer to the following for details on installing the machine library.
MELSEC iQ-R Motion Controller Programming Manual (Common)
For details of the machine library, please contact with our sales representative.

Machine Position

Machine position is expressed by position type, or joint type. Data of position type uses the reference position data of the
world coordinate system, as well as the position data of base coordinate system and tool coordinate system.
Machine position Position type (POSE)
Joint type (JOINT)
Position type
■Basic format
Position type format is shown below.
(X coordinate, Y coordinate, Z coordinate, A coordinate, B coordinate, C coordinate) (Structure flag 1)
Position component Details
X Position (distance) to move in the X direction
Y Position (distance) to move in the Y direction
Z Position (distance) to move in the Z direction
A Angle to rotate the A coordinate
B Angle to rotate the B coordinate
C Angle to rotate the C coordinate
FL1 Structure flag 1
*1 Command range/operation range differs by machine type. For details, refer to the machine library instruction manual.
World coordinate system
Base coordinate system
Tool coordinate system
Command range/operation range
-2147483648 to 2147483647(10
-2147483648 to 2147483647(10
H0000 to HFFFF
*1
-1
[m])
-5
[degree])
3 MACHINES
3.1 Overview of a Machine
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