Point Block Data; Structure Of Point Block Data - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

6.2

Point Block Data

Set the point block data to be used by machine program operation.
When setting point block data, set the devices to be allocated to the point block No. by selecting [Motion Control Parameter]
 [Machine Control Parameter]  [Machine Common Parameter]  "Point Block Setting".
Refer to point block setting for details of point block setting. (Page 47 Point block setting)

Structure of point block data

The point block data structure is shown below.
The size of each point block data is 14[words/point blocks].
Point block
■Position type (POSE)
Offset Point block
No.
+0 P(k)
+1
+2
+3
+4
+5
+6
+7
+8
+9
+10
+11
+12
+13
 
+(14(v-1)) P(k+v-1)
+(14(v-1)+1)
+(14(v-1)+2)
+(14(v-1)+3)
+(14(v-1)+4)
+(14(v-1)+5)
+(14(v-1)+6)
+(14(v-1)+7)
+(14(v-1)+8)
+(14(v-1)+9)
+(14(v-1)+10)
+(14(v-1)+11)
+(14(v-1)+12)
+(14(v-1)+13)
*1 The "k" and "v" of "P(k+v-1)" and "+(14(v-1)+13)" in the point block explanation indicate the following items for the offset values.
 k: Start point block No.
 v: Number of point blocks
Calculate the offset value for each item as follows.
(Example) When start point block No. is "100", and number of point blocks is "200"
P(k+v-1)=P(100+200-1)=P299 (Point block No.)
+(14(v-1)+13)=+(14(200-1)+13)=+2799 (Offset)
Item Description
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

Unusable
 
X The point blocks set in "Number
of point blocks" are valid.
Y
Z
A
B
C
FL1

Data type Setting range
32-bit integer -2147483648 to 2147483647(10
(signed)
-72000000 to 72000000(10
16-bit integer H0000 to HFFFF
(Unsigned)

0
 
32-bit integer -2147483648 to 2147483647(10
(signed)
-72000000 to 72000000(10
16-bit integer H0000 to HFFFF
(Unsigned)

0
6 MACHINE CONTROL DATA
-1
[m])
-5
[degree])
-1
[m])
-5
[degree])
63
6.2 Point Block Data
6