Rot Instructions; Instruction List - Mitsubishi Electric M800VW Series Programming Manual

M800V/M80V Series PLC Programming Manual (1/2)
9 Exclusive Instructions

9.2 ROT Instructions

9.2 ROT Instructions
With this instruction, the rotary body's target position and rotation direction are determined, as well as the function as a ring
counter is realized.
Based on the output data figured with the tool No. search of ATC exclusive instruction, this instruction is used when controlling
the rotary body position such as calculating rotation direction of the magazine and the number of index steps, and the turret.

9.2.1 Instruction List

Instruction
S.ROT K1 Rn Rm Mm
S.ROT K3 Rn Rm Mm
Note
(1) Rot instructions are programmed with "S.ROT".
Rotary body indexing
Direction of rotation and number of steps of ATC magazine (or turret) are determined.
ACT
S.ROT K1 Rn Rm Mm
Index
instruction
Rp (parameter) contents
F E D C B A
Error output
0 : Normal completion
1 : Error completion
Note
(1) The Index instruction is executed after setting R Nos. to Rn to Rn+3 and writing data in the file registers (R) each corre-
sponding to the R Nos. However, data setting to the parameter (Rp) is done once before execution of the index instruc-
tion; this is to prevent the error code from being cleared.
(2) The error code stored in bit F of the parameter (Rp) is not cleared even if the index instruction activating signal (ACT)
goes OFF.
Description
Rotary body indexing
Ring counter
Rn Parameter setting R No.
Rp
Rn+1 Current position R No.
Rn+2 Target position R No.
Rn+3 Output R No.
0: Direction of rotation CW
1: Direction of rotation CCW
(Note) CW or CCW output is controlled so that it takes a
short circuit regardless of parameter specification.
Number of rotary body indexing cycles
designating R No.
Control data buffer position designating R No.
9 8 7 6 5 4 3 2
(Spare)
4 3
0 , 0 : (Step No. +1) is counted.
0 , 1 : Step No. is counted.
1 , 0 : (Step No. –1) is counted.
When the current value is equal to the target value, -1 will appear.
Indirect designation
1 0
0 : Rotary body starts from 1
1 : Rotary body starts from 0
0 : Direction of rotation is determined for
shorter reach.
1 : Direction of rotation is not determined for
shorter reach.
449 IB-1501667-B