Mitsubishi Electric M800VW Series Programming Manual page 472

M800V/M80V Series PLC Programming Manual (1/2)
9 Exclusive Instructions
9.2 ROT Instructions
ACT
S.ROT K1 Rn Rm Mm
Top of control data buffer
(R9800 in this example)
R No. to specify rotary body
index (R9811 in this example)
M1000
MOV K9810 R9800
MOV K9812 R9801
MOV K536 R9802
MOV K9813 R9803
MOV H8
MOV K6
X34
PLS M100
M100
MOV K1X30 R9812
XC68
S.ROT K1 R9800 R9811 M200
<= R9810 H1F
XC68
= R536 R9812
XC68
= K0 R9813
XC68 M202
M200
(M203)
M200
Completion circuit
M1000
M1000
(*1) Either M202 or M203 can be used for a stop signal.
Note
(1) The devices (X, Y, and R) are used in this example for no special purpose. Use any device within the available range.
(2) If a number from 1 to 6 has not been specified for current position data (R9812) before the ROT instruction is activated,
an error will occur.
(3) The control parameters (R9810) are specified as follows:
(1) Rotary body starts from 1;
(2) Take a short cut;
(3) Calculate the number of steps.
T command
(from CNC)
0:CW
1:CCW
R No. to store the parameter
R No. to store the current position
R No. to store the target position
R No. to store the output position
Parameter is set.
R9810
Number of rotary body
R9811
index are set.
Strobe rising edge signal create
The current value is set at
R9812CW or CCW is determined by
the ROT instruction.
M201
Error check When required
M202
Stop signal created (*1)
(target value=current value)
M203
Stop signal created (*1)
(number of steps=0)
Y10
CW
Y11
CCW
YC1E
Auxiliary function completed
M1000
On-signal after PLC1 scan
File register (R) map
R536 1 to 6
(Binary)
R537 0
R9800 9810
R9801 9812
R9802 536
R9803 9813
R9810 8
R9811 6
R9812 1 to 6
0 to 3
(number
R9813
of output steps)
451 IB-1501667-B