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6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
Device
Device
name
Axis 1 Axis 2 Axis 3 Axis 4
D15
D16
D17
D18
D19
D20
D21
D22
D23
D24
D25
D26
D27
D28
D29
D30
Data register
D31
D32
D33
D34
D35
D36
D37
D38
D39
D40
D41
D42
D43
D44
D45
D46
D47
D48
D49
D50
D51
Application
Acceleration time setting
(low-order 16 bits)
Acceleration time setting
(high-order 16 bits)
Deceleration time setting
(low-order 16 bits)
Deceleration time setting
(high-order 16 bits)
Acceleration/deceleration time change
enable
Step valid flag
Step mode
Unused
Target position (low-order 16 bits)
Target position (high-order 16 bits)
Target speed (low-order 16 bits)
Target speed (high-order 16 bits)
Target position change request
Unused
Unused
PSTRT1 instruction control data
—
Completion status
Start number
TEACH1 instruction control data
Completion status
Teaching data
Positioning data No.
PINIT instruction control data
Completion status
PFWRT instruction control data
Completion status
ABRST1 control data
Completion status
Signals received from servo
Signals transmitted to servo
Status
System area
System area
System area
Error code
Unit setting
No. of pulses per rotation
6 - 9
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MELSEC-Q
Details of storage
Cd.10
(
New acceleration time
value)
Cd.11
(
New deceleration time
value)
Cd.12
(
Acceleration/deceleration
time change enable/disable selection
in speed change)
Cd.35
(
step valid flag)
Cd.34
(
Step mode)
—
Cd.27
(
New target position value
(address))
Cd.28
(
New target position value
(speed))
Cd.29
(
New target position change
value flag)
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
Error code at absolute position
restoration
(
Pr.1
Unit setting)
(
Pr.2
No. of pulses per rotation)
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