Mitsubishi Electric MELSEC iQ-R RD78G4 User Manual page 55

Read method for command generation axis parameter
1.
Specify the command generation axis parameter No. to "[Cd.300] Command generation axis parameter No.
designation".
2.
Set "2: Read request" in "[Cd.302] Command generation axis parameter control request".
3.
The setting value to the command generation axis parameter is read in 2 words in "[Cd.301] Command generation axis
parameter setting value". "0: Not request (control completion)" is set in "[Cd.302] Command generation axis parameter
control request".
4.
When the parameter No. which is not defined in the command generation axis is specified, "FFFFH: Write/read error" is
set in "[Cd.302] Command generation axis parameter control request". "[Cd.302] Command generation axis parameter
control request" is always detected. It is not required to return to "0: Not request (control completion)" from "FFFFH:
Write/read error" manually.
[Pr.1] Unit setting
[Cd.300] Command generation axis
parameter No. designation
[Cd.301] Command generation axis
parameter setting value
[Cd.302] Command generation axis
parameter control request
Write method for command generation axis positioning data
1.
Specify the command generation axis positioning data No. in "[Cd.303] Command generation axis positioning data No.
designation". When "1" is set, "1" of the positioning data is specified.
2.
Specify the command generation axis positioning data [Da._] in "[Cd.304] Command generation axis positioning data
designation". When "1" is set, "[Da.1] Operation pattern" is specified.
3.
Specify the setting value to the command generation axis positioning data No. and the command generation axis
positioning data in 2 words to the low-order without space in "[Cd.305] Command generation axis positioning data setting
value". To write ABS linear 1 in "[Da.2] Control method", specify "0000 0001H". When "0000 0100H" is specified, "0" is
written.
4.
Set "1: Write request" in "[Cd.306] Command generation axis positioning data control request". "[Cd.305] Command
generation axis positioning data setting value" is written to the positioning data of the command generation axis
positioning data No. specified in "[Cd.303] Command generation axis positioning data No. designation" and "[Cd.304]
Command generation axis positioning data designation". When the writing succeeds, "0: Not request (control
completion)" is set in "[Cd.306] Command generation axis positioning data control request".
5.
When the positioning data No. and the positioning data which are not defined in the command generation axis are
specified, "FFFFH: Write/read error" is set in "[Cd.306] Command generation axis positioning data control request".
"[Cd.306] Command generation axis positioning data control request" is detected always. It is not required to return to "0:
Not request (control completion)" from "FFFFH: Write/read error" manually.
6.
The command generation axis control data and positioning data written by this method will be lost when the power
supply is turned OFF. To save the data, use "[Cd.1] Flash ROM write request" to write the data to the flash ROM of the
Motion module.
The timing at which the written command generation axis positioning data becomes valid is the same as for the servo
amplifier axis. For the detailed specifications, refer to "MAJOR POSITIONING CONTROL" in the following manual.
MELSEC iQ-R Motion Module User's Manual (Application for Simple Motion Mode)
0 1: [Pr.1] Unit setting
0
0: Not control request
2: Read request
(control completion)
Start of parameter reading
2: degree
2: degree
0: Not control request
(control completion)
Completion of reading
When the reading fails, "FFFFH: Read/write error" occurs.
2.2 Command Generation Axis
2 INPUT AXIS MODULE
2
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