Mitsubishi Electric QD77MS User Manual page 351

Device
name
Axis 1 Axis 2 Axis 3 Axis 4
D52
D53
D54
D55
D56
D57
D68
D69
D70
D71
D72
D73
D74
D75
D76
Data register
D77
D78
D79
D80
D81
D85
D100
D101
D102
D103
D104
D105
D106
D107
D108
D109
Device
Number of pulses per rotation
(low-order 16 bits)
Number of pulses per rotation
(high-order 16 bits)
Movement amount per rotation
(low-order 16 bits)
Movement amount per rotation
(high-order 16 bits)
Bias speed at start (low-order 16 bits)
Bias speed at start (high-order 16 bits)
Point 1 (shape, start No.)
Point 2 (shape, start No.)
Point 3 (shape, start No.)
Point 4 (shape, start No.)
Point 5 (shape, start No.)
Point 1 (special start instruction)
Point 2 (special start instruction)
Point 3 (special start instruction)
Point 4 (special start instruction)
—
Point 5 (special start instruction)
Torque change value
Error code
Servo series
Absolute position system valid/invalid
Return home position method
Positioning identifier
M code
Dwell time
Dummy
Command speed (low-order 16 bits)
Command speed (high-order 16 bits)
Positioning address (low-order 16 bits)
Positioning address (high-order 16 bits)
Arc address
(low-order 16 bits)
Arc address
(high-order 16 bits)
Chapter 6 Sequence Program Used for Positioning Control
Application
6 - 11
Details of storage
[Pr.2] Number of pulses per rotation
(AP)
[Pr.3] Movement amount per rotation
(AL)
[Pr.7] Bias speed at start
[Da.11] Shape
[Da.12] Start data No.
[Da.13] Special start instruction
[Da.14] Parameter
—
[Md.23] Axis error No.
[Pr.100] Servo series
Absolute position detection system
(PA03)
[Pr.43] OPR method
Data No.1
[Da.1] Operation pattern
[Da.2] Control method
[Da.3] Acceleration time No.
[Da.4] Deceleration time No.
[Da.5] Axis to be interpolated
[Da.6] Positioning address/
movement amount
[Da.7] Arc address
[Da.8] Command speed
[Da.9] Dwell time/JUMP destination
positioning data No.
[Da.10] M code/Condition data
No./Number of LOOP to
LEND repetitions