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Mitsubishi Electric RD77MS2 User Manual Page 623

Melsec iq-r simple motion module.
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  • Contents

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For each variable, substitute a number following the description below.
Variable
Ax
N
S
Ex.
When the buffer memory address of "[Da.9] Dwell time/JUMP destination positioning data No." of the positioning data No.1 of
axis 2 is determined
6000 + (1000  (2 - 1)) + 10  (1 - 1) + 2 = 7002
Block start data
Block start data consists of five start blocks from Start block 0 to 4, and the block start data of 1 to 50 points is assigned to
each block. The start blocks are assigned to each axis. Block start data has the following structure.
2nd point
1st point
Setting item
b15
b8b7
[Da.11] Shape
[Da.12] Start data No.
b15
b8b7
[Da.14] Parameter
[Da.13] Special start instruction
When setting block start data using a program, determine buffer memory addresses using the following calculation formula
and set the addresses.
■[Da.11] Shape, [Da.12] Start data No.
Use the following calculation formula.
• 22000 + (400  (Ax - 1)) + (200  M) + (P - 1)
For each variable, substitute a number following the description below.
Variable
Ax
M
P
Description
The axis number of the buffer memory address to be determined. Substitute a number from 1 to 16.
The positioning data No. of the buffer memory address to be determined. Substitute a number from 1 to 100.
Substitute one of the following numbers according to the buffer memory address to be determined.
• Positioning identifier ([Da.1] to [Da.4], [Da.20] to [Da.22]): 0
• [Da.10] M code/Condition data No./Number of LOOP to LEND repetitions/Number of pitches: 1
• [Da.9] Dwell time/JUMP destination positioning data No.: 2
• Positioning option ([Da.27] to [Da.29]): 3
• [Da.8] Command speed (lower 16 bits): 4
• [Da.8] Command speed (upper 16 bits): 5
• [Da.6] Positioning address/movement amount (lower 16 bits): 6
• [Da.6] Positioning address/movement amount (upper 16 bits): 7
• [Da.7] Arc address (lower 16 bits): 8
• [Da.7] Arc address (upper 16 bits): 9
50th point
Setting item
Buffer memory
Setting item
address
Buffer memory
address
b0
22001+400n
22000+400n
b0
22051+400n
22050+400n
n: Axis No. - 1
Description
The axis number of the buffer memory address to be determined. Substitute a number from 1 to 16.
The start block No. of the buffer memory address to be determined. Substitute a number from 0 to 4.
The block start data point of the buffer memory address to be determined. Substitute a number from 1 to 50.
Buffer memory
address
Up to 50 block start data points can be
set (stored) for each axis in the buffer
memory addresses shown on the left.
Items in a single unit of block start data
22049+400n
are shown included in a bold frame.
Each axis has five start blocks (block
Nos. 0 to 4).
Start block 2 to 4 are not allocated to
buffer memory.
Set with the engineering tool.
22099+400n
Appendix 2 How to Find Buffer Memory Addresses
APPENDICES APPENDIX
621
A

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