Mitsubishi Electric R16MTCPU Programming Manual page 28

Classification Symbol
Motion dedicated CHGV
function
CHGVS
CHGT
CHGP
MCNST
Advanced CAMRD
synchronous
control dedicated
CAMWR
function
CAMMK
CAMPSCL
Vision system MVOPEN
dedicated
function
MVLOAD
MVTRG
MVPST
MVIN
MVOUT
MVFIN
MVCLOSE
MVCOM
Add-on MCFUN
dedicated
function
1 OVERVIEW
26
1.1 Performance Specifications
Function Format
Speed change request CHGV((S1),(S2))
Command generation axis CHGVS((S1),(S2))
speed change request
Torque limit value change CHGT((S1),(S2),(S3))
request
Target position change CHGP((S1),(S2),(S3))
request
Machine program MCNST((S1),(S2))
operation start request
Cam data read CAMRD(S1),(S2),(n),(D),
(S3)
Cam data write CAMWR(S1),(S2),(n),(S3),
(D)
Cam auto-generation CAMMK(S1),(S2),(S3),(D)
Cam position calculation CAMPSCL(S1),(S2),(D)
Open line MVOPEN(S1),(S2)
Load a program MVLOAD(S1),(S2)
Send an image acquisition MVTRG(S1),(S2)
trigger
Start a program MVPST(S1),(S2)
Input data MVIN(S1),(S2),(D),(S3)
Output data MVOUT(S1),(S2),(S3),(S4)
Reset a status storage MVFIN(S)
device
Close line MVCLOSE(S)
Send a command for MVCOM(S1),(S2),(D),(S3),
native mode (S4)
Call add-on module MCFUN(S1),(S2),(D1),(D2)
Basic Usable Y/N
steps step transition's
conditional
F/ G
expression
FS
  
7
  
7
  
10
  
11
7   
  
16
  
16
13   
  
12
  
8
  
8
8   
  
8
15 or more   
  
15 or more
  
6
  
6
  
19 or more
  
11 or more
Section of
reference
Page 201 Speed
change request:
CHGV
Page 205
Command
generation axis
speed change
request: CHGVS
Page 209
Torque limit value
change request:
CHGT
Page 211 Target
position change
request: CHGP
Page 219
Machine program
operation start
request: MCNST
Page 221 Cam
data read: CAMRD
Page 226 Cam
data write: CAMWR
Page 230 Cam
auto-generation:
CAMMK
Page 242 Cam
position calculation:
CAMPSCL
Page 245 Open
line: MVOPEN
Page 246 Load
a program: MVLOAD
Page 247 Send
an image acquisition
trigger: MVTRG
Page 248 Start a
program: MVPST
Page 250 Input
data: MVIN
Page 252
Output data: MVOUT
Page 254 Reset
a status storage
device: MVFIN
Page 255 Close
line: MVCLOSE
Page 256 Send
a command for
native mode:
MVCOM
Page 259 Call
add-on module:
MCFUN