Mitsubishi Electric R16MTCPU Programming Manual page 42

■Positioning data area
*1
Device (S2) Name
+0 Positioning type/Number of points(R)
+1 Positioning data items setting
+2 Positioning data item No.1
+3
 
+(2V) Positioning data item No.(V)
+(2V+1)
+(2V+2) Axis 1
data
+(2V+3)
+(2V+4)
+(2V+5)
+(2V+6)
+(2V+7)
+(2V+8)
+(2V+9)
+(2V+10)
+(2V+11)
+(2V+12)
+(2V+13)

+(2V+10R-6)
+(2V+10R-5)
+(2V+10R-4)
+(2V+10R-3)
+(2V+10R-2)
+(2V+10R-1)
+(2V+10R)
+(2V+10R+1)
+(2V+10R+2)
+(2V+10R+3)
2 MOTION DEDICATED PLC INSTRUCTION
40
2.2 Motion Dedicated PLC Instruction
Axis No..
Unusable
Positioning [Da.2] Control mode/
point No.1 [Da.29] Interpolation
axis speed designation
[Da.10] M-code
[Da.11] Dwell time
Torque limit value
*3
during operation
[Da.8] Command
speed
[Da.6] Positioning
address/Travel value
[Da. 7] Arc address

Positioning [Da.2] Control mode/
point [Da.29] Interpolation
No.(R) axis speed designation
[Da.10] M-code
[Da.11] Dwell time
Torque limit value
*3
during operation
[Da.8] Command
speed
[Da.6] Positioning
address/Travel value
[Da. 7] Arc address
Description
Set the number of points for positioning
points when starting continuous trajectory
control (CPSTART).
Set "0" for a control other than continuous
trajectory control (CPSTART).
Set the positioning data used to start
positioning. Valid/Invalid is set in units of
bits.
Set the value of positioning data in units of
two words
Set the axis No.
Set to "0"
Set the control mode and interpolation
axis speed designation method.
Set M-code.
Set the number of pitches against the
linear axis during helical interpolation.
Set the dwell time
Set the torque limit value for every point
Set the positioning speed
Set the positioning address/travel value
Set auxiliary point/central point address/
radius during circular interpolation

The number of positioning points set in
"Positioning type/Number of points" is
valid.
When "0" is set, only "positioning point No.
1" is valid.
Setting range
0: Start a control other than continuous
trajectory control (CPSTART).
1 to 128: Start continuous trajectory control
(CPSTART).
0: Invalid
1: Valid
(Page 44 Setting of positioning data
items)
Range of the data item set to "1: Valid" in
setting of positioning data items
(Page 44 Setting of positioning data
items)
R64MTCPU: 1 to 64, 1001 to 1064
R32MTCPU: 1 to 32, 1001 to 1032
R16MTCPU: 1 to 16, 1001 to 1016
0
Page 45 Positioning point data
M-code: 0 to 32767
Number of pitches: 0 to 999
0 to 5000 [ms]
1 to 10000 [0.1%]
-2
mm: 1 to 60000000010 [mm/min]
-3
inch: 1 to 60000000010 [inch/min]
-3
degree: 1 to 214748364710 [degree/min]
pulse: 1 to 2147483647[pulse/s]
-2147483648 to 2147483647
[Optional units]
-2147483648 to 2147483647
[Optional units]

Page 45 Positioning point data
M-code: 0 to 32767
Number of pitches: 0 to 999
0 to 5000 [ms]
1 to 10000 [0.1%]
-2
mm: 1 to 60000000010 [mm/min]
-3
inch: 1 to 60000000010 [inch/min]
-3
degree: 1 to 214748364710 [degree/min]
pulse: 1 to 2147483647[pulse/s]
-2147483648 to 2147483647
[Optional units]
-2147483648 to 2147483647
[Optional units]
*2
*2
*2
*4
*4