Mitsubishi Electric R16MTCPU Programming Manual page 46

■Positioning type/Number of points
When starting continuous trajectory control (CPSTART), set the number of points for positioning points (1 to 128). The number
of positioning points cannot exceed the number of points for the positioning data area (14 to 2044) set in control data (S1 + 1).
When starting a control other than continuous trajectory control (CPSTART) set "0". Only one point is set for positioning point.
■Setting of positioning data items
• Set the positioning data items used when executing instructions. Set the bit of the item to be set ON (1: Valid). Items that
are OFF (0: Invalid) use the data of parameter block No. 1 for positioning start.
b15 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
• Data that is set to ON (1: Valid) is assigned from "Positioning data item No. 1" in order. Refer to the following for details on
data to be set.
MELSEC iQ-R Motion controller Programming Manual (Positioning Control)
A positioning data item uses two words. However, advanced S-curve acceleration/deceleration uses four items (8 words).
Ex.
When parameter block No., acceleration time, and advanced S-curve acceleration/deceleration are set.
Offset Name
(S2)+1 Setting of positioning data items
(S2)+2 Positioning data item No.1
(S2)+3
(S2)+4 Positioning data item No.2
(S2)+5
(S2)+6 Positioning data item No.3
(S2)+7
(S2)+8 Positioning data item No.4
(S2)+9
(S2)+10 Positioning data item No.5
(S2)+11
(S2)+12 Positioning data item No.6
(S2)+13
• The data item that can be set is different depending on which control mode is started. When a data item that cannot be
used is set, the data item is ignored. Also, when two exclusive data items are set, the later bit item in the setting of
positioning data items is prioritized.
Ex.
When S-curve ratio and advanced S-curve acceleration/deceleration are both set, the S-curve ratio item is ignored.
2 MOTION DEDICATED PLC INSTRUCTION
44
2.2 Motion Dedicated PLC Instruction
Parameter block No.
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Rapid stop deceleration time
Torque limit value at start
Deceleration processing on STOP input
Allowable error range for circular interpolation
Bias speed at start
S-curve ratio
Advanced S-curve
acceleration
/deceleration
FIN acceleration/deceleration
*: Positioning data items setting value is 0 or 1
• 0: Not possible
• 1: Possible
Setting value
0809H
Parameter block No.
Acceleration time
Advanced S-curve acceleration/deceleration Acceleration section 1 ratio
Advanced S-curve acceleration/deceleration Acceleration section 2 ratio
Advanced S-curve acceleration/deceleration Deceleration section 1 ratio
Advanced S-curve acceleration/deceleration Deceleration section 2 ratio
Acceleration section 1 ratio
Acceleration section 2 ratio
Deceleration section 1 ratio
Deceleration section 2 ratio