Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 100

■Input situation of positioning data in the Motion CPU
Update of data using the Motion SFC program
Updated data Indirect device D
Updating
(A) 0
(B) 2
(C) 4
(D) 6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
The internal processing shown above is described in the next page.
2 POSITIONING DEDICATED SIGNALS
98
2.2 Data Registers
Point
(1) (A)
Input First
0
positioning
(2) (B)
(3) (C)
1
(4) (D)
(5)
2
(6)
(7)
3
(8)
(9)
4
(10)
(11)
5
(12)
(13)
6
(14)
(15)
7
(16)
(17)
8
(18)
Second
positioning
Positioning data input to the Motion CPU at each point
Positioning point
Positioning
7 6 5
start
(15) (13) (11) (9)
(16) (14) (12) (10)
0 8 7 6
(17) (15) (13) (11)
(18) (16) (14) (12)
1 0 8 7
(A) (17) (15) (13)
(B) (18) (16) (14)
2 1 0 8
(C) (A) (17) (15)
(D) (B) (18) (16)
3 2 1 0
(5) (C) (A) (17)
(6) (D) (B) (18)
4 3 2 1
(7) (5) (C) (A)
(8) (6) (D) (B)
5 4 3 2
(9) (7) (5) (C)
(10) (8) (6) (D)
6 5 4 3
(11) (9) (7) (5)
(12) (10) (8) (6)
7 6 5 4
(13) (11) (9) (7)
(14) (12) (10) (8)
8 7
6 5
(15) (13) (11) (9)
(16) (14) (12) (10)
Point 0 8 7 6
(13) (11)
(17) (15)
(18) (16) (14) (12)
Data set pointer for
continuous trajectory control
4 3 2 1 0 Indicates the last
positioning data input
(7) (5) (3) (1)
to the Motion CPU.
Each time the
(8) (6) (4) (2)
positioning at a point
is completed, the
value increases by one.
5 4 3 2 1
(9) (7) (5) (3)
(10) (8) (6) (4)
6 5 4 3 2
(11) (9) (7) (5)
(12) (10) (8) (6)
Update data set pointer
The user uses the Motion
7 6 5 4 3
SFC program to store the
positioning data updated
(13) (11) (9) (7)
last time to the end of a
(14) (12) (10) (8) selected device.
8 7 6 5 4
(15) (13) (11) (9)
(16) (14) (12) (10)
0 8 7 6 5
(17) (15) (13) (11)
(18) (16) (14) (12)
1 0 8 7 6
(A) (17) (15) (13)
(B) (18) (16) (14)
2 1 0 8 7
(C) (A) (17) (15)
(D) (B) (18) (16)
3 2 1 0 8
(5) (C) (A) (17)
(6) (D) (B) (18)
3 2 1 0
4
(7) (5) (C) (A)
(8) (6) (D) (B)
5 4 3 2 1
(9) (7) (5) (C)
(10) (8) (6) (D)