Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 101

■Internal processing
• The positioning data ((1) to (16)) of points 0 to 7 is input to the Motion CPU by the continuous trajectory control starting
process (before positioning start). The last point "7" of the input data to be input is stored in the data set pointer for
continuous trajectory control at this time. Because the positioning for point 0 starts immediately after, space opens in the
input area for positioning data and the Motion CPU inputs point 8 ((17) to (18)) positioning data. The last point "8" of the
input data is stored in the data set pointer for continuous trajectory control.
The "8" stored in the data set pointer for continuous trajectory control indicates that the second updating of the positioning
data stored in points 0 to 8 is possible.
• The positioning data ((1) to (4)) of points 0 to 1 is updated to positioning data ((A) to (D)) using the Motion SFC program.
The last point "1" of the updated positioning data is stored in the updated data set pointer (the user must create a Motion
SFC program) at this time. Positioning data of points 2 to 8 (data (5) to (18)) can still be updated.
However, the positioning data ((A) to (D)) of the updated points 0 to 1 can also be updated because at this point it has still
not been input to the Motion CPU.
• On completion of the positioning for point 0, point 1 positioning starts, the Motion CPU discards the positioning data ((3) to
(4)) of point 1, and inputs the positioning data ((A) to (B)) of point 0 (second positioning).
At this time, the value of the data set pointer for continuous trajectory control automatically proceeds and changes to "0".
• Hereafter, whenever positioning of each point is completed, the positioning data shifts one place.
The positioning data that can be updated is the data which has not yet been input to the Motion CPU.
Even if the values of the indirect devices D3008 and D3010 are updated by the Motion SFC program after the positioning
completion of the point 3, the positioning data of point 2 that is input to the Motion CPU will not be updated and the second
positioning will be executed using the unupdated data.
The data set pointer for continuous trajectory control has not yet been input to the Motion CPU, and indicates the
positioning data which a user can update using the Motion SFC program.
Number of points that can be defined by a repeat instruction
• The Motion CPU inputs up to 8 points ahead therefore create a servo program of at least 9 points.
• Even if there are 9 points or more, and they include pass points of few travel value, the positioning at each
point may be completed, and the data input to the Motion CPU, before the data has been updated using the
Motion SFC program.
• Create a sufficient number of points to ensure that data will not be input before the Motion CPU has updated
the values in the indirect devices.
[Md.1012] Real current value at STOP input (R: D32018+48n, D32019+48n/Q: D18+20n,
D19+20n)
The actual current value at the detection of a stop/rapid stop cause is stored in this area.
The value is not stored during advanced synchronous control, or G-code control.
[Md.104] Motor current (R: D32020+48n/Q: #8001+20n)
This register stores the motor current (0.1 [%]) (signed) read from the servo amplifier.
[Md.103] Motor speed (R: D32022+48n, D32023+48n/Q: #8002+20n, #8003+20n)
This register stores the motor speed (0.01 [r/min]) (signed) read from the servo amplifier.
The motor speed (0.01 [mm/s]) (signed) is stored at linear servo use.
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
2
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