Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 247

Name
Others Repeat condition (Number
of repetitions)
Repeat condition (ON/OFF)
Program No.
Command speed
(continuous trajectory)
Skip
FIN acceleration/
deceleration
WAIT-ON/OFF
Fixed position stop
acceleration/deceleration
time
Fixed position stop
*1 For direct setting using MT Developer2, use the decimal format instead of the exponential format.
*2 When the "speed control 10  multiplier setting for degree axis" is valid, the setting range is 1 to 2147483647 (10
*3 Only when the reference axis speed is specified
*4 Only bit0 is valid. If the value outside the range is set, the state except bit0 is ignored.
*5 When the "speed control 10  multiplier setting for degree axis" is valid, the setting range is 0 to 2147483647 (10
*6 For operating system software version "09" or earlier, 0 to 4095.
Common
Data that is common through all servo instructions.
■Parameter block No.
Set based on which parameter block performs deceleration processing at the acceleration/deceleration processing and STOP
input for every start.
■Axis
Set the starting axis.
It becomes the interpolation starting axis No. at the interpolation.
■Address/Travel value
• Address (Absolute data method)
Set the positioning address as an absolute method with an absolute address.
• Travel value (Incremental data method)
Set the positioning address as an incremental data method with a travel value. Travel direction is indicated by the sign.
Only positive settings can be made at the speed/position switching control.
Travel direction
Positive
Negative
■Command speed
Sets the positioning speed.
Units for speed are the "control units" set in the parameter block.
It becomes the vector speed/long-axis reference speed/reference axis speed at the interpolation starting. (PTP control only)
Default Setting range
value
mm inch

1 to 32767
 
*6

0 to 8191
 1 to 1 to
600000000 600000000
-2
(10 [mm/ (10
min]) min])
 
 1 to 5000 [ms]
 
1000 [ms] 1 to 8388608 [ms]
 
Description
Forward rotation (address increase direction)
Reverse rotation (address decrease direction)
degree pulse
1 to 1 to
2147483647 2147483647
-3 -3
[inch/ (10 [pulse/s]
[degree/
*2
min])
4 SERVO PROGRAMS FOR POSITIONING CONTROL
Valid/invalid Number
of steps
Direct Indirect
setting (Number
*1
of used
words)
 
1
(1 word)
  1
(1 bit)
 
1
(1 word)
  2
(2 word)
 
2
(1 bit)
  2
(1 word)
 
2
(1 bit)
  1
(2 word)
 
1
(1 bit)
-2
[degree/min]).
-2
[degree/min]).
245
4.3 Positioning Data
4