Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 248

■Dwell time
Set the time until outputs the "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" after positioning to positioning
address.
■M-code
Set the M-code.
Set for every point at the continuous trajectory control.
Updated at the start or specified point.
■Torque limit value
Set the torque limit value.
The torque limit value is set in speed control (), speed/position switching control, and continuous trajectory control.
The torque limit is performed based on the parameter block data at the start but can also be changed during operation.
Positioning control
Speed control ()
Speed/position switching control
Continuous trajectory control
Circular interpolation/Helical interpolation
Data that is set in the servo programs for starting circular interpolation and helical interpolation.
■Auxiliary point (Absolute data method, incremental data method)
Set at the auxiliary point-specified circular interpolation, or auxiliary point-specified helical interpolation.
■Radius (Absolute data method, incremental data method)
Set at the radius-specified circular interpolation, or radius-specified helical interpolation.
■Central point (Absolute data method, incremental data method)
Set at the central point-specified circular interpolation, or central point-specified helical interpolation.
■Number of pitches
Set at the helical interpolation.
OSC
Data that is set in high-speed oscillation. Refer to the high-speed oscillation for details. (Page 373 High-Speed
Oscillation)
• Starting angle
• Amplitude
• Frequency
Reference axis No.
Data that is set when a specified reference axis speed is set in 2 to 4 axes linear interpolation control.
Set the axis which is to be reference for positioning speed.
4 SERVO PROGRAMS FOR POSITIONING CONTROL
246
4.3 Positioning Data
Description
Changes torque limit value during operation.
Changes torque limit value during operation.
Sets torque limit value for every point. Performs the set torque limit at the specified point.