Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 96

Device No.
MELSEC iQ-R Q series Motion
Motion device compatible
assignment device
assignment
D32047+48n
*1 It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo
program. (Page 324 Speed/Position Switching Control)
*2 Operation cycle 1.777[ms] or less: Operation cycle, operation cycle 3.555[ms] or more: 3.555[ms]
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
[Md.20] Feed current value (R: D32000+48n/Q: D0+20n, D1+20n)
• This register stores the target address output to the servo amplifier on the basis of the positioning address/travel value
specified with the servo program.
• A part for the amount of the travel value from "0" after starting is stored in the fixed-pitch feed control.
• In the speed/position switching control or speed control (), the address at the start depends on the state of "[Rq.1152] Feed current value update command
(R: M34492+32n/Q: M3212+20n)" as shown below.
[Rq.1152] Feed current value update command
(R: M34492+32n/Q: M3212+20n)
OFF
ON
• "0" is stored during speed control ().
• The stroke range check is performed on this feed current value data.
[Md.101] Real current value (R: D32002+48n, D32003+48n/Q: D2+20n, D3+20n)
• This device stores the converted value (in an axis control unit) of the feedback position of the motor encoder (in pulse unit).
• The "feed current value" is equal to the "real current value" in the stopped state.
[Md.102] Deviation counter value (R: D32004+48n, D32005+48n/Q: D4+20n, D5+20n)
This register stores the droop pulses read from the servo amplifier.
[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)
• This register stores the corresponding warning code at the warning occurrence. If another warning occurs after warning
code storing, the previous warning code is overwritten by the new warning code.
• The servo warning (Warning (error code: 0C80H)) is not stored in this device. It is stored in "[Md.1005] Servo error code (R:
D32008+48n/Q: D8+20n)".
• Warning codes can be cleared by "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" or "Error reset
(SM50)".
Refer to the following for details of the warning codes.
MELSEC iQ-R Motion controller Programming Manual (Common)
2 POSITIONING DEDICATED SIGNALS
94
2.2 Data Registers
Symbol Signal name

Unusable
Description
Resets the feed current value to "0" at the start.
Not reset the feed current value at the start.
Refresh cycle Fetch cycle
 
Signal type
