Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 99

[Md.1011] Data set pointer for continuous trajectory control (R: D32015+48n/Q:
D15+20n)
This pointer is used in the continuous trajectory control when specifying positioning data indirectly and substituting positioning
data during operation.
It stores a "point" that indicates which of the values stored in indirect devices has been input to the Motion CPU.
Use this pointer to confirm which positioning data is to be updated using the Motion SFC program. Also, store the positioning
data updated last time to the end of a selected device to use as an updated data set pointer for checking the extent to which
the positioning data has been updated.
Data set pointer for continuous trajectory control and updated data set pointer are described below using the example servo
program below.
<K 0>
Pass point
9 CPSTART2
Axis 1
Axis 2
Speed D3200
* FOR-TIMES
1 ABS-2
Axis 1, D3000
Axis 2, D3002
2 ABS-2
Axis 1, D3004
Axis 2, D3006
3 ABS-2
Axis 1, D3008
Axis 2, D3010
4 ABS-2
Axis 1, D3012
Axis 2, D3014
5 ABS-2
Axis 1, D3016
Axis 2, D3018
6 ABS-2
Axis 1, D3020
Axis 2, D3022
7 ABS-2
Axis 1, D3024
Axis 2, D3026
8 ABS-2
Axis 1, D3028
Axis 2, D3030
9 ABS-2
Axis 1, D3032
Axis 2, D3034
* NEXT
10 CPEND
The input situation of positioning data to the Motion CPU is shown the next page by executing the 2-axes continuous
trajectory control using above the servo program and updating the positioning data in indirect devices D3000 to D3006.
Point
Repetition instructions
. . . 0
FOR-TIMES
FOR-ON
FOR-OFF
. . . 1
NEXT
Set in ascending order (0, 1, 2...) starting
from the first instructions defined by
. . . 2
the above repetition instructions.
. . . 3
. . . 4
. . . 5
. . . 6
. . . 7
. . . 8
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
2
97