Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 104

Base/tool transformation change procedure
The change procedure for base/tool transformation is shown below.
1.
Set the change method to "[Cd.2163] Base/tool translation change method (D52901+32m)", and the change values to
"[Cd.2164] to [Cd.2169] Base/tool translation setting (X to C)(D52902+32m to D52913+32m)".
2.
After checking that "[St.2124] Base/tool translation change complete (M43908+32m)" is turned OFF, turn "[Rq.2244]
Base/tool translation change command (M43620+32m)" OFFON.
3.
At the change completion of base/tool transformation, "[St.2124] Base/tool translation change complete (M43908+32m)"
turns ON.
4.
After checking that "[St.2124] Base/tool translation change complete (M43908+32m)" is turned ON, turn "[Rq.2244]
Base/tool translation change command (M43620+32m)" ONOFF.
5.
"[St.2124] Base/tool translation change complete (M43908+32m)" turns OFF.
6.
After checking that "[St.2124] Base/tool translation change complete (M43908+32m)" is turned OFF, execute base/tool
transformation change again.
Operation timing
■Changing tool transformation
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[Cd.2163] Base/tool translation change method
(D52901+32m)
[Cd.2164] to [Cd.2169] Base/tool translation setting
(X to C) (D52902+32m to D52913+32m)
[Rq.2244] Base/tool translation change command
(M43620+32m)
[St.2124] Base/tool translation complete
(M43908+32m)
[Md.2025] to [Md.2031] Feed current value
(world coordinate system) (X to FL1)
(D53176+32m to D53188+128m)
[Md.2053] to [Md.2059] Feed current value
(base coordinate system) (X to FL1)
(D53228+128m to D53240+128m)
[Md.2061] to [Md.2066] Base translation (X to C)
(D53242+128m to D53253+128m)
[Md.2069] to [Md.2071] Tool translation (X to Z)
(D53256+128m to D53261+128m)
9 AUXILIARY AND APPLIED FUNCTIONS
102
9.4 Base/Tool Transformation Change Function
OFF
0
(0, 0, 0, 0, 0, 0)
ON
OFF
ON
OFF
(Value before change)
(Value before change)
(1000000, 0, 0)
2: Tool transformation
(2000000, 0, 0, 0, 0, 0)
(Value after change)
(Value after change)
(0, 0, 0, 0, 0, 0)
(2000000, 0, 0)