Mitsubishi Electric MELDAS C6 Interface Manual page 311

6. EXPLANATION OF INTERFACE SIGNALS
6.4 PLC Output Signals (Data Type: R***)
When changing the operation with the R932 register during automatic operation, calculate the
coordinates again.
After synchronous axis independent operation is carried out, the end point coordinates of the
synchronous axis are substituted in the program end point coordinates for the basic axis. Thus,
if the coordinates are not recalculated, the basic axis' movement command will not be created
properly.
Request recalculation immediately after the R932 register is changed.
<Example of ladder creation>
Basic axis: 2nd axis
When M code is assigned to each:
M10: Asynchronous operation
M20: Independent operation
M40: Synchronous operation
X230
= H10 R20
X230
= H20 R20
X230
= H40 R20
M2000 X1F8
MOV
M2001 X1F8
MOV H04 R932
M2002 X1F8
MOV H06 R932
M2000
M2001
M2002
Movement (1)
Execution block
MF
DEN
Operation method
Asynchronous
selection (R435)
All axes in-position
Operation method Asynchronous
Recalculation
request (CRQ)
FIN
Calculation of next
block
Synchronous axis: 3rd axis
Miscellaneous function strobe (MF1) ON
M2000
and M10 commanded → M2000 ON
Miscellaneous function strobe (MF1) ON
M2001
and M20 commanded → M2001 ON
Miscellaneous function strobe (MF1) ON
M2002
and M40 commanded → M2002 ON
M2000 ON and motion command complete (DEN)
H00
→ Asynchronous operation signal set
M2001 ON and motion command complete (DEN)
→ Independent operation signal set
M2002 ON and motion command complete (DEN)
→ Synchronous operation signal set
Y72B
M2000 or M2001 or M2002 ON
→ Recalculation request (CRQ) set
M2002;(synchronization designation)
Synchronous
Synchronous
NC latches
at rising edge
6-4-21
Movement (2)
Recalculation