Mitsubishi Electric MELSERVO-J3 Series Manual page 121

3. CC-LINK COMMUNICATION FUNCTIONS
Positioning start command
Position/speed setting system changing command
In
position
Rough Home position
match return completion
*1: This is when the high-speed timer limit is set to 1ms.
Setting time for the timer should be larger than the command processing
time or twice the link scan time whichever larger. When the setting time
is short, the command cannot be received properly.
3 - 60
Position/speed specifying system selection
(RY2A)
Writes position command data (K50000) to
RWw4, RWw5, and speed data (K100) to
RWw6.
Turns on position instruction demand (RY20).
Turns on speed instruction demand (RY21).
Reads respond code (RWr2) to D2 when
position instruction execution completion (RX20)
and speed instruction execution completion
(RX21) turn on.
Position and speed data establishment time
4ms *1
Positioning start command
Command request time 6ms *1
Positioning start command reset
Turns off position instruction demand (RY20).
Turns off speed instruction demand (RY21).
Forward rotation start (RY01)
Reverse rotation start (RY02)
Sets monitor code (H0016) of motor speed to
RWw0.
Turns on monitor output execution demand
(RY08).
Reads motor speed (RWr0, RWr1) to D120 and
D121 when monitoring (RX08) turns on.