Chapter 13 Programming; Precautions For Creating Program - Mitsubishi Electric MELSEC iQ-R Series User Manual

13
PROGRAMMING
This chapter describes the programs required to carry out positioning control with the Motion module. The program required
for control is created allowing for the "start conditions", "start time chart", "device settings" and general control configuration.
(The parameters, positioning data, block start data, condition data, etc., must be set in the Motion module according to the
control to be executed, and a setting program for the control data or a start program for the various controls must be created.)
13.1
The common precautions to be taken when writing data from the CPU module to the buffer memory of the Motion module are
described below.
Reading/writing the data
The data explained in this chapter (various parameters, positioning data, block start data) should be set using an engineering
tool. To set it with the program, many programs and devices must be used. This will not only complicate the program, but will
also increase the scan time. When rewriting the positioning data during continuous path control or continuous positioning
control, rewrite the data before the execution of the positioning data four prior to the data to be rewritten. Otherwise, the
process will be carried out as if the data was not rewritten.
Restrictions to speed change execution interval
Be sure there is an interval between the speed changes of 10 ms or more when carrying out consecutive speed changes by
the speed change function or override function with the Motion module.
Process during overrun
Overrun is prevented by the setting of the upper and lower stroke limits with the detailed parameter 1. However, this applies
only when the Motion module is operating correctly. It is recommended to create an external circuit including a boundary limit
switch to ensure the whole system safety as follows: the external circuit that turns OFF the main circuit power of the servo
amplifier when the boundary limit switch operates.
System configuration
The following figure shows the system configuration used for the program examples.
( 1 )
Servo amplifier
( MR-J5-_G_ )
Servo motor
13 PROGRAMMING
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13.1 Precautions for Creating Program

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Precautions for Creating Program
( 2 ) ( 3 ) ( 4 ) ( 5 ) ( 6 )
X40 to X5F
X20 to X3F
Axis 1
search engine
Manual pulse generator
External
device
(1) R61P
(2) R16CPU
(3) RD78G16 (X0 to X1F/Y0 to Y1F)
(4) RX41C4 (X20 to X3F)
(5) RX41C4 (X40 to X5F)
(6) RD62P2