Mitsubishi Electric GOT2000 Connection Manual page 89

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Register (R) (Word device/Double word device)
The following shows device numbers which can be set for the register and the corresponding device contents.
Register Data length
0000 to 0CFF
0D00 Word
0D01 Word
0D03 Word
0D04 to 0FFF
Double word
Double word
Double word
Double word
Double word
Word
Word
1000 to 3FFF
Word
Word
Word
(Calculation of detailed device number)
Device number (Hex) = 1000
Example)
Position number: 5
Device content: Speed command (Offset value = 0004
Device number (Hex) = 1000
*1 Calculated in decimal.
*2 Converting 16
4000 to 8FFF
9000 Double word
9002 Word
9003 Word
9004 Word
9005 Word
9006 Word
9007 Word
9008 Double word
900A Double word
900C Double word
900E Double word
9010 Double word
9012 Word
9013 Word
9014 Word
9015 to 97FF
9800 Word
9801 to 98FF
Area name
- (Reserved for system)
I/O control information category
- (Reserved for system)
Position table information
(low-speed memory area)
+ (16 Position number (0 to 767))
H
*1*2
+ (16 5 = 80) + 0004
H
5 = 80 to hexadecimal results 50
- (Reserved for system)
Controller monitor information
category
- (Reserved for system)
category
Position command
- (Reserved for system)
2. CONNECTION TO IAI ROBOT CONTROLLER
Description
Device control register 1
Device control register 2
Position number specification register
Offset (Hex.)
+0000 Target position
H
In-position bandPositioning
+0002
H
band
+0004 Speed command
H
+0006 Individual zone boundary +
H
+0008 Individual zone boundary -
H
+000A Acceleration command
H
+000B Deceleration command
H
+000C Push-current limiting value
H
+000D Load current threshold
H
+000E Control flag specification
H
*1
+ (Offset value corresponding to the device content)
)
H
*2
= 1000 + 50 + 0004 = 1054
H H H H
.
H
Current position monitor
Present alarm code query
Input port query
Output port monitor query
Device status 1 query
Device status 2 query
Expansionded device status query
System status query
Current speed monitor
Current ampere monitor
Deviation monitor
System timer query
Special input port query
Zone status query
Completed position numberPosition complete number
status query
Position movement command register
2.6 Device Range that Can Be Set
Abbrevi
ation
DRG1
DRG2
POSR
PCMD
INP
VCMD
ZNMP
ZNLP
ACMD
DCMD
PPOW
LPOW
CTLF
H
H
PNOW
ALMC
DIPM
DOPM
DSS1
DSS2
DSSE
STAT
VNOW
CNOW
DEVI
STIM
SIPM
ZONS
POSS
POSR
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