Mitsubishi Electric MELSECQ Series User Manual page 128

7 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
Device name
Data register
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(2) Data registers (for Axis 1)
Device
D0
( Pr. 1 Software stroke limit upper limit value)
D1
D2
( Pr. 2 Software stroke limit lower limit value)
D3
( Pr. 3 Software stroke limit valid/invalid setting)
D4
( Pr. 4 Current feed value during speed control)
D5
D6
( Pr. 5 Speed limit value)
D7
D8
( Pr. 6 Bias speed at start)
D9
( Pr. 7 Positioning complete signal output time)
D10
( Pr. 8 Deviation counter clear signal output time)
D11
( Pr. 9 PULSE/SIGN method selection setup/hold time)
D12
( Pr. 10 Stop mode during path control)
D13
( OPR. 1 OPR method)
D14
( OPR. 2 OPR direction)
D15
D16
( OPR. 3 OP address)
D17
D18
( OPR. 4 OPR speed)
D19
D20
( OPR. 5 Creep speed)
D21
( OPR. 6 ACC/DEC time at OPR)
D22
( OPR. 7 DEC/STOP time at OPR)
D23
D24
( OPR. 8 Setting for the movement amount after near-point dog ON)
D25
( OPR. 9 OPR dwell time)
D26
( Da. 1 Operation pattern)
D27
( Da. 2 Control method)
D28
( Da. 3 ACC/DEC time)
D29
( Da. 4 DEC/STOP time)
D30
D31
( Da. 5 Command speed)
D32
D33
( Da. 6 Positioning address/movement amount)
D34
( Da. 7 Dwell time)
D35
OPR request flag ( Md. 7 Status (bit 0))
D36
( Cd. 3 Start method)
D37
( Cd. 6 Speed change request)
D38
D39
( Cd. 7 New speed value)
D40
( Cd. 8 ACC/DEC time at speed change)
D41
( Cd. 9 DEC/STOP time at speed change)
D42
Axis 1 error status ( Md. 10 Error status (bit 0))
D43
( Md. 5 Axis error code)
D44
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Data stored
MELSEC-Q
Setting value
100000000pulse
-100000000pulse
0 (Valid)
0 (No update)
100000pulse/s
100pulse/s
100ms
10ms
0 (10 μ s)
0 (Position match stop)
0 (Near-point dog method)
0 (Forward direction)
0pulse
20000pulse/s
1000pulse/s
1000ms
1000ms
3000pulse
100ms
0 (Positioning termination)
1 (1-axis linear control (ABS))
1000ms
1000ms
30000pulse/s
250000pulse
100ms
–
Refer to Section 7.5.2
Refer to Section 7.5.4
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