Melsec-q, 6 sequence program used for positioning control – MITSUBISHI ELECTRIC Mitsubishi Programmable Logic Controller QD75D User Manual
Page 229
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MELSEC-Q
6 SEQUENCE PROGRAM USED FOR POSITIONING CONTROL
Device
Device
name
Axis 1 Axis 2 Axis 3 Axis 4
Application
Details of storage
D15
Acceleration time setting
(low-order 16 bits)
D16
Acceleration time setting
(high-order 16 bits)
(
Cd.10
New acceleration time
value)
D17
Deceleration time setting
(low-order 16 bits)
D18
Deceleration time setting
(high-order 16 bits)
(
Cd.11
New deceleration time
value)
D19
Acceleration/deceleration time change
enable
(
Cd.12
Acceleration/deceleration
time change enable/disable selection
in speed change)
D20
Step valid flag
(
Cd.35
step valid flag)
D21
Step mode
(
Cd.34
Step mode)
D22
Unused
—
D23
Target position (low-order 16 bits)
D24
Target position (high-order 16 bits)
(
Cd.27
New target position value
(address))
D25
Target speed (low-order 16 bits)
D26
Target speed (high-order 16 bits)
(
Cd.28
New target position value
(speed))
D27
Target position change request
(
Cd.29
New target position change
value flag)
D28
Unused
—
D29
Unused
—
D30
PSTRT1 instruction control data
—
D31
Completion status
—
D32
Start number
—
D33
TEACH1 instruction control data
—
D34
Completion status
—
D35
Teaching data
—
D36
Positioning data No.
—
D37
PINIT instruction control data
—
D38
Completion status
—
D39
PFWRT instruction control data
—
D40
Completion status
—
D41
ABRST1 control data
—
D42
Completion status
—
D43
Signals received from servo
—
D44
Signals transmitted to servo
—
D45
Status
—
D46
System area
—
D47
System area
—
D48
System area
—
D49
Error code
Error code at absolute position
restoration
D50
Unit setting
(
Pr.1
Unit setting)
Data register
D51
—
No. of pulses per rotation
(
Pr.2
No. of pulses per rotation)