Mitsubishi Electronics MR-J3 Manuel D’Utilisation
3 - 40
3. CC-LINK COMMUNICATION FUNCTIONS
(3) When setting the position command data and speed command data
Specify the position address and servo motor speed with the remote register, and execute positioning. At
this time, use the acceleration time constant and deceleration time constant set in point table No.1.
Preset "
this time, use the acceleration time constant and deceleration time constant set in point table No.1.
Preset "
2" in parameter No.PC30 to enable position command data- and speed command data-set
operation.
Position instruction
execution completion
(RX(n+2)0)
execution completion
(RX(n+2)0)
Forward rotation
Reverse rotation
start
(RYn1 RYn2)
Reverse rotation
start
(RYn1 RYn2)
Speed instruction
demand
(RY(n+2)1)
demand
(RY(n+2)1)
Position speed
data setting
data setting
6ms
ON
OFF
ON
OFF
ON
OFF
Position instruction data
Lower 16bit (RWwn+4)
Lower 16bit (RWwn+4)
Speed instruction data
(RWwn+6)
(RWwn+6)
Speed instruction
execution completion
(RX(n+2)1)
execution completion
(RX(n+2)1)
ON
OFF
Position instruction
demand
(RY(n+2)0)
demand
(RY(n+2)0)
ON
OFF
Position instruction data
Upper 16bit (RWwn+5)
Upper 16bit (RWwn+5)
(Note) Data reserved
Respond code
(RWrn+2)
(RWrn+2)
Note. This data is stored into RAM of the servo amplifier. Hence, the data is cleared when power is switched off.
Set the lower 16 bits of the position instruction data to Position instruction data lower 16 bit (RWwn+4), the
upper 16 bits of the position instruction data to Position instruction data upper 16 bit (RWwn+5), and speed
instruction data to Speed instruction data (RWwn+6), and turn Position instruction demand (RY(n+2)0) and
Speed instruction demand (RY(n+2)1) to ON.
Turning RY(n+2)0 and RY(n+2)1 to ON stores the position command data and speed command data into
RAM of the servo amplifier.
When the data are stored, Position instruction execution completion (RX(n+2)0) and Speed instruction
execution completion (RX(n+2)1) turn to ON.
If data outside the setting range is set to any of Position instruction data lower 16 bit (RWwn+4), Position
instruction data upper 16 bit (RWwn+5) and Speed command data (RWwn+6), the error code (refer to
section 3.5.5) is set to respond code.
Turn Forward rotation start (RYn1) Reverse rotation start (RYn2) to ON after Position instruction execution
completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1) have turned to ON.
upper 16 bits of the position instruction data to Position instruction data upper 16 bit (RWwn+5), and speed
instruction data to Speed instruction data (RWwn+6), and turn Position instruction demand (RY(n+2)0) and
Speed instruction demand (RY(n+2)1) to ON.
Turning RY(n+2)0 and RY(n+2)1 to ON stores the position command data and speed command data into
RAM of the servo amplifier.
When the data are stored, Position instruction execution completion (RX(n+2)0) and Speed instruction
execution completion (RX(n+2)1) turn to ON.
If data outside the setting range is set to any of Position instruction data lower 16 bit (RWwn+4), Position
instruction data upper 16 bit (RWwn+5) and Speed command data (RWwn+6), the error code (refer to
section 3.5.5) is set to respond code.
Turn Forward rotation start (RYn1) Reverse rotation start (RYn2) to ON after Position instruction execution
completion (RX(n+2)0) and Speed instruction execution completion (RX(n+2)1) have turned to ON.