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MELSEC-Q
6 PLC PROGRAM USED FOR POSITIONING CONTROL
Device
Device
name
Axis 1 Axis 2 Axis 3 Axis 4
Application Details of storage
D52
No. of pulses per rotation
(low-order 16 bits)
D53
No. of pulses per rotation
(high-order 16 bits)
(
Pr.2
No. of pulses per rotation)
D54
Movement amount per rotation
(low-order 16 bits)
D55
Movement amount per rotation
(high-order 16 bits)
(
Pr.3
Movement amount per
rotation)
D56 Bias speed at start (low-order 16 bits)
D57 Bias speed at start (high-order 16 bits)
(
Pr.7
Bias speed at start)
D68 Point 1 (shape, start No.)
D69 Point 2 (shape, start No.)
D70 Point 3 (shape, start No.)
D71 Point 4 (shape, start No.)
D72 Point 5 (shape, start No.)
D73 Point 1 (special start instruction)
D74 Point 2 (special start instruction)
D75 Point 3 (special start instruction)
D76 Point 4 (special start instruction)
D77
Block start data (Block 0)
Point 5 (special start instruction)
(
Da.11
Shape)
(
Da.12
Start data No.)
(
Da.13
Special start instruction)
(
Da.14
Parameter)
D78 Torque change value —
D79 Error code
(
Md.23
Axis error No.)
D80 Servo series
(
Pr.100
Servo series)
D81 Absolute position system valid/invalid
(
Pr.103
Absolute position detection
system)
D82 Motor capacity
(
Pr.100
Servo series)
D85 Return home position method
(
Pr.43
Bias speed at start)
D100 Positioning identifier
D101 M code
D102 Dwell time
D103 Unused
D104 Command speed (low-order 16 bits)
D105 Command speed (high-order 16 bits)
Data register
D106
—
Positioning address (low-order 16 bits)
Data No.1
(
Da.1
Operation pattern)
(
Da.2
Control system)
(
Da.3
Acceleration time No.)
(
Da.4
Deceleration time No.)
(
Da.5
Axis to be interpolated)
(
Da.6
Positioning address/
movement amount)