Appendix 2 Motion Module Programs - Mitsubishi Electric MELSEC iQ-R Series User Manual

Appendix 2
The Motion module performs control using the Motion system's built-in Structured Text (ST) language.
Data transfers between the CPU module and the Motion module
Data is transferred between the CPU module and the Motion module using the buffer memory of the Motion module. The
devices used for data transfers are shown below.
Module
CPU module
Motion module
The usable buffer memory range for data transfers is shown below. Ensure that the buffer memory used is not outside the
usable range.
Setting range
G1147800 to G1199799 (520000 words)
Ex.
For a data transfer that uses the buffer memory of the Motion module
Sequence program
Feed_Set
U0\G1170000.0
RD78G(start address 0000H)
ST program
Speed := DINT_TO_LREAL(G1150000);
MC_MoveRelative_1(........., Velocity := Speed, .........);
·
MC_MoveRelative_2(........., Done => Move_Fin, .........);
G1170000.0 := Move_Fine;
Motion Module Programs
Device used
Un\Gn(module access device)
Gn(buffer memory)
MOV D10000L
G0
G1147800
G1150000
G1170000.0
G1199799
U0\G1150000
Feed_Done

Appendix 2 Motion Module Programs

A
APPX
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