Mitsubishi Electric A173UHCPU Programming Manual page 69

3. POSITIONING SIGNALS
REMARK
(Note): See the following sections for details on M-codes and reading M-codes.
• M-code .........................Section 8.2
• M-code reading ............Appendix 4.1
(11) Torque limit value register (D14+20n).........Data from the PCPU to the SCPU
This register stores the value for the torque limit imposed on the servo
system. The default value of 300% is stored in this register when the power to
the servo system is turned on or at the leading edge of the PLC READY signal
(M2000).
(12) Constant-speed control data set pointer (D15+20n) ......... Data from the PCPU
to the SCPU
This pointer is used in constant-speed control when specifying positioning
data indirectly and substituting positioning data during operation.
It stores a "point" that indicates which of the values stored in indirect devices
has been input to the PCPU when positioning is being repeated by using a
repeat instruction (FOR-TIMES, FOR-ON, FOR-OFF).
Use this pointer in conjunction with the PLC set pointer (controlled by the user
in the sequence program) - which indicates the extent to which the positioning
data has been updated by the SCPU - to confirm which positioning data is to
be updated.
The use of the data set pointer and PLC set pointer for constant-speed control
is explained here using the example servo program below.
<K 0>
Pass point
9 CPSTART2
Axis
Axis
Speed
*
FOR-TIMES
1 ABS-2
Axis
Axis
2 ABS-2
Axis
Axis
3 ABS-2
Axis
Axis
4 ABS-2
Axis
Axis
5 ABS-2
Axis
Axis
6 ABS-2
Axis
Axis
7
ABS-2
Axis
Axis
8 ABS-2
Axis
Axis
NEXT
9 CPEND
The input of positioning data to the PCPU on updating the positioning data in
indirect devices D0 to D6 when 2-axes constant-speed control is executed
using the servo program shown above is described overpage.
1
2
D200
Point
D202
Poins are set in the order
0
1, D0
2, D2
1
1, D4
2, D6
2
0, 1, 2, etc., starting from the
1, D8
head of the sequence defined
2, D10
by the following repeat
3
1, D12
instructions :
2, D14
4
1, D16
2, D18
5
1, D20
2, D22
6
1, D24
2, D26
7
1, D28
2, D30
3 − 38
FOR-TIMES
FOR-ON
FOR-OFF
NEXT