Mitsubishi Electric MELSEC iQ-R Series User Manual page 157

Start time chart
The following chart shows a time chart in which the positioning data No.1, 2, 10, 11, and 12 of axis 1 are continuously
executed as an example.
■Block start data setting example
Axis 1 block start data
1st point
2nd point

■Positioning data setting example
Axis 1 positioning data
No.
1
2

10
11
12

■Start time chart
[4-axis module operation example]
Positioning start signal [Y10]
PLC READY signal
All axis servo ON
READY signal
Start complete signal
([Md.31] Status: b14)
BUSY signal
Positioning complete signal
([Md.31] Status: b15)
Error detection signal
([Md.31] Status: b13)
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[Da.11] Shape
1: Continue
0: End
[Da.1] Operation pattern
11: Continuous path control
00: Positioning complete
11: Continuous path control
11: Continuous path control
00: Positioning complete
V
Operation pattern
Positioning data No.
[Y0]
[Y1]
[X0]
[X10]
[Cd.3] Positioning start No.
[Cd.4] Positioning starting point No.
1st point
[buffer memory address 22000]
2nd point
[buffer memory address 22001]
search engine
[Da.12] Start data No. [Da.13] Special start
instruction
1 0: Block start
10 0: Block start
Dwell
10 (11)
time
1 (11)
2 (00)
7000
1
-32767 (8001H)
10 (000AH)
4.5 Start Program for High-level Positioning Control
[Da.14] Parameter


Dwell
time
11 (11)
12 (00)
t
4 HIGH-LEVEL POSITIONING CONTROL
4
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