Direct Access From Motion Built-In Program To Link Devices - Mitsubishi Electric MELSEC iQ-R Series User Manual

Direct access from motion built-in program to link devices

When using the PLCopen Motion control FB mode
This function directly reads/writes link devices of the Motion module from the motion built-in program as variables.
For the variables available in the motion built-in program, refer to "Motion module programs" in the following.
MELSEC iQ-R Programming Manual (Motion Control Function Blocks)
CPU module
X
Y
W
When writing data to the area in the link refresh range, directly access the link device and write the same data
in the device of the CPU module.
<Bad example (Directly accessing the link refresh target only)>
• Link refresh overwrites the value.
W100
<Good example (Directly accessing the link device as well as writing the same data to the device of the CPU
module)>
• The value written by the direct access is reflected.
1 FUNCTIONS
36
1.1 Cyclic Transmission
Module built-in program
RY := Label1;
Label2 := RX0;
RWw0 := Label3;
Label4 := RWr3;
CPU module
W
Link refresh
300
CPU module
MOV K20 W100
W
W100 20
No. 0
RX
RX0
RY
RY0
RWr
RWr3
RWw
RWw0
Motion module
Module built-in program
RWw
RWw100 := K20;
20
Module built-in program
RWw100 := K20;
Link refresh
No. 2
RX
RY
RWr
RWw
300 RWw100
Motion module
RWw
20 RWw100