Mitsubishi Electric MELSEC iQ-R16MTCPU, MELSEC iQ-R32MTCPU, MELSEC iQ-R64MTCPU Programming Manual
MELSEC iQ-R Motion Controller
Programming Manual (Positioning Control)
-R16MTCPU
-R32MTCPU
-R64MTCPU
SAFETY PRECAUTIONS
WARNING
Indicates that incorrect handling may cause hazardous conditions, resulting in
death or severe injury.
CAUTION
Indicates that incorrect handling may cause hazardous conditions, resulting in
minor or moderate injury or property damage.
(Read these precautions before using this product.)
Before using this product, please read this manual and the relevant manuals carefully and pay full attention to safety to handle
the product correctly.
The precautions given in this manual are concerned with this product only. Refer to MELSEC iQ-R Module Configuration
Manual for a description of the PLC system safety precautions.
In this manual, the safety precautions are classified into two levels: " WARNING" and " CAUTION".
Under some circumstances, failure to observe the precautions given under " CAUTION" may lead to serious
consequences.
Observe the precautions of both levels because they are important for personal and system safety.
Make sure that the end users read this manual and then keep the manual in a safe place for future reference.
[Design Precautions]
WARNING
● Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
(1) Emergency stop circuits, protection circuits, and protective interlock circuits for conflicting
operations (such as forward/reverse rotations or upper/lower limit positioning) must be configured
external to the programmable controller.
(2) When the programmable controller detects an abnormal condition, it stops the operation and all
outputs are:
• Turned off if the overcurrent or overvoltage protection of the power supply module is activated.
• Held or turned off according to the parameter setting if the self-diagnostic function of the CPU
module detects an error such as a watchdog timer error.
(3) All outputs may be turned on if an error occurs in a part, such as an I/O control part, where the
CPU module cannot detect any error. To ensure safety operation in such a case, provide a safety
mechanism or a fail-safe circuit external to the programmable controller. For a fail-safe circuit
example, refer to "General Safety Requirements" in the MELSEC iQ-R Module Configuration
Manual.
(4) Outputs may remain on or off due to a failure of a component such as a relay and transistor in an
output circuit. Configure an external circuit for monitoring output signals that could cause a
serious accident.
● In an output circuit, when a load current exceeding the rated current or an overcurrent caused by a
load short-circuit flows for a long time, it may cause smoke and fire. To prevent this, configure an
external safety circuit, such as a fuse.
● Configure a circuit so that the programmable controller is turned on first and then the external power
supply. If the external power supply is turned on first, an accident may occur due to an incorrect output
or malfunction.
1
[Design Precautions]
WARNING
● For the operating status of each station after a communication failure, refer to manuals relevant to the
network. Incorrect output or malfunction due to a communication failure may result in an accident.
● When connecting an external device with a CPU module or intelligent function module to modify data
of a running programmable controller, configure an interlock circuit in the program to ensure that the
entire system will always operate safely. For other forms of control (such as program modification,
parameter change, forced output, or operating status change) of a running programmable controller,
read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper
operation may damage machines or cause accidents.
● Especially, when a remote programmable controller is controlled by an external device, immediate
action cannot be taken if a problem occurs in the programmable controller due to a communication
failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions
to be taken between the external device and CPU module in case of a communication failure.
● Do not write any data to the "system area" and "write-protect area" of the buffer memory in the
module. Also, do not use any "use prohibited" signals as an output signal from the CPU module to
each module. Doing so may cause malfunction of the programmable controller system. For the
"system area", "write-protect area", and the "use prohibited" signals, refer to the user's manual for the
module used.
● If a communication cable is disconnected, the network may be unstable, resulting in a communication
failure of multiple stations. Configure an interlock circuit in the program to ensure that the entire
system will always operate safely even if communications fail. Failure to do so may result in an
accident due to an incorrect output or malfunction.
● To maintain the safety of the programmable controller system against unauthorized access from
external devices via the network, take appropriate measures. To maintain the safety against
unauthorized access via the Internet, take measures such as installing a firewall.
● Configure safety circuits external to the programmable controller to ensure that the entire system
operates safely even when a fault occurs in the external power supply or the programmable controller.
Failure to do so may result in an accident due to an incorrect output or malfunction.
● If safety standards (ex., robot safety rules, etc.,) apply to the system using the module, servo amplifier
and servo motor, make sure that the safety standards are satisfied.
● Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the
module or servo amplifier differs from the safety directive operation in the system.
● Do not remove the SSCNET cable while turning on the control circuit power supply of modules and
servo amplifier. Do not see directly the light generated from SSCNET connector of the module or
servo amplifier and the end of SSCNET cable. When the light gets into eyes, you may feel
something wrong with eyes. (The light source of SSCNET complies with class1 defined in JISC6802
or IEC60825-1.)
2
[Design Precautions]
CAUTION
● Do not install the control lines or communication cables together with the main circuit lines or power
cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction
due to noise.
● During control of an inductive load such as a lamp, heater, or solenoid valve, a large current
(approximately ten times greater than normal) may flow when the output is turned from off to on.
Therefore, use a module that has a sufficient current rating.
● After the CPU module is powered on or is reset, the time taken to enter the RUN status varies
depending on the system configuration, parameter settings, and/or program size. Design circuits so
that the entire system will always operate safely, regardless of the time.
● Do not power off the programmable controller or reset the CPU module while the settings are being
written. Doing so will make the data in the flash ROM and SD memory card undefined. The values
need to be set in the buffer memory and written to the flash ROM and SD memory card again. Doing
so also may cause malfunction or failure of the module.
● When changing the operating status of the CPU module from external devices (such as the remote
RUN/STOP functions), select "Do Not OPEN in Program" for "Open Method Setting" of "Module
Parameter". If "OPEN in Program" is selected, an execution of the remote STOP function causes the
communication line to close. Consequently, the CPU module cannot reopen the line, and external
devices cannot execute the remote RUN function.
[Installation Precautions]
WARNING
● Shut off the external power supply (all phases) used in the system before mounting or removing the
module. Failure to do so may result in electric shock or cause the module to fail or malfunction.
3
[Installation Precautions]
CAUTION
● Use the programmable controller in an environment that meets the general specifications in the Safety
Guidelines included with the base unit. Failure to do so may result in electric shock, fire, malfunction,
or damage to or deterioration of the product.
● To mount a module, place the concave part(s) located at the bottom onto the guide(s) of the base unit,
and push in the module until the hook(s) located at the top snaps into place. Incorrect mounting may
cause malfunction, failure, or drop of the module.
● To mount a module with no module fixing hook, place the concave part(s) located at the bottom onto
the guide(s) of the base unit, push in the module, and fix it with screw(s). Incorrect mounting may
cause malfunction, failure, or drop of the module.
● When using the programmable controller in an environment of frequent vibrations, fix the module with
a screw.
● Tighten the screws within the specified torque range. Undertightening can cause drop of the screw,
short circuit, or malfunction. Overtightening can damage the screw and/or module, resulting in drop,
short circuit, or malfunction.
● When using an extension cable, connect it to the extension cable connector of the base unit securely.
Check the connection for looseness. Poor contact may cause malfunction.
● When using an SD memory card, fully insert it into the SD memory card slot. Check that it is inserted
completely. Poor contact may cause malfunction.
● Securely insert an extended SRAM cassette into the cassette connector of the CPU module. After
insertion, close the cassette cover and check that the cassette is inserted completely. Poor contact
may cause malfunction.
● Do not directly touch any conductive parts and electronic components of the module, SD memory
card, extended SRAM cassette, or connector. Doing so may cause malfunction or failure of the
module.
[Wiring Precautions]
WARNING
● Shut off the external power supply (all phases) used in the system before installation and wiring.
Failure to do so may result in electric shock or cause the module to fail or malfunction.
● After installation and wiring, attach the included terminal cover to the module before turning it on for
operation. Failure to do so may result in electric shock.
4
[Wiring Precautions]
CAUTION
● Individually ground the FG and LG terminals of the programmable controller with a ground resistance
of 100 ohms or less. Failure to do so may result in electric shock or malfunction.
● Use applicable solderless terminals and tighten them within the specified torque range. If any spade
solderless terminal is used, it may be disconnected when the terminal screw comes loose, resulting in
failure.
● Check the rated voltage and signal layout before wiring to the module, and connect the cables
correctly. Connecting a power supply with a different voltage rating or incorrect wiring may cause fire
or failure.
● Connectors for external devices must be crimped or pressed with the tool specified by the
manufacturer, or must be correctly soldered. Incomplete connections may cause short circuit, fire, or
malfunction.
● Securely connect the connector to the module. Poor contact may cause malfunction.
● Do not install the control lines or communication cables together with the main circuit lines or power
cables. Keep a distance of 100mm or more between them. Failure to do so may result in malfunction
due to noise.
● Place the cables in a duct or clamp them. If not, dangling cable may swing or inadvertently be pulled,
resulting in damage to the module or cables or malfunction due to poor contact. Do not clamp the
extension cables with the jacket stripped. Doing so may change the characteristics of the cables,
resulting in malfunction.
● Check the interface type and correctly connect the cable. Incorrect wiring (connecting the cable to an
incorrect interface) may cause failure of the module and external device.
● Tighten the terminal screws or connector screws within the specified torque range. Undertightening
can cause drop of the screw, short circuit, fire, or malfunction. Overtightening can damage the screw
and/or module, resulting in drop, short circuit, fire, or malfunction.
● When disconnecting the cable from the module, do not pull the cable by the cable part. For the cable
with connector, hold the connector part of the cable. For the cable connected to the terminal block,
loosen the terminal screw. Pulling the cable connected to the module may result in malfunction or
damage to the module or cable.
● Prevent foreign matter such as dust or wire chips from entering the module. Such foreign matter can
cause a fire, failure, or malfunction.
● A protective film is attached to the top of the module to prevent foreign matter, such as wire chips,
from entering the module during wiring. Do not remove the film during wiring. Remove it for heat
dissipation before system operation.
● Programmable controllers must be installed in control panels. Connect the main power supply to the
power supply module in the control panel through a relay terminal block. Wiring and replacement of a
power supply module must be performed by qualified maintenance personnel with knowledge of
protection against electric shock. For wiring, refer to the MELSEC iQ-R Module Configuration Manual.
● For Ethernet cables to be used in the system, select the ones that meet the specifications in the user's
manual for the module used. If not, normal data transmission is not guaranteed.
5
[Startup and Maintenance Precautions]
WARNING
● Do not touch any terminal while power is on. Doing so will cause electric shock or malfunction.
● Correctly connect the battery connector. Do not charge, disassemble, heat, short-circuit, solder, or
throw the battery into the fire. Also, do not expose it to liquid or strong shock. Doing so may cause the
battery to generate heat, explode, ignite, or leak, resulting in injury or fire.
● Shut off the external power supply (all phases) used in the system before cleaning the module or
retightening the terminal screws, connector screws, or module fixing screws. Failure to do so may
result in electric shock.
[Startup and Maintenance Precautions]
CAUTION
● When connecting an external device with a CPU module or intelligent function module to modify data
of a running programmable controller, configure an interlock circuit in the program to ensure that the
entire system will always operate safely. For other forms of control (such as program modification,
parameter change, forced output, or operating status change) of a running programmable controller,
read the relevant manuals carefully and ensure that the operation is safe before proceeding. Improper
operation may damage machines or cause accidents.
● Especially, when a remote programmable controller is controlled by an external device, immediate
action cannot be taken if a problem occurs in the programmable controller due to a communication
failure. To prevent this, configure an interlock circuit in the program, and determine corrective actions
to be taken between the external device and CPU module in case of a communication failure.
● Do not disassemble or modify the modules. Doing so may cause failure, malfunction, injury, or a fire.
● Use any radio communication device such as a cellular phone or PHS (Personal Handy-phone
System) more than 25cm away in all directions from the programmable controller. Failure to do so
may cause malfunction.
● Shut off the external power supply (all phases) used in the system before mounting or removing the
module. Failure to do so may cause the module to fail or malfunction.
● Tighten the screws within the specified torque range. Undertightening can cause drop of the
component or wire, short circuit, or malfunction. Overtightening can damage the screw and/or module,
resulting in drop, short circuit, or malfunction.
● After the first use of the product, do not mount/remove the module to/from the base unit, and the
terminal block to/from the module, and do not insert/remove the extended SRAM cassette to/from the
CPU module more than 50 times (IEC 61131-2 compliant) respectively. Exceeding the limit of 50 times
may cause malfunction.
● After the first use of the product, do not insert/remove the SD memory card to/from the CPU module
more than 500 times. Exceeding the limit of 500 times may cause malfunction.
● Do not touch the metal terminals on the back side of the SD memory card. Doing so may cause
malfunction or failure.
● Do not touch the integrated circuits on the circuit board of an extended SRAM cassette. Doing so may
cause malfunction or failure.
● Do not drop or apply shock to the battery to be installed in the module. Doing so may damage the
battery, causing the battery fluid to leak inside the battery. If the battery is dropped or any shock is
applied to it, dispose of it without using.
6
[Startup and Maintenance Precautions]
CAUTION
● Startup and maintenance of a control panel must be performed by qualified maintenance personnel
with knowledge of protection against electric shock. Lock the control panel so that only qualified
maintenance personnel can operate it.
● Before handling the module, touch a conducting object such as a grounded metal to discharge the
static electricity from the human body. Failure to do so may cause the module to fail or malfunction.
● Before testing the operation, set a low speed value for the speed limit parameter so that the operation
can be stopped immediately upon occurrence of a hazardous condition.
● Confirm and adjust the program and each parameter before operation. Unpredictable movements
may occur depending on the machine.
● When using the absolute position system function, on starting up, and when the module or absolute
position motor has been replaced, always perform a home position return.
● Before starting the operation, confirm the brake function.
● Do not perform a megger test (insulation resistance measurement) during inspection.
● After maintenance and inspections are completed, confirm that the position detection of the absolute
position detection function is correct.
● Lock the control panel and prevent access to those who are not certified to handle or install electric
equipment.
[Operating Precautions]
CAUTION
● When changing data and operating status, and modifying program of the running programmable
controller from an external device such as a personal computer connected to an intelligent function
module, read relevant manuals carefully and ensure the safety before operation. Incorrect change or
modification may cause system malfunction, damage to the machines, or accidents.
● Do not power off the programmable controller or reset the CPU module while the setting values in the
buffer memory are being written to the flash ROM in the module. Doing so will make the data in the
flash ROM and SD memory card undefined. The values need to be set in the buffer memory and
written to the flash ROM and SD memory card again. Doing so also may cause malfunction or failure
of the module.
● Note that when the reference axis speed is specified for interpolation operation, the speed of the
partner axis (2nd, 3rd, or 4th axis) may exceed the speed limit value.
● Do not go near the machine during test operations or during operations such as teaching. Doing so
may lead to injuries.
[Disposal Precautions]
CAUTION
● When disposing of this product, treat it as industrial waste.
● When disposing of batteries, separate them from other wastes according to the local regulations. For
details on battery regulations in EU member states, refer to the MELSEC iQ-R Module Configuration
Manual.
7
[Transportation Precautions]
CAUTION
● When transporting lithium batteries, follow the transportation regulations. For details on the regulated
models, refer to the MELSEC iQ-R Module Configuration Manual.
● The halogens (such as fluorine, chlorine, bromine, and iodine), which are contained in a fumigant
used for disinfection and pest control of wood packaging materials, may cause failure of the product.
Prevent the entry of fumigant residues into the product or consider other methods (such as heat
treatment) instead of fumigation. The disinfection and pest control measures must be applied to
unprocessed raw wood.
8
CONDITIONS OF USE FOR THE PRODUCT
(1) Mitsubishi programmable controller ("the PRODUCT") shall be used in conditions;
i) where any problem, fault or failure occurring in the PRODUCT, if any, shall not lead to any major or serious accident;
and
ii) where the backup and fail-safe function are systematically or automatically provided outside of the PRODUCT for the
case of any problem, fault or failure occurring in the PRODUCT.
(2) The PRODUCT has been designed and manufactured for the purpose of being used in general industries.
MITSUBISHI SHALL HAVE NO RESPONSIBILITY OR LIABILITY (INCLUDING, BUT NOT LIMITED TO ANY AND ALL
RESPONSIBILITY OR LIABILITY BASED ON CONTRACT, WARRANTY, TORT, PRODUCT LIABILITY) FOR ANY
INJURY OR DEATH TO PERSONS OR LOSS OR DAMAGE TO PROPERTY CAUSED BY the PRODUCT THAT ARE
OPERATED OR USED IN APPLICATION NOT INTENDED OR EXCLUDED BY INSTRUCTIONS, PRECAUTIONS, OR
WARNING CONTAINED IN MITSUBISHI'S USER, INSTRUCTION AND/OR SAFETY MANUALS, TECHNICAL
BULLETINS AND GUIDELINES FOR the PRODUCT.
("Prohibited Application")
Prohibited Applications include, but not limited to, the use of the PRODUCT in;
• Nuclear Power Plants and any other power plants operated by Power companies, and/or any other cases in which the
public could be affected if any problem or fault occurs in the PRODUCT.
• Railway companies or Public service purposes, and/or any other cases in which establishment of a special quality
assurance system is required by the Purchaser or End User.
• Aircraft or Aerospace, Medical applications, Train equipment, transport equipment such as Elevator and Escalator,
Incineration and Fuel devices, Vehicles, Manned transportation, Equipment for Recreation and Amusement, and
Safety devices, handling of Nuclear or Hazardous Materials or Chemicals, Mining and Drilling, and/or other
applications where there is a significant risk of injury to the public or property.
Notwithstanding the above, restrictions Mitsubishi may in its sole discretion, authorize use of the PRODUCT in one or
more of the Prohibited Applications, provided that the usage of the PRODUCT is limited only for the specific
applications agreed to by Mitsubishi and provided further that no special quality assurance or fail-safe, redundant or
other safety features which exceed the general specifications of the PRODUCTs are required. For details, please
contact the Mitsubishi representative in your region.
INTRODUCTION
Thank you for purchasing the Mitsubishi Electric MELSEC iQ-R series programmable controllers.
This manual describes the dedicated signals, parameters, servo programs, and functions required for performing positioning
control of the relevant products listed below.
Before using this product, please read this manual and the relevant manuals carefully and develop familiarity with the
functions and performance of the MELSEC iQ-R series programmable controller to handle the product correctly.
When applying the program examples provided in this manual to an actual system, ensure the applicability and confirm that it
will not cause system control problems.
Please make sure that the end users read this manual.
Relevant products
R16MTCPU, R32MTCPU, R64MTCPU
9
CONTENTS
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .1
CONDITIONS OF USE FOR THE PRODUCT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
INTRODUCTION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
RELEVANT MANUALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
TERMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
MANUAL PAGE ORGANIZATION. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
CHAPTER 1 POSITIONING CONTROL BY THE MOTION CPU 20
1.1 Positioning Control by the Motion CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Parameters and programs used for positioning control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Starting a servo program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Direct positioning start from the PLC CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
JOG operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Manual pulse generator operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
CHAPTER 2 POSITIONING DEDICATED SIGNALS 22
2.1 Internal Relays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Axis status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Axis command signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Command generation axis status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Command generation axis command signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Synchronous encoder axis status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Synchronous encoder axis command signal. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Output axis status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Output axis command signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Synchronous control signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Synchronous analysis complete signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Synchronous control start signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Synchronous analysis request signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Machine common command signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Machine command signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Machine status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Common devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
2.2 Data Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Axis monitor devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
JOG speed setting registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Servo input axis monitor device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Servo input axis control device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Command generation axis monitor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Command generation axis control device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Synchronous encoder axis monitor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Synchronous encoder axis control device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Output axis monitor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Output axis control device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Machine control device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Machine monitor device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
G-code control common command signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
G-code control common control device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
10
G-code control common status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
G-code control common monitor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
G-code control line command signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
G-code control line control device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
G-code control line status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
G-code control line monitor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
G-code control line monitor device (expansion) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
G-code control axis status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
G-code control axis monitor device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Common devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
2.3 Motion Registers (#) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
Monitor devices 2 of each axis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
2.4 Special Relays (SM). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
2.5 Special Registers (SD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165
CHAPTER 3 PARAMETERS FOR POSITIONING CONTROL 166
3.1 Parameters Used by the Motion CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
3.2 Indirect Setting Method by Devices for Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
3.3 Fixed Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Unit Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Number of pulses per rotation/Travel value per rotation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Backlash compensation amount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Upper/lower stroke limit value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Command in-position range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Speed control 10 x multiplier setting for degree axis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
3.4 Home Position Return Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
Home position return direction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Home position return method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Home position address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Home position return speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Creep speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Travel value after proximity dog ON . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Parameter block setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Home position return retry function/dwell time at the home position return retry . . . . . . . . . . . . . . . . . . . . . . . 183
Home position shift amount/speed set at the home position shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Torque limit value at the creep speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Operation setting for incompletion of home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Setting items for home position return data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
3.5 JOG Operation Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
3.6 External Signal Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
3.7 Expansion Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Positive direction torque limit value monitor device/negative direction torque limit value monitor device. . . . . 193
Acceleration/deceleration time change parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Servo motor maximum speed check parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .195
ABS direction in degrees device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
3.8 Speed-torque control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Control mode switching request device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Control mode setting device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Speed limit value at speed-torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Torque limit value at speed-torque control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
CONTENTS
11
Speed command device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Command speed acceleration time, Command speed deceleration time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Torque command device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
Command torque time constant (positive direction), Command torque time constant (negative direction) . . .205
Speed initial value selection at control mode switching. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206
Torque initial value selection at control mode switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Invalid selection during zero speed at control mode switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .206
3.9 Pressure control data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .207
Pressure control selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Feed/dwell startup device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Dwell forced switching device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Pressure release startup device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Pressure command reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Speed limit reference. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Abnormal pressure switching mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Abnormal pressure setting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Abnormal pressure setting time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Mode reset selection after passing dwell time. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Pressure profile start device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Pressure control status device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Feed execution point device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Dwell execution point device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Pressure release execution point device. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
3.10 Override Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Override ratio setting device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
3.11 Vibration Suppression Command Filter Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Vibration suppression command filter 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Vibration suppression command filter 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Feed current value monitor device after filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Command output complete signal after filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
3.12 Servo Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
3.13 Parameter Block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Interpolation control unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Speed limit value, acceleration time, deceleration time and rapid stop deceleration time. . . . . . . . . . . . . . . . . 218
S-curve ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Advanced S-curve acceleration/deceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Torque limit value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Deceleration processing on STOP input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
Allowable error range for circular interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Bias speed at start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
12
CHAPTER 4 SERVO PROGRAMS FOR POSITIONING CONTROL 236
4.1 Servo Program Composition Area. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
Servo program composition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
4.2 Servo Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
4.3 Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
4.4 Setting Method for Positioning Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Setting method for direct setting by numerical values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
Indirect setting method by devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
CHAPTER 5 POSITIONING CONTROL 250
5.1 Basics of Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Positioning speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250
Positioning speed at the interpolation control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
Control units for 1 axis positioning control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
Control units for interpolation control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
Control in the control unit "degree" . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Stop processing and restarting after stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Acceleration/deceleration processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
5.2 1 Axis Linear Positioning Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
5.3 2 Axes Linear Interpolation Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
5.4 3 Axes Linear Interpolation Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276
5.5 4 Axes Linear Interpolation Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
5.6 Auxiliary Point-Specified Circular Interpolation Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
5.7 Radius-Specified Circular Interpolation Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287
5.8 Central Point-Specified Circular Interpolation Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
5.9 Helical Interpolation Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295
Circular interpolation specified method by helical interpolation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
5.10 Axis Fixed-Pitch Feed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
5.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312
5.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
5.13 Speed Control (I) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
5.14 Speed Control (II). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
5.15 Speed/Position Switching Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Speed/position switching control start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Re-starting after stop during control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
5.16 Speed Control with Fixed Position Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334
5.17 Continuous Trajectory Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
Specification of pass points by repetition instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
Speed-switching by instruction execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345
1 axis continuous trajectory control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
2 to 4 axes continuous trajectory control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
Continuous trajectory control for helical interpolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
Pass point skip function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 360
FIN signal wait function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
5.18 Position Follow-Up Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
5.19 High-Speed Oscillation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
5.20 Simultaneous Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
5.21 Home Position Return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377
Servo program for home position return . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
Home position return by the proximity dog method 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380
Home position return by the proximity dog method 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382
Home position return by the count method 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
Home position return by the count method 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385
Home position return by the count method 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
Home position return by the data set method 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
Home position return by the data set method 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Home position return by the data set method 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
Home position return by the dog cradle method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391
Home position return by the stopper method 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
CONTENTS
13
Home position return by the stopper method 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Home position return by the limit switch combined method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396
Home position return by the scale home position signal detection method. . . . . . . . . . . . . . . . . . . . . . . . . . . .398
Home position return by the dogless home position signal reference method . . . . . . . . . . . . . . . . . . . . . . . . . 400
Home position return by the driver home position return method . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
Home position return retry function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406
Home position shift function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409
Condition selection of home position set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412
5.22 Current Value Change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413
CHAPTER 6 MANUAL CONTROL 415
6.1 JOG Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
Individual start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415
Simultaneous start. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418
6.2 Manual Pulse Generator Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420
CHAPTER 7 AUXILIARY AND APPLIED FUNCTIONS 425
7.1 M-code Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425
7.2 Backlash Compensation Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427
7.3 Torque Limit Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
7.4 Skip Function in which Disregards Stop Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430
7.5 Speed-Torque Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431
Operation of speed-torque control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432
7.6 Acceleration/Deceleration Time Change Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445
7.7 Pressure Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
Outline of pressure control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
Pressure profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453
Feed/dwell operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
Pressure release operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Operation by stroke limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Using point No. to substitute M-code. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
Pressure control settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460
Mode reset after passing dwell time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Stop causes during pressure control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
7.8 Override Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
7.9 Vibration Suppression Command Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467
Vibration suppression command filter operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467
Precautions when using vibration suppression command filter. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
14
APPENDICES 473
Appendix 1 Processing Times of the Motion CPU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
REVISIONS. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .476
WARRANTY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .477
TRADEMARKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .478
RELEVANT MANUALS
Manual Name [Manual Number] Description Available form
MELSEC iQ-R Motion Controller Programming Manual
(Positioning Control)
[IB-0300241] (This manual)
MELSEC iQ-R Motion Controller User's Manual
[IB-0300235]
MELSEC iQ-R Motion Controller Programming Manual
(Common)
[IB-0300237]
MELSEC iQ-R Motion Controller Programming Manual
(Program Design)
[IB-0300239]
MELSEC iQ-R Motion Controller Programming Manual
(Advanced Synchronous Control)
[IB-0300243]
MELSEC iQ-R Motion Controller Programming Manual
(Machine Control)
[IB-0300309]
MELSEC iQ-R Motion Controller Programming Manual
(G-Code Control)
[IB-0300371]
This manual explains the servo parameters, positioning
instructions, device lists and others.
This manual explains specifications of the Motion CPU modules,
SSCNET cables, synchronous encoder, troubleshooting, and
others.
This manual explains the Multiple CPU system configuration,
performance specifications, common parameters, auxiliary/applied
functions, error lists and others.
This manual explains the functions, programming, debugging for
Motion SFC and others.
This manual explains the dedicated instructions to use
synchronous control by synchronous control parameters, device
lists and others.
This manual explains the dedicated instructions to use machine
control by machine control parameters, machine positioning data,
device lists and others.
This manual explains the dedicated instructions to use G-code
control by G-code control parameters and G-code programs.
Print book
e-Manual
PDF
Print book
e-Manual
PDF
Print book
e-Manual
PDF
Print book
e-Manual
PDF
Print book
e-Manual
PDF
Print book
e-Manual
PDF
Print book
e-Manual
PDF
e-Manual refers to the Mitsubishi FA electronic book manuals that can be browsed using a dedicated tool.
e-Manual has the following features:
• Required information can be cross-searched in multiple manuals.
• Other manuals can be accessed from the links in the manual.
• The hardware specifications of each part can be found from the product figures.
• Pages that users often browse can be bookmarked.
15
TERMS
Unless otherwise specified, this manual uses the following terms.
Ter m Description
R64MTCPU/R32MTCPU/R16MTCPU or
Motion CPU (module)
MR-J4(W)-B Servo amplifier model MR-J4-B/MR-J4W-B
MR-J3(W)-B Servo amplifier model MR-J3-B/MR-J3W-B
AMP or Servo amplifier General name for "Servo amplifier model MR-J4-B/MR-J4W-B/MR-J3-B/MR-J3W-B"
RnCPU, PLC CPU or PLC CPU module Abbreviation for MELSEC iQ-R series CPU module
Multiple CPU system or Motion system Abbreviation for "Multiple PLC system of the R series"
CPUn Abbreviation for "CPU No.n (n = 1 to 4) of the CPU module for the Multiple CPU system"
Operating system software General name for "SW10DNC-RMTFW"
Engineering software package General name for MT Developer2/GX Works3
MELSOFT MT Works2 General product name for the Motion controller engineering software "SW1DND-MTW2"
MT Developer2 Abbreviation for the programming software included in the "MELSOFT MT Works2" Motion controller
GX Works3 General product name for the MELSEC PLC software package "SW1DND-GXW3"
Serial absolute synchronous encoder or
Q171ENC-W8
SSCNET/H
SSCNET
SSCNET(/H) General name for SSCNET/H, SSCNET
Absolute position system General name for "system using the servomotor and servo amplifier for absolute position"
Intelligent function module General name for module that has a function other than input or output such as A/D converter module and D/A
SSCNET/H head module
Optical hub unit or MR-MV200 Abbreviation for SSCNET/H Compatible Optical Hub Unit (MR-MV200)
Sensing module General name for SSCNET/H compatible sensing module MR-MT2000 series
Sensing SSCNET/H head module
MR-MT2010
Sensing extension module General name for I/O module (MR-MT2100), pulse I/O module (MR-MT2200), analog I/O module (MR-
Sensing I/O module or MR-MT2100 Abbreviation for I/O module (MR-MT2100)
Sensing pulse I/O module or MR-MT2200 Abbreviation for pulse I/O module (MR-MT2200)
Sensing analog I/O module or MR-MT2300 Abbreviation for analog I/O module (MR-MT2300)
Sensing encoder I/F module or MR-MT2400 Abbreviation for encoder I/F module (MR-MT2400)
*1
*1
*1
*1
Abbreviation for MELSEC iQ-R series Motion controller
engineering software
Abbreviation for "Serial absolute synchronous encoder (Q171ENC-W8)"
High speed synchronous network between Motion controller and servo amplifier
converter module.
Abbreviation for "MELSEC-L series SSCNET/H head module (LJ72MS15)"
or
Abbreviation for SSCNET/H head module (MR-MT2010)
MT2300), encoder I/F module (MR-MT2400)
*1 SSCNET: Servo System Controller NETwork
16
MANUAL PAGE ORGANIZATION
Ex.
Ex.
Representation of numerical values used in this manual
■Axis No. representation
In the positioning dedicated signals, "n" in "M3200+20n", etc. indicates a value corresponding to axis No. as shown in the
following table.
Axis No. n Axis No. n Axis No. n Axis No. n Axis No. n Axis No. n Axis No. n Axis No. n
1 0 9 8 17 16 25 24 33 32 41 40 49 48 57 56
2 1109181726253433424150495857
3 2 11 10 19 18 27 26 35 34 43 42 51 50 59 58
4 3 12 11 20 19 28 27 36 35 44 43 52 51 60 59
5 4 13 12 21 20 29 28 37 36 45 44 53 52 61 60
6 5 14 13 22 21 30 29 38 37 46 45 54 53 62 61
7 6 15 14 23 22 31 30 39 38 47 46 55 54 63 62
8 7 16 15 24 23 32 31 40 39 48 47 56 55 64 63
• The range of axis No.1 to 16 (n=0 to 15) is valid in the R16MTCPU. The range of axis No.1 to 32 (n=0 to 31) is valid in the
R32MTCPU.
• Calculate as follows for the device No. corresponding to each axis.
For axis No. 32 in Q series Motion compatible device assignment
M3200+20n ([Rq.1140] Stop command)=M3200+2031=M3820
M3215+20n ([Rq.1155] Servo OFF command)=M3215+2031=M3835
In the positioning dedicated signals, "n" in "M10440+10n", etc. of the "Synchronous encoder axis status", "Synchronous
encoder axis command signal", "Synchronous encoder axis monitor device" and "Synchronous encoder axis control device"
indicates a value corresponding to synchronous encoder axis No. as shown in the following table.
Synchronous encoder axis No. n Synchronous encoder axis No. n Synchronous encoder axis No. n
105498
2165109
32761110
43871211
• Calculate as follows for the device No. corresponding to each synchronous encoder.
For synchronous encoder axis No.12 in Q series Motion compatible device assignment
M10440+10n ([St.320] Synchronous encoder axis setting valid flag)=M10440+1011=M10550
D13240+20n ([Md.320] Synchronous encoder axis current value)=D13240+2011=D13460
17
■Machine No. representation
Ex.
Ex.
Ex.
In the positioning dedicated signals, "m" in "M43904+32m", etc. indicates a value corresponding to machine No. as shown in
the following table.
Machine No. m Machine No. m
1054
2165
3276
4387
• Calculate as follows for the device No. corresponding to each machine.
For machine No.8 in MELSEC iQ-R Motion device assignment
M43904+32m ([St.2120] Machine error detection) M43904+327=M44128
D53168+128m ([Md.2020] Machine type)=M53168+287=D54064
■Line No. representation in G-code control
In the positioning dedicated signals, "s" in "D54496+128s", etc. indicates a value corresponding to line No. as shown in the
following table.
Line No. s
10
21
• Calculate as follows for the device No. corresponding to each line.
For line No.2 in MELSEC iQ-R Motion device assignment
D54440.0+4s ([St.3208] During G-code control)=D54440.0+41=D54444.0
D54496+128s ([Md.3016] Number of axes on line)=D54496+1281=D54624
■Line No. and axis No. representation in G-code control
In the positioning dedicated signals, "sn" in "D54278+16sn", etc. indicates a value corresponding to line No. and axis No. as
shown in the following table.
Line No. Axis No. sn Line No. Axis No. sn
110 218
21 29
32 310
43 411
54 512
65 613
76 714
87 815
• Calculate as follows for the device No. corresponding to each line.
For line No.2, axis No. 8 in MELSEC iQ-R Motion device assignment
D54448.0+2sn ([St.3076] Smoothing zero)=D54448.0+215=D54478.0
D54754+32sn ([Md.3146] Rotating axis setting status)=D54754+3215=D55234
18
Representation of device No. used in this manual
The "R" and "Q" beside the device No. of positioning dedicated signals such as "[Rq.1140] Stop command (R: M34480+32n/
Q: M3200+20n)" indicate the device No. for the device assignment methods shown below. When "R" and "Q" are not beside
the device No., the device No. is the same for both device assignment methods.
Symbol Device assignment method
R MELSEC iQ-R Motion device assignment
Q Q series Motion compatible device assignment
19
1 POSITIONING CONTROL BY THE MOTION CPU
1.1 Positioning Control by the Motion CPU
The following positioning controls are possible in the Motion CPU.
Motion CPU Control axes
R64MTCPU Up to 64 axes
R32MTCPU Up to 32 axes
R16MTCPU Up to 16 axes
There are the following six functions as controls toward the servo amplifier/servomotor.
• Servo operation by the servo program positioning instructions.
• Servo operation by the Motion dedicated PLC instruction (Direct positioning start request: M(P).SVSTD/D(P).SVSTD)
• JOG operation by each axis command signal of Motion CPU.
• Manual pulse generator operation by the positioning dedicated device of Motion CPU.
• Speed change, torque limit value change, and target position change during positioning control by the Motion dedicated
PLC instruction and Motion dedicated function of operation control step "F".
• Current value change by the Motion dedicated PLC instruction or servo instructions.
Parameters and programs used for positioning control
Positioning control parameters
Positioning control parameters are used for positioning control of the Motion CPU.
Parameter data can be set and corrected using MT Developer2.
Refer to the parameters for positioning control for details of positioning control parameters. (Page 166 PARAMETERS
FOR POSITIONING CONTROL)
Servo program
The servo program is used for the positioning control. It comprises a program No., servo instructions and positioning data.
Refer to the servo programs for positioning control for details of servo program. (Page 236 SERVO PROGRAMS FOR
POSITIONING CONTROL)
Motion SFC program
Motion SFC program is used to program an operation sequence or transition control combining servo programs, "Step",
"Transition", or "End" to perform Motion CPU control.
Refer to the following for details of Motion SFC program.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
Sequence program
The Motion CPU control can be performed using the Motion dedicated PLC instruction in the sequence program of PLC CPU.
Refer to the following for details of the Motion dedicated PLC instruction.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
20
1 POSITIONING CONTROL BY THE MOTION CPU
1.1 Positioning Control by the Motion CPU
Starting a servo program
There are the following two methods for starting a servo program.
Starting by Motion SFC program
Use the Motion control step "K" in the Motion SFC program to start the specified servo program.
Refer to the following for details of starting a Motion SFC program.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
Starting by sequence program
By executing the Motion dedicated PLC instruction (Servo program start request: M(P).SVST/D(P).SVST) in the sequence
program of the PLC CPU, the servo program in the Motion CPU can be started.
Refer to the following for details of the Motion dedicated PLC instruction.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
Direct positioning start from the PLC CPU
Execute the Motion dedicated PLC instruction (Direct positioning start request: M(P).SVSTD/D(P).SVSTD) in the sequence
program of the PLC CPU, and start the positioning control set in the device of the Motion CPU.
With this instruction, servo operations are possible without using a servo program.
Refer to the following for details of the Motion dedicated PLC instruction.
MELSEC iQ-R Motion controller Programming Manual (Program Design)
JOG operation
1
JOG operation can be performed by controlling the JOG dedicated device of the Motion CPU.
Refer to the JOG operation for details of JOG operation. (Page 415 JOG Operation)
Manual pulse generator operation
Manual pulse generator operation can be performed with a manual pulse generator connected to a high-speed counter
module controlled by the Motion CPU. The manual pulse generator is operated by controlling the manual pulse generator
dedicated device of the Motion CPU.
Refer to the manual pulse generator operation for details of manual pulse generator operation. (Page 420 Manual Pulse
Generator Operation)
1 POSITIONING CONTROL BY THE MOTION CPU
1.1 Positioning Control by the Motion CPU
21
2 POSITIONING DEDICATED SIGNALS
R series PLC system bus
SSCNET(/H)
M
Servo
amplifier
M
• Upper limit switch input
• Lower limit switch input
• Proximity dog/
Speed/Position switching signal
PLC CPU
Device memory
CPU buffer memory
CPU buffer memory
(fixed-cycle area)
Motion control
processor
Motion CPU
Device memory
CPU buffer memory
CPU buffer memory
(fixed-cycle area)
PLC control
processor
Input module
• Upper limit switch input
• Lower limit switch input
• Proximity dog/
Speed/Position switching signal
• Stop signal
• Forced stop signal (All axes)
Intelligent function module
*1
(high-speed counter module)
Manual pulse
generator input
Intelligent function
module
*1
The internal signals of the Motion CPU and the external signals to the Motion CPU are used as positioning signals.
Internal signals
The following five devices of the Motion CPU are used as the internal signals of the Motion CPU.
MELSEC iQ-R Motion device assignment and Q series Motion compatible device assignment are available. The ranges used
for devices differs depending on the device assignment method used.
Device name Device range
MELSEC iQ-R Motion device assignment Q series Motion compatible device assignment
Internal relay (M) M16000 to M49151 (33152 points) M2000 to M3839 (1840 points)
M8192 to M12287 (4096 points)
Special relay (SM) SM0 to SM4095 (4096 points)
Data register (D) D32000 to D57343 (25344 points) D0 to D799 (800 points)
D10240 to D19823 (9584 points)
Motion register (#) #8000 to #8639 (640 points)
Special register (SD) SD0 to SD4095 (4096 points)
Refer to the following for details on device assignment method.
MELSEC iQ-R Motion Controller Programming Manual (Common)
External signals
The external input signals to the Motion CPU are shown below.
External input signals Description
Upper/lower limit switch input The upper/lower limit of the positioning range is controlled.
Stop signal This signal makes the starting axis stop.
Proximity dog signal ON/OFF signal from the proximity dog.
Speed/position switching signal Signal for switching from speed to position.
Manual pulse generator input Signal from the manual pulse generator.
Forced stop signal Signal for forced stop of the servo amplifier.
• Configuration between modules
*1 Motion CPU controlled module
22
2 POSITIONING DEDICATED SIGNALS
Internal processing of the Motion CPU
Operation cycle
Main cycle
1 Operation cycle
: One main cycle process (processing time will change)
Main cycle (1 cycle)
*2
Main cycle (1 cycle)
*2
*1
Internal processing of the Motion CPU is divided into two cycles. The "operation cycle" and the "main cycle".
*1 Can be monitored with "Motion operation cycle (SD522)"
*2 Can be monitored with "Scan time (SD520)" (Maximum value can be monitored with "Maximum scan time (SD521)")
■Operation cycle
The processing required for every operation cycle is executed. This processing includes data communication with the servo
amplifier, execution of fixed-cycle tasks of the Motion SFC, and generation of servo command values for every operation
cycle.
The processing time changes according to the number of servo axes, the servo program being executed, etc.
When the operation cycle exceeds the setting in [Motion CPU Common Parameter] [Basic Setting] "Operation Cycle",
"[St.1046] Operation cycle over flag (R: M30054/Q: M2054)" turns ON.
■Main cycle
Using the free time after the processing in operation cycle, the automatic refresh and normal tasks of the Motion SFC, as well
as communication with MT Developer2 are executed.
The processing time in the main cycle changes according to the free time after the processing in operation cycle, the number
of automatic refresh transmissions, and the number of executed normal tasks of the Motion SFC, etc.
When the main cycle becomes longer, it can be shortened by increasing the operation cycle setting time in [Motion CPU
Common Parameter] [Basic Setting] "Operation Cycle " which increases free time.
2
Refer to the following for the monitoring of processing times of operation cycle and main cycle.
MELSEC iQ-R Motion controller Programming Manual (Common)
Cautions
For positioning dedicated signals labelled as "operation cycle" in refresh cycles and fetch cycles, when axes are operating at
the low speed operation cycle with the mixed operation cycle function, the refresh cycle and fetch cycle for these axes is the
"low speed operation cycle".
2 POSITIONING DEDICATED SIGNALS
23
2.1 Internal Relays
Internal relay list
■MELSEC iQ-R Motion device assignment
Device No. Symbol Purpose Reference
*1
M0
to
M16000
to
M30000
to
M30640
to
M32400
to
M34448
to
M34480
to
M36528
to
M36560
to
M38608
to
M38640
to
M38832
to
M38960
to
M39984
to
M40000
to
M40064
to
M40080
to
M40144
to
M40160
to
M42208
to
M42240
to
M42336
to
M42400
to
M43424
to
M43440
to
M43504
to
User device
(16000 points)
Unusable
(14000 points)
[St.1040], [St.1041],
[St.1045] to [St.1050], [Rq.1120],
[Rq.1122] to [Rq.1127]
Unusable
[St.1060] to [St.1076], [St.1079] Axis status
Unusable
[Rq.1140] to [Rq.1145],
[Rq.1147] to [Rq.1149], [Rq.1152],
[Rq.1155] to [Rq.1159]
Unusable
[St.340] to [St.349] Command generation axis status
Unusable
[St.320] to [St.325] Synchronous encoder axis status
Unusable
[St.420] to [St.424], [St.426] Output axis status
Unusable
[St.380] Synchronous control signal
Unusable
[St.381] Synchronous analysis complete signal
Unusable
[Rq.341] to [Rq.348] Command generation axis command signal
Unusable
[Rq.320], [Rq.323], [Rq.324] Synchronous encoder axis command signal
Unusable
[Rq.400] to [Rq.406] Output axis command signal
Unusable
[Rq.380] Synchronous control start signal
Unusable
Common device
(640 points)
(1760 points)
(32 points 64 axes)
(32 points)
Axis command signal
(32 points 64 axes)
(32 points)
(32 points 64 axes)
(32 points)
(16 points 12 axes)
(128 points)
(16 points 64 axes)
(16 points)
(
4 points)
6
(16 points)
(64 points)
(16 points)
(32 points 64 axes)
(32 points)
(8 points 12 axes)
(64 points)
(16 points 64 axes)
(16 points)
(64 points)
(16 points)
Page 71 Common devices
Page 27 Axis status
Page 37 Axis command signals
Page 46 Command generation axis status
Page 52 Synchronous encoder axis status
Page 54 Output axis status
Page 58 Synchronous control signal
Page 60 Synchronous analysis complete
signal
Page 49 Command generation axis
command signal
Page 53 Synchronous encoder axis
command signal
Page 56 Output axis command signal
Page 62 Synchronous control start signal
24
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No. Symbol Purpose Reference
M43520
to
M43584
to
M43616
to
M43872
to
M43904
to
M44160
to
M49151
[Rq.381] Synchronous analysis request signal
(64 points)
[Rq.2200] Machine common command signal
[Rq.2240], [Rq.2243] to [Rq.2247],
[Rq.2250] to [Rq.2261]
Unusable
[St.2120], [St.2123], [St.2124],
[St.2127], [St.2128]
Unusable
(32 points)
Machine command signal
(32 points 8 machines)
(32 points)
Machine status
(32 points 8 machines)
(4992 points)
Page 64 Synchronous analysis request
signal
Page 66 Machine common command
signals
Page 67 Machine command signals
Page 69 Machine status
*1 It can be used as a user device
Total number of user device points
• 16000 points
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
25
■Q series Motion compatible device assignment
For devices on axis 1 to 32, use Q series Motion compatible device assignment.
For devices on axis 33 to 64, machine command signal (M43616 to M43871), and machine status (M43904 to M44159), use
MELSEC iQ-R Motion device assignment.
Device No. Symbol Purpose Reference
*1
M0
to
M2000
to
M2320
to
M2400
to
M3040
to
M3200
to
M3840
to
M8192
to
M9800
to
M10440
to
M10560
to
M10880
to
M10912
to
M10944
to
M10960
to
M11600
to
M11648
to
M11680
to
M12000
to
M12032
to
M12064
to
M12287
*1
User device
(2000 points)
[St.1040], [St.1041],
[St.1045] to [St.1050],[Rq.1120],
[Rq.1122] to [Rq.1127]
Unusable
[St.1060] to [St.1076], [St.1079] Axis status
Unusable
[Rq.1140] to [Rq.1145],
[Rq.1147] to [Rq.1149], [Rq.1152],
[Rq.1155] to [Rq.1159]
User device
System area
[St.340] to [St.349] Command generation axis status
[St.320] to [St.325] Synchronous encoder axis status
[St.420] to [St.424], [St.426] Output axis status
[St.380] Synchronous control signal
[St.381] Synchronous analysis complete signal
Unusable
[Rq.341] to [Rq.348] Command generation axis command signal
[Rq.320], [Rq.323], [Rq.324] Synchronous encoder axis command signal
Unusable
[Rq.400] to [Rq.406] Output axis command signal
[Rq.380] Synchronous control start signal
[Rq.381] Synchronous analysis request signal
Unusab
Common device
(320 points)
(80 points)
(20 points 32 axes)
(160 points)
Axis command signal
(20 points 32 axes)
(4352 points)
(1608 points)
(20 points 32 axes)
(10 points 12 axes)
(10 points 32 axes)
(32 points)
(32 points)
(16 points)
(20 points 32 axes)
(4 points 12 axes)
(32 points)
(10 points 32 axes)
(32 points)
(32 points)
le
(224 points)
Page 71 Common devices
Page 27 Axis status
Page 37 Axis command signals
Page 46 Command generation axis status
Page 52 Synchronous encoder axis status
Page 54 Output axis status
Page 58 Synchronous control signal
Page 60 Synchronous analysis complete
signal
Page 49 Command generation axis
command signal
Page 53 Synchronous encoder axis
command signal
Page 56 Output axis command signal
Page 62 Synchronous control start signal
Page 64 Synchronous analysis request
signal
*1 It can be used as a user device
Total number of user device points
• 6352 points
26
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Axis status
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M32400 to M32431 M2400 to M2419 Axis 1 status
M32432 to M32463 M2420 to M2439 Axis 2 status
M32464 to M34495 M2440 to M2459 Axis 3 status
M34496 to M32527 M2460 to M2479 Axis 4 status
M32528 to M32559 M2480 to M2499 Axis 5 status
M32560 to M32591 M2500 to M2519 Axis 6 status
M32592 to M32623 M2520 to M2539 Axis 7 status
M32624 to M32655 M2540 to M2559 Axis 8 status
M32656 to M32687 M2560 to M2579 Axis 9 status
M32688 to M32719 M2580 to M2599 Axis 10 status
M32720 to M32751 M2600 to M2619 Axis 11 status
M32752 to M32783 M2620 to M2639 Axis 12 status
M32784 to M32815 M2640 to M2659 Axis 13 status
M32816 to M32847 M2660 to M2679 Axis 14 status
M32848 to M32879 M2680 to M2699 Axis 15 status
M32880 to M32911 M2700 to M2719 Axis 16 status
M32912 to M32943 M2720 to M2739 Axis 17 status
M32944 to M32975 M2740 to M2759 Axis 18 status
M32976 to M33007 M2760 to M2779 Axis 19 status
M33008 to M33039 M2780 to M2799 Axis 20 status
M33040 to M33071 M2800 to M2819 Axis 21 status
M33072 to M33103 M2820 to M2839 Axis 22 status
M33104 to M33135 M2840 to M2859 Axis 23 status
M33136 to M33167 M2860 to M2879 Axis 24 status
M33168 to M33199 M2880 to M2899 Axis 25 status
M33200 to M33231 M2900 to M2919 Axis 26 status
M33232 to M33263 M2920 to M2939 Axis 27 status
M33264 to M33295 M2940 to M2959 Axis 28 status
M33296 to M33327 M2960 to M2979 Axis 29 status
M33328 to M33359 M2980 to M2999 Axis 30 status
M33360 to M33391 M3000 to M3019 Axis 31 status
M33392 to M33423 M3020 to M3039 Axis 32 status
M33424 to M33455 Axis 33 status
M33456 to M33487 Axis 34 status
M33488 to M33519 Axis 35 status
M33520 to M33551 Axis 36 status
M33552 to M33583 Axis 37 status
M33584 to M33615 Axis 38 status
M33616 to M33647 Axis 39 status
M33648 to M33679 Axis 40 status
M33680 to M33711 Axis 41 status
M33712 to M33743 Axis 42 status
M33744 to M33775 Axis 43 status
M33776 to M33807 Axis 44 status
M33808 to M33839 Axis 45 status
M33840 to M33871 Axis 46 status
M33872 to M33903 Axis 47 status
M33904 to M33935 Axis 48 status
M33936 to M33967 Axis 49 status
Q series Motion compatible
device assignment
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
27
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M33968 to M33999 Axis 50 status
M34000 to M34031 Axis 51 status
M34032 to M34063 Axis 52 status
M34064 to M34095 Axis 53 status
M34096 to M34127 Axis 54 status
M34128 to M34159 Axis 55 status
M34160 to M34191 Axis 56 status
M34192 to M34223 Axis 57 status
M34224 to M34255 Axis 58 status
M34256 to M34287 Axis 59 status
M34288 to M34319 Axis 60 status
M34320 to M34351 Axis 61 status
M34352 to M34383 Axis 62 status
M34384 to M34415 Axis 63 status
M34416 to M34447 Axis 64 status
Q series Motion compatible
device assignment
28
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M32400+32n M2400+20n St.1060 Positioning start complete Operation cycle Status signal
M32401+32n M2401+20n St.1061 Positioning complete
M32402+32n M2402+20n St.1062 In-position
M32403+32n M2403+20n St.1063 Command in-position
M32404+32n M2404+20n St.1064 Speed controlling
M32405+32n M2405+20n St.1065 Speed/position switching latch
M32406+32n M2406+20n St.1066 Zero pass
M32407+32n M2407+20n St.1067 Error detection Immediate
M32408+32n M2408+20n St.1068 Servo error detection Operation cycle
M32409+32n M2409+20n St.1069 Home position return request Main cycle
M32410+32n M2410+20n St.1070 Home position return complete Operation cycle
M32411+32n M2411+20n St.1071 External
M32412+32n M2412+20n St.1072 RLS
M32413+32n M2413+20n St.1073 STOP
M32414+32n M2414+20n St.1074 DOG/CHANGE
M32415+32n M2415+20n St.1075 Servo ready
M32416+32n M2416+20n St.1076 Torque limiting
M32417+32n M2417+20n Unusable
M32418+32n M2418+20n
M32419+32n M2419+20n St.1079 M-code outputting Operation cycle Status signal
M32420+32n Unusable
M32421+32n
M32422+32n
M32423+32n
M32424+32n
M32425+32n
M32426+32n
M32427+32n
M32428+32n
M32429+32n
M32430+32n
M32431+32n
Q series Motion
compatible
device
assignment
FLS
signals
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
29
[St.1060] Positioning start complete (R: M32400+32n/Q:M2400+20n)
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[Rq.1144] Complete signal OFF
command
(R:M34484+32n/Q: M3204+20n)
OFF
ON
OFF
ON
OFF
ON
Servo program start
t
Dwell time
V
Dwell time
Positioning completion
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
OFF
ON
Servo program start
t
V
• This signal turns on with the start completion for the positioning control of the axis specified with the servo program. It does
not turn on at the starting using JOG operation or manual pulse generator operation. It can be used to read a M-code at the
positioning start. (Page 425 M-code Output Function)
• This signal turns off at leading edge of "[Rq.1144] Complete signal OFF command (R: M34484+32n/Q: M3204+20n)" or
positioning completion.
[At leading edge of "[Rq.1144] Complete signal OFF command (R: M34484+32n/Q: M3204+20n)"]
[At positioning completion]
30
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[St.1061] Positioning complete (R:M32401+32n/Q: M2401+20n)
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[Rq.1144] Complete signal OFF
command
(R: M34484+32n/Q: M3204+20n)
OFF
OFF
ON
OFF OFF
ON ON
Servo program start
ON
t
Dwell time
V
Positioning start
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
OFF OFF
ON ON
Servo program start
t
V
Dwell time
Positioning
completion
• This signal turns on with the completion of the command output to positioning address for the axis specified with the servo
program. It does not turn on at the start or stop on the way using home position return, JOG operation, manual pulse
generator operation or speed control. It does not turn on at the stop on the way during positioning. It can be used to read a
M-code at the positioning completion. (Page 425 M-code Output Function)
• This signal turns off at leading edge of "[Rq.1144] Complete signal OFF command (R:M34484+32n/Q: M3204+20n)" or
positioning start.
[At leading edge of "[Rq.1144] Complete signal OFF command (R:M34484+32n/Q: M3204+20n)"]
[At next positioning start]
2
• The positioning complete signal turns ON by the execution of servo program even if the travel value of the axis specified
with the servo program is set to "0".
CAUTION
• The deviation counter value is not considered, so that The "[St.1061] Positioning complete (R: M32401+32n/Q:M2401+20n)" turns on with the completion of
the command output to positioning address. Use the "[St.1061] Positioning complete (R: M32401+32n/Q:M2401+20n)" together with the "[St.1062] Inposition (R: M32402+32n/Q: M2402+20n)" to confirm the positioning completion of servo axis in the final instruction under program.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
31
[St.1062] In-position (R: M32402+32n/Q: M2402+20n)
ON
OFF
[St.1062] In-position
(R: M32402+32n/Q: M2402+20n)
t
In-position range
Number of droop pulses
Speed/position
switching
control start
Position
control
start
Switch from speed to position
Execution of command in-position check Execution of command
in-position check
ON
OFF
[St.1063] Command in-position
(R: M32403+32n/Q: M2403+20n)
t
V
Command in-position setting
Command in-position
setting
• This signal turns on when the number of droop pulses in the deviation counter becomes below the "in-position range" set in
the servo parameters. It turns off at positioning start.
• While the control circuit power supply of the servo amplifier is ON, the status of the in-position signal of the servo amplifier
("[Md.108] Servo status1 (R: D32032+48n/Q: #8010+20n)": b12) is reflected. However, the state of the signal is always
OFF for the following.
• Servo error
• From positioning start until deceleration start
• Current value change
• Home position return
• Speed-torque control
• Pressure control
*2
*1 Except during position follow-up control, high-speed oscillation control, manual pulse generator operation, synchronous control,
machine program operation, and G-code control. (The in-position signal is constantly updated during such controls.)
*2 The in-position signal may be updated after the proximity dog turns ON during home position return.
*1
[St.1063] Command in-position (R: M32403+32n/Q: M2403+20n)
• This signal turns on when the absolute value of difference between the command position and feed current value becomes
below the "command in-position range" set in the fixed parameters. This signal turns off in the following cases.
• Positioning control start
• Home position return
• Speed control
• JOG operation
• Manual pulse generator operation
• Speed-torque control
• Pressure control
• Command in-position check is continually executed during position control.
32
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[St.1064] Speed controlling (R: M32404+32n/Q: M2404+20n)
Speed control start Positioning start
Speed/position
switching control start
CHANGE
Speed
control
Position
control
ON
OFF
[St.1064] Speed controlling
(R: M32404+32n/Q: M2404+20n)
t
At speed/position switching control At speed control At position control
Start
Speed/position
switching control start
CHANGE
ON
OFF
t
ON
OFF
[St.1065] Speed/position
switching latch
(R: M32405+32n/Q: M2405+20n)
CHANGE signal from
external source
• This signal turns on during speed control, and it is used as judgment of during the speed control or position control. It is
turning on while the switching from speed control to position control by the external CHANGE signal at the speed/position
switching control.
• This signal turns off at the power supply on and during position control.
• It does not turn on at the speed control mode in speed-torque control.
[St.1065] Speed/position switching latch (R: M32405+32n/Q: M2405+20n)
• This signal turns on when the control is switched from speed control to position control. It can be used as an interlock signal
to enable or disable changing of the travel value in position control.
• The signal turns off at the following start.
• Position control
• Speed/position switching control
• Speed control
• JOG operation
• Manual pulse generator operation
• Speed-torque control
• Pressure control
2
[St.1066] Zero pass (R: M32406+32n/Q: M2406+20n)
This signal turns on when the zero point is passed after the control circuit power supply on of the servo amplifier.
Once the zero point has been passed, it remains on state until the Multiple CPU system has been reset.
However, in the home position return method of proximity dog method, count method, dog cradle method, limit switch
combined method, scale home position signal detection method, or dogless home position signal reference method, this
signal turns off once at the home position return start and turns on again at the next zero point passage.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
33
[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)
Error detection
ON
OFF
[St.1067] Error detection signal
(R: M32407+32n/Q: M2407+20n)
[Rq.1147] Error reset command
(R: M34487+32n/Q: M3207+20n)
ON
OFF
Servo error detection
ON
OFF
[St.1068] Servo error detection
(R: M32408+32n/Q: M2408+20n)
[Rq.1148] Servo error reset
command
(R: M34488+32n/Q: M3208+20n)
ON
OFF
• This signal turns on with detection of a warning or error, and can be used to judge whether there is a warning or error or not.
The applicable warning code is stored in the “[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)” with detection of a
warning. The applicable error code is stored in the "[Md.1004] Error code (R: D32007+48n/Q: D7+20n)" with detection of an
error. Refer to the following for details of warning codes and error codes.
MELSEC iQ-R Motion controller Programing Manual (Common)
• This signal turns off when the "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" turns on.
[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)
• This signal turns on when an error occurs at the servo amplifier side, and can be used to judge whether there is a servo
error or not. However, servo warnings are not detected. When an error is detected at the servo amplifier side, the minor
error (error code: 1C80H) is stored in the "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)" storage register. The
error code read from the servo amplifier is stored in "[Md.1019] Servo amplifier display servo error code (R: D32028+48n/
Q: #8008+20n)". Refer to the following for servo amplifier error codes.
Servo amplifier Instruction Manual
• This signal turns off when the "[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)" turns on or the
servo power supply turns on again.
[St.1069] Home position return request (R: M32409+32n/Q: M2409+20n)
This signal turns on when it is necessary to confirm the home position address.
■When not using an absolute position system
• This signal turns on in the following cases:
• Multiple CPU system power supply on or reset
• Servo amplifier power supply on
• Home position return start (Unless a home position return is completed normally, the home position return request signal does not turn off.)
• This signal turns off by the completion of home position return.
■When using an absolute position system
• This signal turns on in the following cases:
• When not executing a home position return once after system start.
• Home position return start (Unless a home position return is completed normally, the home position return request signal does not turn off.)
• Erase of an absolute data in Motion CPU according to causes, such as memory error
• When servo error (AL.25) occurs
• When servo error (AL.E3) occurs
• When servo error(AL.2B) occurs
• When warning (error code: 093CH, 093EH) occurs
• When minor error (error code: 197EH) occurs
• When the "rotation direction selection" of servo parameter is changed.
• This signal turns off by the completion of the home position return.
CAUTION
• When using the absolute position system function, on starting up, and when the Motion controller or absolute position motor has been replaced, always
perform a home position return. In the case of the absolute position system, use the sequence program to check the home position return request before
performing the positioning control. Failure to observe this could lead to an accident such as a collision.
34
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[St.1070] Home position return complete (R: M32410+32n/Q: M2410+20n)
• This signal turns on when the home position return operation using the servo program has been completed normally.
• This signal turns off at the positioning start, JOG operation start and manual pulse generator operation start.
• If the home position return of proximity dog, dog cradle or stopper method using the servo program is executed during this
signal on, the minor error (error code: 197BH) occurs and home position return cannot start.
[St.1071] External signals FLS (R: M32411+32n/Q: M2411+20n)
• This signal indicates the input status of the FLS signal set in the external signal parameter.
• When the setting of the external signal parameter and the state of the FLS signal are as follows, the upper stroke limit is
detected. Then, the operation in the direction in which the feed current value increases cannot be executed.
• When the external signal parameter "Contact" is set to "0: Normal Open" and the FLS signal is ON
• When the external signal parameter "Contact" is set to "1: Normal Close" and the FLS signal is OFF
[St.1072] External signals RLS (R: M32412+32n/Q: M2412+20n)
• This signal indicates the input status of the RLS signal set in the external signal parameter.
• When the setting of the external signal parameter and the state of the RLS signal are as follows, the lower stroke limit is
detected. Then, the operation in the direction in which the feed current value decreases cannot be executed.
• When the external signal parameter "Contact" is set to "0: Normal Open" and the RLS signal is ON
• When the external signal parameter "Contact" is set to "1: Normal Close" and the RLS signal is OFF
[St.1073] External signals STOP (R: M32413+32n/Q: M2413+20n)
• This signal indicates the input status of the STOP signal set in the external signal parameter.
• When the setting of the external signal parameter and the state of the STOP signal are as follows, the stop signal is
detected and the operation is stopped.
• When the external signal parameter "Contact" is set to "0: Normal Open" and the STOP signal is ON
• When the external signal parameter "Contact" is set to "1: Normal Close" and the STOP signal is OFF
2
[St.1074] External signals DOG/CHANGE (R: M32414+32n/Q: M2414+20n)
• This signal indicates the input state of the DOG signal set in the external signal parameter.
• When the setting of the external signal parameter and the state of the DOG signal are as follows, the proximity dog signal
or the speed/position switching signal is detected and the home position return operation or speed-position switching
control is performed.
• When the external signal parameter "Contact" is set to "0: Normal Open" and the state of the DOG signal is ON
• When the external signal parameter "Contact" is set to "1: Normal Close" and the state of the DOG signal is OFF
[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)
• This signal turns ON when the servo amplifiers connected to each axis are in the READY state (READY ON and Servo
ON). Refer to the following for details of the servo ON/OFF.
MELSEC iQ-R Motion controller Programming Manual (Common)
• This signal turns off in the following cases.
• "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" is off
• Servo amplifier is not mounted
• Servo parameter is not set
• It is received the forced stop input from an external source
• Servo OFF by the "[Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)" ON
• Servo error occurs
When the part of multiple servo amplifiers connected to the SSCNET(/H) becomes a servo error, only an
applicable axis becomes the servo OFF state.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
35
[St.1076] Torque limiting (R: M32416+32n/Q: M2416+20n)
OFF
[St.1079] M-code outputting
(R: M32419+32n/Q: M2419+20n)
ON
M1
M-code
M2 M3
OFF
[Rq.1159] FIN signal
(R: M34499+32n/Q: M3219+20n)
ON
This signal turns on while torque limit is executed. The signal toward the torque limiting axis turns on.
[St.1079] M-code outputting (R: M32419+32n/Q: M2419+20n)
• This signal turns during M-code is outputting.
• This signal turns off when the stop command, skip signal or FIN signal are inputted.
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are both for the FIN signal wait function.
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are effective only when FIN acceleration/deceleration is designated in the
servo program. Otherwise, the FIN signal wait function is disabled, and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" does not turn on.
36
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Axis command signals
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M34480 to M34511 M3200 to M3219 Axis 1 command signal
M34512 to M34543 M3220 to M3239 Axis 2 command signal
M34544 to M34575 M3240 to M3259 Axis 3 command signal
M34576 to M34607 M3260 to M3279 Axis 4 command signal
M34608 to M34639 M3280 to M3299 Axis 5 command signal
M34640 to M34671 M3300 to M3319 Axis 6 command signal
M34672 to M34703 M3320 to M3339 Axis 7 command signal
M34704 to M34735 M3340 to M3359 Axis 8 command signal
M34736 to M34767 M3360 to M3379 Axis 9 command signal
M34768 to M34799 M3380 to M3399 Axis 10 command signal
M34800 to M34831 M3400 to M3419 Axis 11 command signal
M34832 to M34863 M3420 to M3439 Axis 12 command signal
M34864 to M34895 M3440 to M3459 Axis 13 command signal
M34896 to M34927 M3460 to M3479 Axis 14 command signal
M34928 to M34959 M3480 to M3499 Axis 15 command signal
M34960 to M34991 M3500 to M3519 Axis 16 command signal
M34992 to M35023 M3520 to M3539 Axis 17 command signal
M65024 to M35055 M3540 to M3559 Axis 18 command signal
M35056 to M35087 M3560 to M3579 Axis 19 command signal
M35088 to M35119 M3580 to M3599 Axis 20 command signal
M35120 to M35151 M3600 to M3619 Axis 21 command signal
M35152 to M35183 M3620 to M3639 Axis 22 command signal
M35184 to M35215 M3640 to M3659 Axis 23 command signal
M35216 to M35247 M3660 to M3679 Axis 24 command signal
M35248 to M35279 M3680 to M3699 Axis 25 command signal
M35280 to M35311 M3700 to M3719 Axis 26 command signal
M35312 to M35343 M3720 to M3739 Axis 27 command signal
M35344 to M35375 M3740 to M3759 Axis 28 command signal
M35376 to M35407 M3760 to M3779 Axis 29 command signal
M35408 to M35439 M3780 to M3799 Axis 30 command signal
M35440 to M35471 M3800 to M3819 Axis 31 command signal
M35472 to M35503 M3820 to M3839 Axis 32 command signal
M35504 to M35535 Axis 33 command signal
M35536 to M35567 Axis 34 command signal
M35568 to M35599 Axis 35 command signal
M35600 to M35631 Axis 36 command signal
M35632 to M35663 Axis 37 command signal
M35664 to M35695 Axis 38 command signal
M35696 to M35727 Axis 39 command signal
M35728 to M35759 Axis 40 command signal
M35760 to M35791 Axis 41 command signal
M35792 to M35823 Axis 42 command signal
M35824 to M35855 Axis 43 command signal
M35856 to M35887 Axis 44 command signal
M35888 to M35919 Axis 45 command signal
M35920 to M35951 Axis 46 command signal
M35952 to M35983 Axis 47 command signal
M35984 to M36015 Axis 48 command signal
M36016 to M36047 Axis 49 command signal
Q series Motion compatible
Device assignment
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
37
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M36048 to M36079 Axis 50 command signal
M36080 to M36111 Axis 51 command signal
M36112 to M36143 Axis 52 command signal
M36144 to M36175 Axis 53 command signal
M36176 to M36207 Axis 54 command signal
M36208 to M36239 Axis 55 command signal
M36240 to M36271 Axis 56 command signal
M36272 to M36303 Axis 57 command signal
M36304 to M36335 Axis 58 command signal
M36336 to M36367 Axis 59 command signal
M36368 to M36399 Axis 60 command signal
M36400 to M36431 Axis 61 command signal
M36432 to M36463 Axis 62 command signal
M36464 to M36495 Axis 63 command signal
M36496 to M36527 Axis 64 command signal
Q series Motion compatible
Device assignment
38
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M34480+32n M3200+20n Rq.1140 Stop command Operation cycle Command signal
M34481+32n M3201+20n Rq.1141 Rapid stop command
M34482+32n M3202+20n Rq.1142 Forward rotation JOG start command Main cycle
M34483+32n M3203+20n Rq.1143 Reverse rotation JOG start command
M34484+32n M3204+20n Rq.1144 Complete signal OFF command
M34485+32n M3205+20n Rq.1145 Speed/position switching enable
M34486+32n M3206+20n Unusable
M34487+32n M3207+20n Rq.1147 Error reset command Main cycle Command signal
M34488+32n M3208+20n Rq.1148 Servo error reset command
M34489+32n M3209+20n Rq.1149 External stop input disable at start
M34490+32n M3210+20n Unusable
M34491+32n M3211+20n
M34492+32n M3212+20n Rq.1152 Feed current value update command At start Command signal
M34493+32n M3213+20n Unusable
M34494+32n M3214+20n
M34495+32n M3215+20n Rq.1155 Servo OFF command Operation cycle Command signal
M34496+32n M3216+20n Rq.1156 Gain changing command Operation
M34497+32n M3217+20n Rq.1157 PI-PID switching command
M34498+32n M3218+20n Rq.1158 Control loop changing command Operation cycle
M34499+32n M3219+20n Rq.1159 FIN signal
M34500+32n Unusable
M34501+32n
M34502+32n
M34503+32n
M34504+32n
M34505+32n
M34506+32n
M34507+32n
M34508+32n
M34509+32n
M34510+32n
M34511+32n
Q series Motion
compatible
device
assignment
command
command
Operation cycle
At start
*1
cycle
2
*1 Operation cycle 7.111 [ms] or more: Every 3.555 [ms]
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
39
[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)
t
V
[Rq.1140] Stop command
(R: M34480+32n/Q: M3200+20n)
OFF
ON
Setting speed
Deceleration stop processing
Stop command for
specified axis
Stop
Control during stop
command OFF
• This command is a signal which stop a starting axis from an external source and becomes effective at leading edge of
signal. (An axis for which the stop command is turning on cannot be started.)
• The details of stop processing when the stop command turns on are shown below. (Refer to Speed control () (Page
318 Speed Control (I)), or speed control () (Page 321 Speed Control (II)) for details of speed control.)
Control details during
execution
Positioning control The axis decelerates to a stop in the deceleration time set in
Speed control ()
Speed control ()
JOG operation
Speed control with fixed
position stop
Manual pulse generator
operation
Home position return • The axis decelerates to a stop in the deceleration time set in the parameter block.
Speed-torque control The speed commanded to servo amplifier is "0". The mode is
Pressure control
Machine program operation This decelerates to a stop in the deceleration time set in the
Machine JOG operation
Processing at the turning stop command on
During control During deceleration stop processing
The deceleration stop processing is continued.
the parameter block or servo program.
An immediate stop is executed without deceleration
processing.
• A stop error during home position return occurs and the minor error (error code:1908H) is stored in the "[Md.1004] Error
code (R: D32007+48n/Q: D7+20n)" for each axis.
switched to position control mode when "Zero speed" turns
ON, and the operation stops.
parameter block or machine positioning data.
The deceleration stop processing is continued.
• The stop command in a dwell time is invalid. (After a dwell time, the "[St.1040] Start accept flag (R: M30080+n/Q:
M2001+n)" turns OFF, and the "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" turns ON.)
40
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
If it is made to stop by turning on the "[Rq.1140] Stop command (R: M34480+32n/Q: M3200+20n)" during a
home position return, execute the home position return again.
If the stop command is turned on after the proximity dog ON in the proximity dog method, execute the home
position return after move to before the proximity dog ON by the JOG operation or positioning.
[Rq.1141] Rapid stop command (R: M34481+32n/Q: M3201+20n)
t
V
[Rq.1141] Rapid stop command
(R: M34481+32n/Q: M3201+20n)
OFF
ON
Setting speed
Rapid stop processing
Rapid stop command
for specified axis
Stop
Control during rapid
stop command OFF
• This command stops a starting axis rapidly from an external source and becomes effective at leading edge of signal. (An
axis for which the rapid stop command is turning on cannot be started.)
• The details of stop processing when the rapid stop command turns on are shown below.
Control details during
execution
Position control The axis decelerates to a rapid stop deceleration time set in
Speed control ()
Speed control ()
JOG operation
Speed control with fixed
position stop
Manual pulse generator
operation
Home position return • The axis decelerates to a stop in the rapid stop deceleration time set in the parameter block.
Speed-torque control The speed commanded to servo amplifier is "0". The mode is
Pressure control
Machine program operation This decelerates to a stop in the deceleration time set in the
Machine JOG operation
Processing at the turning rapid stop command on
During control During deceleration stop processing
Deceleration processing is stopped and rapid stop processing
the parameter block or servo program.
An immediate stop is executed without deceleration
processing.
• A "stop error during home position return" occurs and the minor error (error code:192DH) is stored in the "[Md.1004] Error
code (R: D32007+48n/Q: D7+20n" for each axis.
switched to position control mode when "Zero speed" turns
ON, and the operation stops.
parameter block or machine positioning data.
is executed.
Deceleration processing is stopped and rapid stop processing
is executed.
2
• The rapid stop command in a dwell time is invalid. (After a dwell time, the "[St.1040] Start accept flag (R: M30080+n/Q:
M2001+n)" turns OFF, and the "[St.1061] Positioning complete (R: M32401+32n/Q: M2401+20n)" turns ON.)
If it is made to stop rapidly by turning on the "[Rq.1141] Rapid stop command (R: M34481+32n/Q:
M3201+20n)" during a home position return, execute the home position return again.
If the rapid stop command turned on after the proximity dog ON in the proximity dog method, execute the
home position return after move to before the proximity dog ON by the JOG operation or positioning.
[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q: M3202+20n)
JOG operation to the address increase direction is executed while "[Rq.1142] Forward rotation JOG start command (R:
M34482+32n/Q: M3202+20n)" is turning on. When "[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q:
M3202+20n)" is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Take an interlock so that the "[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q:
M3202+20n)" and "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)" may
not turn on simultaneously.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
41
[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)
Dwell timeDwell time
ON
OFF
[St.1060] Positioning start
complete
(R: M32400+32n/Q: M2400+20n)
ON
OFF
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
ON
OFF
[Rq.1144] Complete signal OFF
command
(R: M34484+32n/Q: M3204+20n)
t
ON
OFF
[Rq.1145] Speed/position switching
enable command
(R: M34485+32n/Q: M3205+20n)
ON
OFF
CHANGE signal from external source
t
CHANGE
Control switches from speed
control to position control because
"[Rq.1145] Speed/position switching
enable command
(R: M34485+32n/Q: M3205+20n)
turns on
CHANGE
Control does not switch from speed
control to position control because
"[Rq.1145] Speed/position switching
enable command
(R: M34485+32n/Q: M3205+20n)
turns off
JOG operation to the address decrease direction is executed while "[Rq.1143] Reverse rotation JOG start command (R:
M34483+32n/Q: M3203+20n)" is turning on. When "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q:
M3203+20n)" is turned off, a deceleration stop is executed in the deceleration time set in the parameter block.
Take an interlock so that the "[Rq.1142] Forward rotation JOG start command (R: M34482+32n/Q:
M3202+20n)" and "[Rq.1143] Reverse rotation JOG start command (R: M34483+32n/Q: M3203+20n)" may
not turn on simultaneously.
[Rq.1144] Complete signal OFF command (R: M34484+32n/Q: M3204+20n)
This command is used to turn off the "[St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)" and "[St.1061]
Positioning complete (R: M32401+32n/Q: M2401+20n)".
Be sure to turn OFF the "[Rq.1144] Complete signal OFF (R: M34484+32n/Q: M3204+20n)", after confirming
the "[St.1060] Positioning start complete (R: M32400+32n/Q: M2400+20n)" and "[St.1061] Positioning
complete (R: M32401+32n/Q: M2401+20n)" are OFF.
[Rq.1145] Speed/position switching enable command (R: M34485+32n/Q: M3205+20n)
This command is used to make the CHANGE signal (speed/position switching signal) effective from an external source.
Setting value Description
ON Control switches from speed control to position control when the CHANGE signal turned on.
OFF Control does not switch from speed to position control even if the CHANGE signal turns on.
42
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)
ON
OFF
[St.1067] Error detection
(R: M32407+32n/Q: M2407+20n)
ON
OFF
[Rq.1147] Error reset command
(R: M34487+32n/Q: M3207+20n)
** 00[Md.1003] Warning code
(R: D32006+48n/Q: D6+20n)
**
**: Warning / Error code
00[Md.1004] Error code
(R: M32007+48n/Q: D7+20n)
ON
OFF
[St.1068] Servo error detection
(R: M32408+32n/Q: M2408+20n)
ON
OFF
[Rq.1148] Servo error reset
command
(R: M34488+32n/Q: M3208+20n)
** 00
[Md.1005] Servo error code
(R: D32008+48n/Q: D8+20n)
**: Error code
This command is used to clear the "[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)" and "[Md.1004] Error code (R:
D32007+48n/Q: D7+20n)" of an axis for "[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)": ON, and reset the
"[St.1067] Error detection (R: M32407+32n/Q: M2407+20n)".
Refer to the following for details on the warning code and error code storage registers.
MELSEC iQ-R Motion controller Programming Manual (Common)
[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)
This command is used to clear the "[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)" of an axis for which the
"[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)": ON, and reset the "[St.1068] Servo error detection (R:
M32408+32n/Q: M2408+20n)".
Even when the servo warning is detected ("[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)": OFF),
"[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)" can be cleared by "[Rq.1148] Servo error reset command (R:
M34488+32n/Q: M3208+20n)".
2
[Rq.1149] External stop input disable at start command (R: M34489+32n/Q: M3209+20n)
This signal is used to set the external stop signal input valid or invalid.
Setting value Description
ON External stop input is set as invalid, and even axes which stop input is turning on can be started.
OFF External stop input is set as valid, and axes which stop input is turning on cannot be started.
This is ignored during G-code control. When "[Rq.1149] External stop input disable at start command (R: M34489+32n/Q:
M3209+20n)" is turned ON, axes with STOP input turned ON cannot be started.
Refer to the following for details on the servo error code storage registers.
MELSEC iQ-R Motion controller Programming Manual (Common)
When it stops an axis with the external stop input after it starts by turning on the "[Rq.1149] External stop input
disable at start command (R: M34489+32n/Q: M3209+20n)", switch the external stop input from OFF ON (if
the external stop input is turning on at the starting, switch it from ON OFF ON).
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
43
[Rq.1152] Feed current value update request command (R: M34492+32n/Q: M3212+20n)
This signal is used to set whether the feed current value will be cleared or not at the starting in speed/position switching
control or speed control ().
Setting value Description
ON The feed current value is not cleared at the starting. The feed current value is updated from the starting. In speed
control (), the software stroke limit is valid.
OFF The feed current value is cleared at the starting. In speed/position switching control, the feed current value is updated
from the starting. In speed control (), "0" is stored in the feed current value.
When it starts by turning on the "[Rq.1152] Feed current value update request command (R: M34492+32n/Q:
M3212+20n)", keep "[Rq.1152] Feed current value update request command (R: M34492+32n/Q:
M3212+20n)" on until completion of the positioning control. If "[Rq.1152] Feed current value update request
command (R: M34492+32n/Q: M3212+20n)" is turned off on the way, the feed current value may not be
reliable.
[Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)
When "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" is ON, this command is used to execute the servo
OFF state (free run state).
Setting value Description
ON Servo OFF (free run state)
OFF Servo ON
Execute this command after positioning completion because it becomes invalid during positioning.
CAUTION
• Turn the power supply of the servo amplifier side off before touching a servomotor, such as machine adjustment.
[Rq.1156] Gain changing command (R: M34496+32n/Q: M3216+20n)
This signal is used to change the gain of servo amplifier in the Motion controller by the gain changing command ON/OFF.
Setting value Description
ON Gain changing command ON
OFF Gain changing command OFF
Refer to the following for details of gain changing function.
Servo amplifier Instruction Manual
[Rq.1157] PI-PID switching command (R: M34497+32n/Q: M3217+20n)
This signal is used to change the PI-PID switching of servo amplifier in the Motion controller by the PI-PID switching command
ON/OFF.
Setting value Description
ON PI-PID switching command ON (PID control)
OFF PI-PID switching command OFF (PI control)
Refer to the following for details of PI-PID switching function.
Servo amplifier Instruction Manual
44
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[Rq.1158] Control loop changing command (R: M34498+32n/Q: M3218+20n)
Fully closed loop
control change
ON
OFF
OFF
ON
Semi closed loop
control change
[Rq.1158] Control loop changing command
(R: M34498+32n/Q: M3218+20n)
[St.1050] Control loop monitor status
(R: M30336+n/Q: M2272+n)
CPSTART2
Axis
Axis
Speed
FIN
ABS-2
Axis
Axis
M-code
ABS-2
Axis
Axis
M-code
ABS-2
Axis
Axis
M-code
ABS-2
Axis
Axis
CPEND
Point
1
2
3
4
1
2
1,
2,
1,
2,
1,
2,
1,
2
10000
100
200000
200000
10
300000
250000
11
350000
300000
12
400000
400000
<K 0>
Point 1 WAIT 2
M-code
[St.1079] M-code outputting
(R: M32419+32n/Q: M2419+20n)
[Rq.1159] FIN signal
(R: M34499+32n/Q: M3219+20n)
10 11
Timing Chart for Operation Description
1. When the positioning of point 1 starts, M-code 10 is output and
the M-code outputting signal turns on.
2. FIN signal turns on after performing required processing in the
Motion SFC program. Transition to the next point does not
execute until the FIN signal turns on.
3. When the FIN signal turns on, the M-code outputting signal
turns off.
4. When the FIN signal turns off after the M-code outputting signal
turns off, the positioning to the next point 2 starts.
When using the fully closed loop control servo amplifier, this signal is used to change the fully closed loop control/semi closed
loop control of servo amplifier in the Motion controller by the control loop changing command ON/OFF.
Setting value Description
ON During fully closed loop control
OFF During semi closed loop control
Refer to the following for details of control loop changing function.
Servo amplifier Instruction Manual
• When the servo amplifier is not started (LED: "AA", "Ab", "AC", "Ad" or "AE"), if the control loop changing
command is turned ON/OFF, the command becomes invalid.
• When the following are operated during the fully closed loop, it returns to the semi closed loop control.
(1) Power supply OFF or reset of the Multiple CPU system
(2) Wire breakage of the SSCNET cable between the servo amplifier and Motion controller
(3) Control circuit power supply OFF of the servo amplifier
2
[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)
When a M-code is set in a servo program, transit to the next block does not execute until the FIN signal changes as follows:
OFF ON OFF. Positioning to the next block begins after the FIN signal changes as above.
It is valid, only when the FIN acceleration/deceleration is set and FIN signal wait function is selected.
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are both signal for the FIN signal wait function.
• The "[Rq.1159] FIN signal (R: M34499+32n/Q: M3219+20n)" and "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" are valid only when FIN acceleration/deceleration is designated in the servo
program. Otherwise, the FIN signal wait function is disabled, and the "[St.1079] M-code outputting (R:
M32419+32n/Q: M2419+20n)" does not turn on.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
45
Command generation axis status
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M36560 to M36591 M9800 to M9819 Axis 1 command generation axis status
M36592 to M36623 M9820 to M9839 Axis 2 command generation axis status
M36624 to M36655 M9840 to M9859 Axis 3 command generation axis status
M36656 to M36687 M9860 to M9879 Axis 4 command generation axis status
M36688 to M36719 M9880 to M9899 Axis 5 command generation axis status
M36720 to M36751 M9900 to M9919 Axis 6 command generation axis status
M36752 to M36783 M9920 to M9939 Axis 7 command generation axis status
M36784 to M36815 M9940 to M9959 Axis 8 command generation axis status
M36816 to M36847 M9960 to M9979 Axis 9 command generation axis status
M36848 to M36879 M9980 to M9999 Axis 10 command generation axis status
M36880 to M36911 M10000 to M10019 Axis 11 command generation axis status
M36912 to M36943 M10020 to M10039 Axis 12 command generation axis status
M36944 to M36975 M10040 to M10059 Axis 13 command generation axis status
M36976 to M37007 M10060 to M10079 Axis 14 command generation axis status
M37008 to M37039 M10080 to M10099 Axis 15 command generation axis status
M37040 to M37071 M10100 to M10119 Axis 16 command generation axis status
M37072 to M37103 M10120 to M10139 Axis 17 command generation axis status
M37104 to M37135 M10140 to M10159 Axis 18 command generation axis status
M37136 to M37167 M10160 to M10179 Axis 19 command generation axis status
M37168 to M37199 M10180 to M10199 Axis 20 command generation axis status
M37200 to M37231 M10200 to M10219 Axis 21 command generation axis status
M37232 to M37263 M10220 to M10239 Axis 22 command generation axis status
M37264 to M37295 M10240 to M10259 Axis 23 command generation axis status
M37296 to M37327 M10260 to M10279 Axis 24 command generation axis status
M37328 to M37359 M10280 to M10299 Axis 25 command generation axis status
M37360 to M37391 M10300 to M10319 Axis 26 command generation axis status
M37392 to M37423 M10320 to M10339 Axis 27 command generation axis status
M37424 to M37455 M10340 to M10359 Axis 28 command generation axis status
M37456 to M37487 M10360 to M10379 Axis 29 command generation axis status
M37488 to M37519 M10380 to M10399 Axis 30 command generation axis status
M37520 to M37551 M10400 to M10419 Axis 31 command generation axis status
M37552 to M37583 M10420 to M10439 Axis 32 command generation axis status
M37584 to M37615 Axis 33 command generation axis status
M37616 to M37647 Axis 34 command generation axis status
M37648 to M37679 Axis 35 command generation axis status
M37680 to M37711 Axis 36 command generation axis status
M37712 to M37743 Axis 37 command generation axis status
M37744 to M37775 Axis 38 command generation axis status
M37776 to M37807 Axis 39 command generation axis status
M37808 to M37839 Axis 40 command generation axis status
M37840 to M37871 Axis 41 command generation axis status
M37872 to M37903 Axis 42 command generation axis status
M37904 to M37935 Axis 43 command generation axis status
M37936 to M37967 Axis 44 command generation axis status
M37968 to M37999 Axis 45 command generation axis status
M38000 to M38031 Axis 46 command generation axis status
M38032 to M38063 Axis 47 command generation axis status
M38064 to M38095 Axis 48 command generation axis status
M38096 to M38127 Axis 49 command generation axis status
Q series Motion compatible
device assignment
46
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M38128 to M38159 Axis 50 command generation axis status
M38160 to M38191 Axis 51 command generation axis status
M38192 to M38223 Axis 52 command generation axis status
M38224 to M38255 Axis 53 command generation axis status
M38256 to M38287 Axis 54 command generation axis status
M38288 to M38319 Axis 55 command generation axis status
M38320 to M38351 Axis 56 command generation axis status
M38352 to M38383 Axis 57 command generation axis status
M38384 to M38415 Axis 58 command generation axis status
M38416 to M38447 Axis 59 command generation axis status
M38448 to M38479 Axis 60 command generation axis status
M38480 to M38511 Axis 61 command generation axis status
M38512 to M38543 Axis 62 command generation axis status
M38544 to M38575 Axis 63 command generation axis status
M38576 to M38607 Axis 64 command generation axis status
Q series Motion compatible
device assignment
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
47
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M36560+32n M9800+20n St.340 Command generation axis positioning
M36561+32n M9801+20n St.341 Command generation axis positioning
M36562+32n M9802+20n Unusable
M36563+32n M9803+20n St.342 Command generation axis command in-
M36564+32n M9804+20n St.343 Command generation axis speed
M36565+32n M9805+20n Unusable
M36566+32n M9806+20n
M36567+32n M9807+20n St.344 Command generation axis error
M36568+32n M9808+20n Unusable
M36569+32n M9809+20n
M36570+32n M9810+20n St.345 Command generation axis start accept
M36571+32n M9811+20n St.346 Command generation axis speed
M36572+32n M9812+20n St.347 Command generation axis speed
M36573+32n M9813+20n St.348 Command generation axis automatic
M36574+32n M9814+20n Unusable
M36575+32n M9815+20n
M36576+32n M9816+20n
M36577+32n M9817+20n
M36578+32n M9818+20n
M36579+32n M9819+20n St.349 Command generation axis M-code
M36580+32n Unusable
M36581+32n
M36582+32n
M36583+32n
M36584+32n
M36585+32n
M36586+32n
M36587+32n
M36588+32n
M36589+32n
M36590+32n
M36591+32n
Q series Motion
compatible
device
assignment
Operation cycle Status signal
start complete
complete
Operation cycle Status signal
position
controlling
Immediate Status signal
detection
Operation cycle Status signal
flag
change accepting flag
change "0" accepting flag
decelerating flag
Operation cycle Status signal
outputting
48
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of command generation axis status.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Command generation axis command signal
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M40160 to M40191 M10960 to M10979 Axis 1 command generation axis command signal
M40192 to M40223 M10980 to M10999 Axis 2 command generation axis command signal
M40224 to M40255 M11000 to M11019 Axis 3 command generation axis command signal
M40256 to M40287 M11020 to M11039 Axis 4 command generation axis command signal
M40288 to M40319 M11040 to M11059 Axis 5 command generation axis command signal
M40320 to M40351 M11060 to M11079 Axis 6 command generation axis command signal
M40352 to M40383 M11080 to M11099 Axis 7 command generation axis command signal
M40384 to M40415 M11100 to M11119 Axis 8 command generation axis command signal
M40416 to M40447 M11120 to M11139 Axis 9 command generation axis command signal
M40448 to M40479 M11140 to M11159 Axis 10 command generation axis command signal
M40480 to M40511 M11160 to M11179 Axis 11 command generation axis command signal
M40512 to M40543 M11180 to M11199 Axis 12 command generation axis command signal
M40544 to M40575 M11200 to M11219 Axis 13 command generation axis command signal
M40576 to M40607 M11220 to M11239 Axis 14 command generation axis command signal
M40608 to M40639 M11240 to M11259 Axis 15 command generation axis command signal
M40640 to M40671 M11260 to M11279 Axis 16 command generation axis command signal
M40672 to M40703 M11280 to M11299 Axis 17 command generation axis command signal
M40704 to M40735 M11300 to M11319 Axis 18 command generation axis command signal
M40736 to M40767 M11320 to M11339 Axis 19 command generation axis command signal
M40768 to M40799 M11340 to M11359 Axis 20 command generation axis command signal
M40800 to M40831 M11360 to M11379 Axis 21 command generation axis command signal
M40832 to M40863 M11380 to M11399 Axis 22 command generation axis command signal
M40864 to M40895 M11400 to M11419 Axis 23 command generation axis command signal
M40896 to M40927 M11420 to M11439 Axis 24 command generation axis command signal
M40928 to M40959 M11440 to M11459 Axis 25 command generation axis command signal
M40960 to M40991 M11460 to M11479 Axis 26 command generation axis command signal
M40992 to M41023 M11480 to M11499 Axis 27 command generation axis command signal
M41024 to M41055 M11500 to M11519 Axis 28 command generation axis command signal
M41056 to M41087 M11520 to M11539 Axis 29 command generation axis command signal
M41088 to M41119 M11540 to M11559 Axis 30 command generation axis command signal
M41120 to M41151 M11560 to M11579 Axis 31 command generation axis command signal
M41152 to M41183 M11580 to M11599 Axis 32 command generation axis command signal
M41184 to M41215 Axis 33 command generation axis command signal
M41216 to M41247 Axis 34 command generation axis command signal
M41248 to M41279 Axis 35 command generation axis command signal
M41280 to M41311 Axis 36 command generation axis command signal
M41312 to M41343 Axis 37 command generation axis command signal
M41344 to M41375 Axis 38 command generation axis command signal
M41376 to M41407 Axis 39 command generation axis command signal
M41408 to M41439 Axis 40 command generation axis command signal
M41440 to M41471 Axis 41 command generation axis command signal
M41472 to M41503 Axis 42 command generation axis command signal
M41504 to M41535 Axis 43 command generation axis command signal
M41536 to M41567 Axis 44 command generation axis command signal
M41568 to M41599 Axis 45 command generation axis command signal
M41600 to M41631 Axis 46 command generation axis command signal
M41632 to M41663 Axis 47 command generation axis command signal
M41664 to M41695 Axis 48 command generation axis command signal
M41696 to M41727 Axis 49 command generation axis command signal
Q series Motion compatible
device assignment
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
49
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M41728 to M41759 Axis 50 command generation axis command signal
M41760 to M41791 Axis 51 command generation axis command signal
M41792 to M41823 Axis 52 command generation axis command signal
M41824 to M41855 Axis 53 command generation axis command signal
M41856 to M41887 Axis 54 command generation axis command signal
M41888 to M41919 Axis 55 command generation axis command signal
M41920 to M41951 Axis 56 command generation axis command signal
M41952 to M41983 Axis 57 command generation axis command signal
M41984 to M42015 Axis 58 command generation axis command signal
M42016 to M42047 Axis 59 command generation axis command signal
M42048 to M42079 Axis 60 command generation axis command signal
M42080 to M42111 Axis 61 command generation axis command signal
M42112 to M42143 Axis 62 command generation axis command signal
M42144 to M42175 Axis 63 command generation axis command signal
M42176 to M42207 Axis 64 command generation axis command signal
Q series Motion compatible
device assignment
50
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M40160+32n M10960+20n Rq.341 Command generation axis stop
M40161+32n M10961+20n Rq.342 Command generation axis rapid stop
M40162+32n M10962+20n Rq.343 Command generation axis forward
M40163+32n M10963+20n Rq.344 Command generation axis reverse
M40164+32n M10964+20n Rq.345 Command generation axis complete
M40165+32n M10965+20n Unusable
M40166+32n M10966+20n
M40167+32n M10967+20n Rq.346 Command generation axis error reset
M40168+32n M10968+20n Unusable
M40169+32n M10969+20n
M40170+32n M10970+20n
M40171+32n M10971+20n
M40172+32n M10972+20n Rq.347 Feed current value update request
M40173+32n M10973+20n Unusable
M40174+32n M10974+20n
M40175+32n M10975+20n
M40176+32n M10976+20n
M40177+32n M10977+20n
M40178+32n M10978+20n
M40179+32n M10979+20n Rq.348 Command generation axis FIN signal Operation cycle Command signal
M40180+32n Unusable
M40181+32n
M40182+32n
M40183+32n
M40184+32n
M40185+32n
M40186+32n
M40187+32n
M40188+32n
M40189+32n
M40190+32n
M40191+32n
Q series Motion
compatible
device
assignment
Operation cycle Command signal
command
command
Main cycle
rotation JOG start command
rotation JOG start command
signal OFF command
Main cycle Command signal
command
At start Command signal
command
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of command generation axis command signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
51
Synchronous encoder axis status
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M38640 to M38655 M10440 to M10449 Axis 1 synchronous encoder axis status
M38656 to M38671 M10450 to M10459 Axis 2 synchronous encoder axis status
M38672 to M38687 M10460 to M10469 Axis 3 synchronous encoder axis status
M38688 to M38703 M10470 to M10479 Axis 4 synchronous encoder axis status
M38704 to M38719 M10480 to M10489 Axis 5 synchronous encoder axis status
M38720 to M38735 M10490 to M10499 Axis 6 synchronous encoder axis status
M38736 to M38751 M10500 to M10509 Axis 7 synchronous encoder axis status
M38752 to M38767 M10510 to M10519 Axis 8 synchronous encoder axis status
M38768 to M38783 M10520 to M10529 Axis 9 synchronous encoder axis status
M38784 to M38799 M10530 to M10539 Axis 10 synchronous encoder axis status
M38800 to M38815 M10540 to M10549 Axis 11 synchronous encoder axis status
M38816 to M38831 M10550 to M10559 Axis 12 synchronous encoder axis status
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M38640+16n M10440+10n St.320 Synchronous encoder axis setting valid
M38641+16n M10441+10n St.321 Synchronous encoder axis connecting
M38642+16n M10442+10n St.322 Synchronous encoder axis counter
M38643+16n M10443+10n St.323 Synchronous encoder axis current value
M38644+16n M10444+10n St.324 Synchronous encoder axis error
M38645+16n M10445+10n Unusable
M38646+16n M10446+10n St.325 Synchronous encoder axis control
M38647+16n M10447+10n Unusable
M38648+16n M10448+10n
M38649+16n M10449+10n
M38650+16n
M38651+16n
M38652+16n
M38653+16n
M38654+16n
M38655+16n
Q series Motion
compatible
device
assignment
Q series Motion compatible
device assignment
At power on Status signal
flag
Operation cycle
valid flag
enable flag
setting request flag
Immediate
detection flag
Immediate Status signal
complete flag
52
Refer to the following for details of synchronous encoder axis status.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Synchronous encoder axis command signal
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M42240 to M42247 M11600 to M11603 Axis 1 synchronous encoder axis command signal
M42248 to M42255 M11604 to M11607 Axis 2 synchronous encoder axis command signal
M42256 to M42263 M11608 to M11611 Axis 3 synchronous encoder axis command signal
M42264 to M42271 M11612 to M11615 Axis 4 synchronous encoder axis command signal
M42272 to M42279 M11616 to M11619 Axis 5 synchronous encoder axis command signal
M42280 to M42287 M11620 to M11623 Axis 6 synchronous encoder axis command signal
M42288 to M42295 M11624 to M11627 Axis 7 synchronous encoder axis command signal
M42296 to M42303 M11628 to M11631 Axis 8 synchronous encoder axis command signal
M42304 to M42311 M11632 to M11635 Axis 9 synchronous encoder axis command signal
M42312 to M42319 M11636 to M11639 Axis 10 synchronous encoder axis command signal
M42320 to M42327 M11640 to M11643 Axis 11 synchronous encoder axis command signal
M42328 to M42335 M11644 to M11647 Axis 12 synchronous encoder axis command signal
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M42240+8n M11600+4n Rq.323 Synchronous encoder axis error reset Main cycle Command signal
M42241+8n M11601+4n Rq.320 Synchronous encoder axis control
M42242+8n M11602+4n Rq.324 Connection command of synchronous
M42243+8n M11603+4n Unusable
M42244+8n
M42245+8n
M42246+8n
M42247+8n
Q series Motion
compatible
device
assignment
Q series Motion compatible
device assignment
Operation cycle
request
Main cycle
encoder via device/master CPU
2
Refer to the following for details of synchronous encoder axis command signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
53
Output axis status
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M38960 to M38975 M10560 to M10569 Axis 1 output axis status
M38976 to M38991 M10570 to M10579 Axis 2 output axis status
M38992 to M39007 M10580 to M10589 Axis 3 output axis status
M39008 to M39023 M10590 to M10599 Axis 4 output axis status
M39024 to M39039 M10600 to M10609 Axis 5 output axis status
M39040 to M39055 M10610 to M10619 Axis 6 output axis status
M39056 to M39071 M10620 to M10629 Axis 7 output axis status
M39072 to M39087 M10630 to M10639 Axis 8 output axis status
M39088 to M39103 M10640 to M10649 Axis 9 output axis status
M39104 to M39119 M10650 to M10659 Axis 10 output axis status
M39120 to M39135 M10660 to M10669 Axis 11 output axis status
M39136 to M39151 M10670 to M10679 Axis 12 output axis status
M39152 to M39167 M10680 to M10689 Axis 13 output axis status
M39168 to M39183 M10690 to M10699 Axis 14 output axis status
M39184 to M39199 M10700 to M10709 Axis 15 output axis status
M39200 to M39215 M10710 to M10719 Axis 16 output axis status
M39216 to M39231 M10720 to M10729 Axis 17 output axis status
M39232 to M39247 M10730 to M10739 Axis 18 output axis status
M39248 to M39263 M10740 to M10749 Axis 19 output axis status
M39264 to M39279 M10750 to M10759 Axis 20 output axis status
M39280 to M39295 M10760 to M10769 Axis 21 output axis status
M39296 to M39311 M10770 to M10779 Axis 22 output axis status
M39312 to M39327 M10780 to M10789 Axis 23 output axis status
M39328 to M39343 M10790 to M10799 Axis 24 output axis status
M39344 to M39359 M10800 to M10809 Axis 25 output axis status
M39360 to M39375 M10810 to M10819 Axis 26 output axis status
M39376 to M39391 M10820 to M10829 Axis 27 output axis status
M39392 to M39407 M10830 to M10839 Axis 28 output axis status
M39408 to M39423 M10840 to M10849 Axis 29 output axis status
M39424 to M39439 M10850 to M10859 Axis 30 output axis status
M39440 to M39455 M10860 to M10869 Axis 31 output axis status
M39456 to M39471 M10870 to M10879 Axis 32 output axis status
M39472 to M39487 Axis 33 output axis status
M39488 to M39503 Axis 34 output axis status
M39504 to M39519 Axis 35 output axis status
M39520 to M39535 Axis 36 output axis status
M39536 to M39551 Axis 37 output axis status
M39552 to M39567 Axis 38 output axis status
M39568 to M39583 Axis 39 output axis status
M39584 to M39599 Axis 40 output axis status
M39600 to M39615 Axis 41 output axis status
M39616 to M39631 Axis 42 output axis status
M39632 to M39647 Axis 43 output axis status
M39648 to M39663 Axis 44 output axis status
M39664 to M39679 Axis 45 output axis status
M39680 to M39695 Axis 46 output axis status
M39696 to M39711 Axis 47 output axis status
M39712 to M39727 Axis 48 output axis status
M39728 to M39743 Axis 49 output axis status
Q series Motion compatible
device assignment
54
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M39744 to M39759 Axis 50 output axis status
M39760 to M39775 Axis 51 output axis status
M39776 to M39791 Axis 52 output axis status
M39792 to M39807 Axis 53 output axis status
M39808 to M39823 Axis 54 output axis status
M39824 to M39839 Axis 55 output axis status
M39840 to M39855 Axis 56 output axis status
M39856 to M39871 Axis 57 output axis status
M39872 to M39887 Axis 58 output axis status
M39888 to M39903 Axis 59 output axis status
M39904 to M39919 Axis 60 output axis status
M39920 to M39935 Axis 61 output axis status
M39936 to M39951 Axis 62 output axis status
M39952 to M39967 Axis 63 output axis status
M39968 to M39983 Axis 64 output axis status
Q series Motion compatible
device assignment
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M38960+16n M10560+10n St.420 Main shaft clutch ON/OFF status Operation cycle Status signal
M38961+16n M10561+10n St.421 Main shaft clutch smoothing status
M38962+16n M10562+10n St.423 Auxiliary shaft clutch ON/OFF status
M38963+16n M10563+10n St.424 Auxiliary shaft clutch smoothing status
M38964+16n M10564+10n Unusable
M38965+16n M10565+10n
M38966+16n M10566+10n St.426 Control change complete Operation cycle Status signal
M38967+16n M10567+10n Unusable
M38968+16n M10568+10n
M38969+16n M10569+10n
M38970+16n
M38971+16n
M38972+16n
M38973+16n
M38974+16n
M38975+16n
Q series Motion
compatible
device
assignment
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of output axis status.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
55
Output axis command signal
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M42400 to M42415 M11680 to M11689 Axis 1 output axis command signal
M42416 to M42431 M11690 to M11699 Axis 2 output axis command signal
M42432 to M42447 M11700 to M11709 Axis 3 output axis command signal
M42448 to M42463 M11710 to M11719 Axis 4 output axis command signal
M42464 to M42479 M11720 to M11729 Axis 5 output axis command signal
M42480 to M42495 M11730 to M11739 Axis 6 output axis command signal
M42496 to M42511 M11740 to M11749 Axis 7 output axis command signal
M42512 to M42527 M11750 to M11759 Axis 8 output axis command signal
M42528 to M42543 M11760 to M11769 Axis 9 output axis command signal
M42544 to M42559 M11770 to M11779 Axis 10 output axis command signal
M42560 to M42575 M11780 to M11789 Axis 11 output axis command signal
M42576 to M42591 M11790 to M11799 Axis 12 output axis command signal
M42592 to M42607 M11800 to M11809 Axis 13 output axis command signal
M42608 to M42623 M11810 to M11819 Axis 14 output axis command signal
M42624 to M42639 M11820 to M11829 Axis 15 output axis command signal
M42640 to M42655 M11830 to M11839 Axis 16 output axis command signal
M42656 to M42761 M11840 to M11849 Axis 17 output axis command signal
M42762 to M42687 M11850 to M11859 Axis 18 output axis command signal
M42688 to M42703 M11860 to M11869 Axis 19 output axis command signal
M42704 to M42719 M11870 to M11879 Axis 20 output axis command signal
M42720 to M42735 M11880 to M11889 Axis 21 output axis command signal
M42736 to M42751 M11890 to M11899 Axis 22 output axis command signal
M42752 to M42767 M11900 to M11909 Axis 23 output axis command signal
M42768 to M42783 M11910 to M11919 Axis 24 output axis command signal
M42784 to M42799 M11920 to M11929 Axis 25 output axis command signal
M42800 to M42815 M11930 to M11939 Axis 26 output axis command signal
M42816 to M42831 M11940 to M11949 Axis 27 output axis command signal
M42832 to M42847 M11950 to M11959 Axis 28 output axis command signal
M42848 to M42863 M11960 to M11969 Axis 29 output axis command signal
M42864 to M42879 M11970 to M11979 Axis 30 output axis command signal
M42880 to M42895 M11980 to M11989 Axis 31 output axis command signal
M42896 to M42911 M11990 to M11999 Axis 32 output axis command signal
M42912 to M42927 Axis 33 output axis command signal
M42928 to M42943 Axis 34 output axis command signal
M42944 to M42959 Axis 35 output axis command signal
M42960 to M42975 Axis 36 output axis command signal
M42976 to M42991 Axis 37 output axis command signal
M42992 to M43007 Axis 38 output axis command signal
M43008 to M43023 Axis 39 output axis command signal
M43024 to M43039 Axis 40 output axis command signal
M43040 to M43055 Axis 41 output axis command signal
M43056 to M43071 Axis 42 output axis command signal
M43072 to M43087 Axis 43 output axis command signal
M43088 to M43103 Axis 44 output axis command signal
M43104 to M43119 Axis 45 output axis command signal
M43120 to M43135 Axis 46 output axis command signal
M43136 to M43151 Axis 47 output axis command signal
M43152 to M43167 Axis 48 output axis command signal
M43168 to M43183 Axis 49 output axis command signal
Q series Motion compatible
device assignment
56
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M43184 to M43199 Axis 50 output axis command signal
M43200 to M43215 Axis 51 output axis command signal
M43216 to M43231 Axis 52 output axis command signal
M43232 to M43247 Axis 53 output axis command signal
M43248 to M43263 Axis 54 output axis command signal
M43264 to M43279 Axis 55 output axis command signal
M43280 to M43295 Axis 56 output axis command signal
M43296 to M43311 Axis 57 output axis command signal
M43312 to M43327 Axis 58 output axis command signal
M43328 to M43343 Axis 59 output axis command signal
M43344 to M43359 Axis 60 output axis command signal
M43360 to M43375 Axis 61 output axis command signal
M43376 to M43391 Axis 62 output axis command signal
M43392 to M43407 Axis 63 output axis command signal
M43408 to M43423 Axis 64 output axis command signal
Q series Motion compatible
device assignment
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M42400+16n M11680+10n Rq.400 Main shaft clutch command Operation cycle Command signal
M42401+16n M11681+10n Rq.401 Main shaft clutch control invalid
M42402+16n M11682+10n Rq.402 Main shaft clutch forced OFF command
M42403+16n M11683+10n Unusable
M42404+16n M11684+10n Rq.403 Auxiliary shaft clutch command Operation cycle Command signal
M42405+16n M11685+10n Rq.404 Auxiliary shaft clutch control invalid
M42406+16n M11686+10n Rq.405 Auxiliary shaft clutch forced OFF
M42407+16n M11687+10n Unusable
M42408+16n M11688+10n Rq.406 Control change request command Operation cycle Command signal
M42409+16n M11689+10n Unusable
M42410+16n
M42411+16n
M42412+16n
M42413+16n
M42414+16n
M42415+16n
Q series Motion
compatible
device
assignment
command
command
command
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of output axis command signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
57
Synchronous control signal
Axis
Device No. Symbol Signal name Refresh
No.
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
1 M40000 M10880 St.380 Synchronous control Operation
2 M40001 M10881
3 M40002 M10882
4 M40003 M10883
5 M40004 M10884
6 M40005 M10885
7 M40006 M10886
8 M40007 M10887
9 M40008 M10888
10 M40009 M10889
11 M40010 M10890
12 M40011 M10891
13 M40012 M10892
14 M40013 M10893
15 M40014 M10894
16 M40015 M10895
17 M40016 M10896
18 M40017 M10897
19 M40018 M10898
20 M40019 M10899
21 M40020 M10900
22 M40021 M10901
23 M40022 M10902
24 M40023 M10903
25 M40024 M10904
26 M40025 M10905
27 M40026 M10906
28 M40027 M10907
29 M40028 M10908
30 M40029 M10909
31 M40030 M10910
32 M40031 M10911
33 M40032
34 M40033
35 M40034
36 M40035
37 M40036
38 M40037
39 M40038
40 M40039
41 M40040
42 M40041
43 M40042
44 M40043
45 M40044
46 M40045
47 M40046
cycle
cycle
Fetch cycle Signal type
Status signal
58
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Axis
Device No. Symbol Signal name Refresh
No.
MELSEC iQ-R
Motion device
assignment
48 M40047 St.380 Synchronous control Operation
49 M40048
50 M40049
51 M40050
52 M40051
53 M40052
54 M40053
55 M40054
56 M40055
57 M40056
58 M40057
59 M40058
60 M40059
61 M40060
62 M40061
63 M40062
64 M40063
Q series Motion
compatible
device
assignment
cycle
cycle
Fetch cycle Signal type
Status signal
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of synchronous control signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
59
Synchronous analysis complete signal
Axis
Device No. Symbol Signal name Refresh
No.
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
1 M40080 M10912 St.381 Synchronous analysis complete Operation
2 M40081 M10913
3 M40082 M10914
4 M40083 M10915
5 M40084 M10916
6 M40085 M10917
7 M40086 M10918
8 M40087 M10919
9 M40088 M10920
10 M40089 M10921
11 M40090 M10922
12 M40091 M10923
13 M40092 M10924
14 M40093 M10925
15 M40094 M10926
16 M40095 M10927
17 M40096 M10928
18 M40097 M10929
19 M40098 M10930
20 M40099 M10931
21 M40100 M10932
22 M40101 M10933
23 M40102 M10934
24 M40103 M10935
25 M40104 M10936
26 M40105 M10937
27 M40106 M10938
28 M40107 M10939
29 M40108 M10940
30 M40109 M10941
31 M40110 M10942
32 M40111 M10943
33 M40112
34 M40113
35 M40114
36 M40115
37 M40116
38 M40117
39 M40118
40 M40119
41 M40120
42 M40121
43 M40122
44 M40123
45 M40124
46 M40125
47 M40126
cycle
cycle
Fetch cycle Signal type
Status signal
60
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Axis
Device No. Symbol Signal name Refresh
No.
MELSEC iQ-R
Motion device
assignment
48 M40127 St.381 Synchronous analysis complete Operation
49 M40128
50 M40129
51 M40130
52 M40131
53 M40132
54 M40133
55 M40134
56 M40135
57 M40136
58 M40137
59 M40138
60 M40139
61 M40140
62 M40141
63 M40142
64 M40143
Q series Motion
compatible
device
assignment
cycle
cycle
Fetch cycle Signal type
Status signal
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of synchronous analysis complete signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
61
Synchronous control start signal
Axis
Device No. Symbol Signal name Refresh
No.
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
cycle
assignment
1 M43440 M12000 Rq.380 Synchronous control start Operation
2 M43441 M12001
3 M43442 M12002
4 M43443 M12003
5 M43444 M12004
6 M43445 M12005
7 M43446 M12006
8 M43447 M12007
9 M43448 M12008
10 M43449 M12009
11 M43450 M12010
12 M43451 M12011
13 M43452 M12012
14 M43453 M12013
15 M43454 M12014
16 M43455 M12015
17 M43456 M12016
18 M43457 M12017
19 M43458 M12018
20 M43459 M12019
21 M43460 M12020
22 M43461 M12021
23 M43462 M12022
24 M43463 M12023
25 M43464 M12024
26 M43465 M12025
27 M43466 M12026
28 M43467 M12027
29 M43468 M12028
30 M43469 M12029
31 M43470 M12030
32 M43471 M12031
33 M43472
34 M43473
35 M43474
36 M43475
37 M43476
38 M43477
39 M43478
40 M43479
41 M43480
42 M43481
43 M43482
44 M43483
45 M43484
46 M43485
47 M43486
Fetch cycle Signal type
cycle
Command
signal
62
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Axis
Device No. Symbol Signal name Refresh
No.
MELSEC iQ-R
Motion device
assignment
48 M43487 Rq.380 Synchronous control start Operation
49 M43488
50 M43489
51 M43490
52 M43491
53 M43492
54 M43493
55 M43494
56 M43495
57 M43496
58 M43497
59 M43498
60 M43499
61 M43500
62 M43501
63 M40502
64 M40503
Q series Motion
compatible
device
assignment
cycle
Fetch cycle Signal type
cycle
Command
signal
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of synchronous control start signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
63
Synchronous analysis request signal
Axis
Device No. Symbol Signal name Refresh
No.
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
cycle
assignment
1 M43520 M12032 Rq.381 Synchronous analysis request At start of
2 M43521 M12033
3 M43522 M12034
4 M43523 M12035
5 M43524 M12036
6 M43525 M12037
7 M43526 M12038
8 M43527 M12039
9 M43528 M12040
10 M43529 M12041
11 M43530 M12042
12 M43531 M12043
13 M43532 M12044
14 M43533 M12045
15 M43534 M12046
16 M43535 M12047
17 M43536 M12048
18 M43537 M12049
19 M43538 M12050
20 M43539 M12051
21 M43540 M12052
22 M43541 M12053
23 M43542 M12054
24 M43543 M12055
25 M43544 M12056
26 M43545 M12057
27 M43546 M12058
28 M43547 M12059
29 M43548 M12060
30 M43549 M12061
31 M43550 M12062
32 M43551 M12063
33 M43552
34 M43553
35 M43554
36 M43555
37 M43556
38 M43557
39 M43558
40 M43559
41 M43560
42 M43561
43 M43562
44 M43563
45 M43564
46 M43565
47 M43566
Fetch cycle Signal type
synchronous
control
Command
signal
64
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Axis
Device No. Symbol Signal name Refresh
No.
MELSEC iQ-R
Motion device
assignment
48 M43567 Rq.381 Synchronous analysis request At start of
49 M43568
50 M43569
51 M43570
52 M43571
53 M43572
54 M43573
55 M43574
56 M43575
57 M43576
58 M43577
59 M43578
60 M43579
61 M43580
62 M43581
63 M43582
64 M43583
Q series Motion
compatible
device
assignment
cycle
Fetch cycle Signal type
synchronous
control
Command
signal
2
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
• Refer to the following for details of synchronous analysis request signal.
MELSEC iQ-R Motion Controller Programming Manual (Advanced Synchronous Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
65
Machine common command signals
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M43584 Rq.2200 Real current value monitor enable flag Operation cycle Command signal
M43585 Unusable
M43586
M43587
M43588
M43589
M43590
M43591
M43592
M43593
M43594
M43595
M43596
M43597
M43598
M43599
M43600
M43601
M43602
M43603
M43604
M43605
M43606
M43607
M43608
M43609
M43610
M43611
M43612
M43613
M43614
M43615
Q series Motion
compatible
device
assignment
66
Refer to the following for details of machine common command signal.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Machine command signals
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M43616 to M43647 Machine 1 machine command signal
M43648 to M43679 Machine 2 machine command signal
M43680 to M43711 Machine 3 machine command signal
M43712 to M43743 Machine 4 machine command signal
M43744 to M43775 Machine 5 machine command signal
M43776 to M43807 Machine 6 machine command signal
M43808 to M43839 Machine 7 machine command signal
M43840 to M43871 Machine 8 machine command signal
• Details for each machine
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M43616+32m Rq.2240 Machine error reset command Main cycle Command signal
M43617+32m Unusable
M43618+32m
M43619+32m Rq.2243 Machine XYZ stroke limit disable
M43620+32m Rq.2244 Base/tool translation change command Operation cycle
M43621+32m Rq.2245 Machine stop command
M43622+32m Rq.2246 Machine rapid stop command
M43623+32m Rq.2247 Execute point switching command
M43624+32m Unusable
M43625+32m
M43626+32m
M43627+32m
M43628+32m
M43629+32m
M43630+32m
M43631+32m
M43632+32m Rq.2250 Machine forward
M43633+32m Rq.2251 Y
M43634+32m Rq.2252 Z
M43635+32m Rq.2253 A
M43636+32m Rq.2254 B
M43637+32m Rq.2255 C
M43638+32m Unusable
M43639+32m
M43640+32m Rq.2256 Machine reverse
M43641+32m Rq.2257 Y
M43642+32m Rq.2258 Z
M43643+32m Rq.2259 A
M43644+32m Rq.2260 B
M43645+32m Rq.2261 C
M43646+32m Unusable
M43647+32m
Q series Motion
compatible
device
assignment
Q series Motion compatible
device assignment
command
rotation JOG start
command
rotation JOG start
command
At machine JOG
start
X Main cycle Command signal
X Main cycle Command signal
Command signal
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
67
Refer to the following for details of machine command signal.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
68
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Machine status
Device No. Signal name
MELSEC iQ-R Motion
device assignment
M43904 to M43935 Machine 1 machine status
M43936 to M43967 Machine 2 machine status
M43968 to M43999 Machine 3 machine status
M44000 to M44031 Machine 4 machine status
M44032 to M44063 Machine 5 machine status
M44064 to M44095 Machine 6 machine status
M44096 to M44127 Machine 7 machine status
M44128 to M44159 Machine 8 machine status
• Details for each machine
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M43904+32m St.2120 Machine error detection Immediate Status signal
M43905+32m Unusable
M43906+32m
M43907+32m St.2123 Joint interpolation velocity limiting Operation cycle Status signal
M43908+32m St.2124 Base/tool translation change complete
M43909+32m Unusable
M43910+32m
M43911+32m St.2127 Machine start accept flag Operation cycle Status signal
M43912+32m St.2128 Machine servo ready
M43913+32m Unusable
M43914+32m
M43915+32m
M43916+32m
M43917+32m
M43918+32m
M43919+32m
M43920+32m
M43921+32m
M43922+32m
M43923+32m
M43924+32m
M43925+32m
M43926+32m
M43927+32m
M43928+32m
M43929+32m
M43930+32m
M43931+32m
M43932+32m
M439033+32m
M43934+32m
M43935+32m
Q series Motion
compatible
device
assignment
Q series Motion compatible
device assignment
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
69
Refer to the following for details of machine status.
MELSEC iQ-R Motion Controller Programming Manual (Machine Control)
70
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Common devices
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
M30000 M2000 Rq.1120 PLC ready flag Main cycle Command signal
M30001 Unusable
M30002
M30003
M30004
M30005
M30006
M30007
M30008
M30009
M30010
M30011
M30012
M30013
M30014
M30015
M30016
M30017
M30018
M30019
M30020
M30021
M30022
M30023
M30024
M30025
M30026
M30027
M30028
M30029
M30030
M30031
M30032
M30033
M30034
M30035
M30036
M30037
M30038 M2038 St.1041 Motion SFC debugging flag At debugging
M30039 M2039 Unusable
M30040 M2040 Rq.1122 Speed switching point specified flag At start Command signal
M30041 M2041 Unusable
M30042 M2042 Rq.1123 All axes servo ON command Operation cycle Command signal
Q series Motion
compatible
device
assignment
(37 points)
Status signal
mode transition
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
71
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
M30043 M2043 Unusable
M30044 M2044
M30045 M2045
M30046 M2046
M30047 M2047
M30048 M2048 Rq.1124 JOG operation simultaneous start
M30049 M2049 St.1045 All axes servo ON accept flag Operation cycle Status signal
M30050 M2050 Unusable
M30051 M2051 Rq.1125 Manual pulse generator 1 enable flag Main cycle Command signal
M30052 M2052 Rq.1126 Manual pulse generator 2 enable flag
M30053 M2053 Rq.1127 Manual pulse generator 3 enable flag
M30054 M2054 St.1046 Operation cycle over flag Operation cycle Status signal
M30055 Unusable
M30056
M30057
M30058
M30059
M30060
M30061
M30062
M30063
M30064
M30065
M30066
M30067
M30068
M30069
M30070
M30071
M30072
M30073
M30074
M30075
M30076
M30077
M30078
M30079
M30080 M2001 St.1040 Axis 1 Start accept flag Operation cycle Status signal
M30081 M2002 Axis 2
M30082 M2003 Axis 3
M30083 M2004 Axis 4
M30084 M2005 Axis 5
M30085 M2006 Axis 6
M30086 M2007 Axis 7
M30087 M2008 Axis 8
M30088 M2009 Axis 9
M30089 M2010 Axis 10
M30090 M2011 Axis 11
(5 points)
command
(25 points)
Main cycle Command signal
*1*2
72
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
M30091 M2012 St.1040 Axis 12 Start accept flag Operation cycle Status signal
M30092 M2013 Axis 13
M30093 M2014 Axis 14
M30094 M2015 Axis 15
M30095 M2016 Axis 16
M30096 M2017 Axis 17
M30097 M2018 Axis 18
M30098 M2019 Axis 19
M30099 M2020 Axis 20
M30100 M2021 Axis 21
M30101 M2022 Axis 22
M30102 M2023 Axis 23
M30103 M2024 Axis 24
M30104 M2025 Axis 25
M30105 M2026 Axis 26
M30106 M2027 Axis 27
M30107 M2028 Axis 28
M30108 M2029 Axis 29
M30109 M2030 Axis 30
M30110 M2031 Axis 31
M30111 M2032 Axis 32
M30112 Axis 33
M30113 Axis 34
M30114 Axis 35
M30115 Axis 36
M30116 Axis 37
M30117 Axis 38
M30118 Axis 39
M30119 Axis 40
M30120 Axis 41
M30121 Axis 42
M30122 Axis 43
M30123 Axis 44
M30124 Axis 45
M30125 Axis 46
M30126 Axis 47
M30127 Axis 48
M30128 Axis 49
M30129 Axis 50
M30130 Axis 51
M30131 Axis 52
M30132 Axis 53
M30133 Axis 54
M30134 Axis 55
M30135 Axis 56
M30136 Axis 57
M30137 Axis 58
M30138 Axis 59
M30139 Axis 60
*1*2
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
73
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
M30140 St.1040 Axis 61 Start accept flag Operation cycle Status signal
M30141 Axis 62
M30142 Axis 63
M30143 Axis 64
M30144 M2061 St.1047 Axis 1 Speed change accepting
M30145 M2062 Axis 2
M30146 M2063 Axis 3
M30147 M2064 Axis 4
M30148 M2065 Axis 5
M30149 M2066 Axis 6
M30150 M2067 Axis 7
M30151 M2068 Axis 8
M30152 M2069 Axis 9
M30153 M2070 Axis 10
M30154 M2071 Axis 11
M30155 M2072 Axis 12
M30156 M2073 Axis 13
M30157 M2074 Axis 14
M30158 M2075 Axis 15
M30159 M2076 Axis 16
M30160 M2077 Axis 17
M30161 M2078 Axis 18
M30162 M2079 Axis 19
M30163 M2080 Axis 20
M30164 M2081 Axis 21
M30165 M2082 Axis 22
M30166 M2083 Axis 23
M30167 M2084 Axis 24
M30168 M2085 Axis 25
M30169 M2086 Axis 26
M30170 M2087 Axis 27
M30171 M2088 Axis 28
M30172 M2089 Axis 29
M30173 M2090 Axis 30
M30174 M2091 Axis 31
M30175 M2092 Axis 32
M30176 Axis 33
M30177 Axis 34
M30178 Axis 35
M30179 Axis 36
M30180 Axis 37
M30181 Axis 38
M30182 Axis 39
M30183 Axis 40
M30184 Axis 41
M30185 Axis 42
M30186 Axis 43
M30187 Axis 44
M30188 Axis 45
flag
Operation cycle Status signal
*1*2
*1*2
74
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
M30189 St.1047 Axis 46 Speed change accepting
M30190 Axis 47
M30191 Axis 48
M30192 Axis 49
M30193 Axis 50
M30194 Axis 51
M30195 Axis 52
M30196 Axis 53
M30197 Axis 54
M30198 Axis 55
M30199 Axis 56
M30200 Axis 57
M30201 Axis 58
M30202 Axis 59
M30203 Axis 60
M30204 Axis 61
M30205 Axis 62
M30206 Axis 63
M30207 Axis 64
M30208 M2128 St.1048 Axis 1 Automatic decelerating flag Operation cycle Status signal
M30209 M2129 Axis 2
M30210 M2130 Axis 3
M30211 M2131 Axis 4
M30212 M2132 Axis 5
M30213 M2133 Axis 6
M30214 M2134 Axis 7
M30215 M2135 Axis 8
M30216 M2136 Axis 9
M30217 M2137 Axis 10
M30218 M2138 Axis 11
M30219 M2139 Axis 12
M30220 M2140 Axis 13
M30221 M2141 Axis 14
M30222 M2142 Axis 15
M30223 M2143 Axis 16
M30224 M2144 Axis 17
M30225 M2145 Axis 18
M30226 M2146 Axis 19
M30227 M2147 Axis 20
M30228 M2148 Axis 21
M30229 M2149 Axis 22
M30230 M2150 Axis 23
M30231 M2151 Axis 24
M30232 M2152 Axis 25
M30233 M2153 Axis 26
M30234 M2154 Axis 27
M30235 M2155 Axis 28
M30236 M2156 Axis 29
M30237 M2157 Axis 30
flag
Operation cycle Status signal
*1*2
2
*1*2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
75
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
M30238 M2158 St.1048 Axis 31 Automatic decelerating flag Operation cycle Status signal
M30239 M2159 Axis 32
M30240 Axis 33
M30241 Axis 34
M30242 Axis 35
M30243 Axis 36
M30244 Axis 37
M30245 Axis 38
M30246 Axis 39
M30247 Axis 40
M30248 Axis 41
M30249 Axis 42
M30250 Axis 43
M30251 Axis 44
M30252 Axis 45
M30253 Axis 46
M30254 Axis 47
M30255 Axis 48
M30256 Axis 49
M30257 Axis 50
M30258 Axis 51
M30259 Axis 52
M30260 Axis 53
M30261 Axis 54
M30262 Axis 55
M30263 Axis 56
M30264 Axis 57
M30265 Axis 58
M30266 Axis 59
M30267 Axis 60
M30268 Axis 61
M30269 Axis 62
M30270 Axis 63
M30271 Axis 64
M30272 M2240 St.1049 Axis 1 Speed change "0"
M30273 M2241 Axis 2
M30274 M2242 Axis 3
M30275 M2243 Axis 4
M30276 M2244 Axis 5
M30277 M2245 Axis 6
M30278 M2246 Axis 7
M30279 M2247 Axis 8
M30280 M2248 Axis 9
M30281 M2249 Axis 10
M30282 M2250 Axis 11
M30283 M2251 Axis 12
M30284 M2252 Axis 13
M30285 M2253 Axis 14
M30286 M2254 Axis 15
accepting flag
*1*2
76
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
M30287 M2255 St.1049 Axis 16 Speed change "0"
M30288 M2256 Axis 17
M30289 M2257 Axis 18
M30290 M2258 Axis 19
M30291 M2259 Axis 20
M30292 M2260 Axis 21
M30293 M2261 Axis 22
M30294 M2262 Axis 23
M30295 M2263 Axis 24
M30296 M2264 Axis 25
M30297 M2265 Axis 26
M30298 M2266 Axis 27
M30299 M2267 Axis 28
M30300 M2268 Axis 29
M30301 M2269 Axis 30
M30302 M2270 Axis 31
M30303 M2271 Axis 32
M30304 Axis 33
M30305 Axis 34
M30306 Axis 35
M30307 Axis 36
M30308 Axis 37
M30309 Axis 38
M30310 Axis 39
M30311 Axis 40
M30312 Axis 41
M30313 Axis 42
M30314 Axis 43
M30315 Axis 44
M30316 Axis 45
M30317 Axis 46
M30318 Axis 47
M30319 Axis 48
M30320 Axis 49
M30321 Axis 50
M30322 Axis 51
M30323 Axis 52
M30324 Axis 53
M30325 Axis 54
M30326 Axis 55
M30327 Axis 56
M30328 Axis 57
M30329 Axis 58
M30330 Axis 59
M30331 Axis 60
M30332 Axis 61
M30333 Axis 62
M30334 Axis 63
M30335 Axis 64
accepting flag
Operation cycle Status signal
*1*2
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
77
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
M30336 M2272 St.1050 Axis 1 Control loop monitor status Operation cycle Status signal
M30337 M2273 Axis 2
M30338 M2274 Axis 3
M30339 M2275 Axis 4
M30340 M2276 Axis 5
M30341 M2277 Axis 6
M30342 M2278 Axis 7
M30343 M2279 Axis 8
M30344 M2280 Axis 9
M30345 M2281 Axis 10
M30346 M2282 Axis 11
M30347 M2283 Axis 12
M30348 M2284 Axis 13
M30349 M2285 Axis 14
M30350 M2286 Axis 15
M30351 M2287 Axis 16
M30352 M2288 Axis 17
M30353 M2289 Axis 18
M30354 M2290 Axis 19
M30355 M2291 Axis 20
M30356 M2292 Axis 21
M30357 M2293 Axis 22
M30358 M2294 Axis 23
M30359 M2295 Axis 24
M30360 M2296 Axis 25
M30361 M2297 Axis 26
M30362 M2298 Axis 27
M30363 M2299 Axis 28
M30364 M2300 Axis 29
M30365 M2301 Axis 30
M30366 M2302 Axis 31
M30367 M2303 Axis 32
M30368 Axis 33
M30369 Axis 34
M30370 Axis 35
M30371 Axis 36
M30372 Axis 37
M30373 Axis 38
M30374 Axis 39
M30375 Axis 40
M30376 Axis 41
M30377 Axis 42
M30378 Axis 43
M30379 Axis 44
M30380 Axis 45
M30381 Axis 46
M30382 Axis 47
M30383 Axis 48
M30384 Axis 49
*1*2
78
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
Q series Motion
compatible
device
assignment
M30385 St.1050 Axis 50 Control loop monitor status Operation cycle Status signal
M30386 Axis 51
M30387 Axis 52
M30388 Axis 53
M30389 Axis 54
M30390 Axis 55
M30391 Axis 56
M30392 Axis 57
M30393 Axis 58
M30394 Axis 59
M30395 Axis 60
M30396 Axis 61
M30397 Axis 62
M30398 Axis 63
M30399 Axis 64
M30400 Unusable
:
M30639
M2033 Unusable
:
M2037
M2055 Unusable
:
M2060
M2093 Unusable
:
M2127
M2160 Unusable
:
M2239
M2304 Unusable
:
M2319
(240 points)
(5 points)
(6 points)
(35 points)
(80 points)
(16 points)
*1 The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
*2 The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33 axes or more.
*1*2
2
• Internal relays for positioning control are not latched even within the latch range.
• The range devices allocated as internal relays for positioning control cannot be used by the user even if
their applications have not been set.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
79
[Rq.1120] PLC ready flag (R: M30000/Q: M2000)
[Rq.1120] PLC ready flag
(R: M30000/Q: M2000)
PCPU READY complete
flag (SM500)
Clear a M-code
V
Positioning start
Deceleration stop
OFF
OFF
ON
ON
"PCPU READY complete flag
(SM500)" does not turn on because
during deceleration.
t
• This signal is used to start the program control of the Motion CPU. When "[Rq.1120] PLC ready flag (R: M30000/Q:
M2000)" is ON, execution of the Motion SFC program, starting of axes by the servo program, and the synchronous control
operation can be performed.
• "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" can be switched OFF/ON by the following operation. However, turning
from OFF to ON of the "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" is ignored when the RUN/STOP switch is set to
"STOP" or during test mode.
(1) Switching with the RUN/STOP switch
• When the RUN/STOP switch is switched from "STOP" to "RUN", "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns ON.
• When the Multiple CPU system power supply is turned ON when the RUN/STOP switch is set to "RUN", "[Rq.1120] PLC ready flag (R: M30000/Q:
M2000)" turns ON.
• When the RUN/STOP switch is switched from "RUN" to "STOP", "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns OFF.
(2) Switching between RUN and STOP by remote operation
• Writing of parameters or files in the program from MT Developer2 is available while "[Rq.1120] PLC ready flag (R: M30000/
Q: M2000)" is OFF.
• When turning "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" from OFF to ON enables the program control of the
Motion CPU, "PCPU READY complete flag (SM500)" turns ON. Refer to the following for details of the processing when
"[Rq.1120] PLC ready flag (R: M30000/Q: M2000)" turns from OFF to ON, or from ON to OFF.
MELSEC iQ-R Motion controller Programming Manual (Common)
[St.1041] Motion SFC debugging flag (R: M30038/Q: M2038)
This flag turns on when it switches to the debug mode of the Motion SFC program using MT Developer2. It turns off with
release of the debug mode.
80
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)
Pass points of the
continuous trajectory
control (When the speed
change is specified with P3.)
[Rq.1122] Speed switching
point specified flag
(R: M30040/Q: M2040)
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
OFF
V
P1 P2 P3 P4
t
"[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" OFF
V
OFF
ON
P1 P2 P3 P4
t
ON
OFF
[Rq.1122] Speed switching
point specified flag
(R: M30040/Q: M2040)
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Pass points of the
continuous trajectory
control (When the speed
change is specified with P3.)
"[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" ON
[Rq.1123] All axes servo ON command
(R: M30042/Q: M2042)
[St.1045] All axes servo ON accept flag
(R: M30049/Q: M2049)
Each axis servo ready state
*1
ON
OFF
ON
OFF
ON
OFF
This flag is used when the speed change is specified at the pass point of the continuous trajectory control.
• By turning "[Rq.1122] Speed switching point specified flag (R: M30040/Q: M2040)" on before the starting of the continuous
trajectory control (before the servo program is started), control with the change speed can be executed from the first of
pass point.
Setting value Description
ON Speed has been changed to the specified speed at the pass point of the continuous trajectory control.
OFF Speed is changed to the specified speed from the pass point of the continuous trajectory control.
2
• When using advanced S-curve acceleration/deceleration and starting continuous trajectory control with "[Rq.1122] Speed
switching point specified flag (R: M30040/Q: M2040)" turned ON, the override function is disabled.
[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)
This command is used to enable servo operation. Refer to the following for details of the servo ON/OFF.
MELSEC iQ-R Motion controller Programming Manual (Common)
Servo operation Description
Enabled "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns on while the "[Rq.1155] Servo OFF command (R:
M34495+32n/Q: M3215+20n)" is off and there is no servo error.
Disable • "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" is off
• The "[Rq.1155] Servo OFF command (R: M34495+32n/Q: M3215+20n)" is on
• Servo error state
• Forced stop
Execute "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)": OFF after positioning completion because it
becomes invalid during positioning.
*1 Refer to the "[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)" for details. (Page 35 [St.1075] Servo ready (R: M32415+32n/
Q: M2415+20n))
When "[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns ON, it is not turned off even if the
Motion CPU is set in the STOP state.
"[Rq.1123] All axes servo ON command (R: M30042/Q: M2042)" turns OFF by the forced stop of Motion CPU.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
81
[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)
[Rq.1123] All axes servo ON command
(R: M30042/Q: M2042)
[St.1045] All axes servo ON accept flag
(R: M30049/Q: M2049)
Each axis servo ready state
*1
ON
OFF
ON
OFF
ON
OFF
• When "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)" turns on, JOG operation
simultaneous start based on the JOG operation execution axis set in the "[Cd.1096] JOG operation simultaneous start axis
setting register (Forward rotation JOG) (R: D35286 to D35289/Q: D710, D711)" and "[Cd.1097] JOG operation
simultaneous start axis setting register (Reverse rotation JOG) (R: D35290 to D35293/Q: D712, D713)".
• When "[Rq.1124] JOG operation simultaneous start command (R: M30048/Q: M2048)" turns OFF, the operating axis
decelerates to a stop.
[St.1045] All axes servo ON accept flag (R: M30049/Q: M2049)
This flag turns on when the Motion CPU accepts the "[Rq.1123] all axes servo ON command (R: M30042/Q: M2042)".
Since the servo ready state of each axis is not checked, confirm it in the "[St.1075] Servo ready (R: M32415+32n/Q:
M2415+20n)".
*1 Refer to the "[St.1075] Servo ready (R: M32415+32n/Q: M2415+20n)" for details. (Page 35 [St.1075] Servo ready (R: M32415+32n/
Q: M2415+20n))
[Rq.1125] Manual pulse generator1 enable flag (R: M30051/Q: M2051)
This flag sets the enabled or disabled state for positioning with the pulse input from the manual pulse generator1 connected to
high-speed counter module.
Setting value Description
ON Positioning control is executed by the input from the manual pulse generators.
OFF Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse
generators is ignored.
Default value is invalid (OFF).
[Rq.1126] Manual pulse generator2 enable flag (R: M30052/Q: M2052)
This flag sets the enabled or disabled state for positioning with the pulse input from the manual pulse generator2 connected to
high-speed counter module.
Setting value Description
ON Positioning control is executed by the input from the manual pulse generators.
OFF Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse
generators is ignored.
Default value is invalid (OFF).
[Rq.1127] Manual pulse generator3 enable flag (R: M30053/Q: M2053)
This flag sets the enabled or disabled state for positioning with the pulse input from the manual pulse generator3 connected to
high-speed counter module.
Setting value Description
ON Positioning control is executed by the input from the manual pulse generators.
OFF Positioning control cannot be executed by the manual pulse generators because of the input from the manual pulse
Default value is invalid (OFF).
generators is ignored.
82
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
[St.1046] Operation cycle over flag (R: M30054/Q: M2054)
Normal positioning completion
Dwell time
ON
OFF
ON
OFF
V
Positioning
completion
t
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
Servo program start
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
[St.1060] Positioning start complete
(R: M32400+32n/Q: M2400+20n)
OFF
ON
Positioning stop during control
ON
OFF
V
t
OFF
OFF
ON
Positioning
start
Positioning
stop
completion
OFF
ON
CHGA instruction
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
Current value changing
processing
Turns off at the completion of
current value change.
This flag turns on when the time concerning motion operation exceeds the "Motion setting operation cycle (SD523)". Refer to
the following for details.
MELSEC iQ-R Motion controller Programming Manual (Common)
Perform the following operation, in making it turn off.
• Turn the Multiple CPU system power supply ONOFF
• Reset the Multiple CPU system
• Reset using the user program
■Countermeasures for operation cycle over
• Change the operation cycle to a larger value in the [Motion CPU Common Parameter] [Basic Setting] "Operation
Cycle".
• Reduce the number of executions of event task and NMI task instructions in the Motion SFC program.
[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)
• This flag turns on when axis control is started by the servo program or the command signals. The start accept flag of the
controlled axis turns ON.
• The start accept flag turns ON when the following control is being executed.
• Servo program
• Direct positioning control by the Motion dedicated PLC instruction (M(P).SVSTD/D(P).SVSTD)
• JOG operation
• Manual pulse generator operation
• Speed-torque control
• Synchronous control operation (output axis)
• Current value change
• Pressure control
• Machine program operation
• Machine JOG operation
• G-code control
• The state of the start accept flag during positioning control by servo program is shown below.
2
• The state of the start accept flag of a current value change by the CHGA instruction of servo program or by the Motion
dedicated PLC instruction (M(P).CHGA/D(P).CHGA) is shown below.
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
83
CAUTION
CHGV instruction
[St.1047] Speed change
accepting flag
(R: M30144/Q: M2061+n)
Setting speed
OFF
ON
Speed change
Speed change completion
Speed after
speed change
0 to 4 ms
t
[St.1048] Automatic
decelerating flag
(R: M30208+n/Q: M2128+n)
ON
OFF
P1
P2
P3
t
V
[St.1048] Automatic
decelerating flag
(R: M30208+n/Q: M2128+n)
ON
OFF
P1
P3
t
V
P2
"[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)
turns ON after the execution of positioning to final point (P3) even
if automatic deceleration processing starts while executing the
positioning to P2.
Do not turn the start accept flags ON/OFF in the user side.
• If the start accept flag is turned off using the program or user operation while this flag is on, no error will occur but the positioning operation will not be
reliable. Depending on the type of machine, it might operate in an unanticipated operation.
• If the start accept flag is turned on using the program or user operation while this flag is off, no error will occur but the "start accept on error" will occur at the
next starting and cannot be started.
[St.1047] Speed change accepting flag (R: M30144+n/Q: M2061+n)
This flag turns on at start of speed change by the control change (CHGV) instruction (or Motion dedicated PLC instruction
(M(P).CHGV/D(P).CHGV) of the Motion SFC program.
[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)
This signal turns on while automatic deceleration processing is performed during the positioning control or position follow-up
control.
• This flag turns on while automatic deceleration to the command address at the position follow-up control, but it turns off if
the command address is changed.
• This signal turns on while automatic deceleration processing is performed during execution of positioning to final point while
in continuous trajectory control.
2 POSITIONING DEDICATED SIGNALS
84
2.1 Internal Relays
Set a travel value in which automatic deceleration processing can be started at the final positioning point,
therefore the automatic decelerating flag turns on at the start point of automatic deceleration processing after
this final point.
• During machine program operation, "[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)" turns ON while
[St.1048] Automatic
decelerating flag
(R: M30208+n/Q: M2128+n)
ON
OFF
t
V
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
OFF
ON
V
[St.1049] Speed change "0"
accepting flag
(R: M30272+n/Q: M2240+n)
[St.1061] Positioning complete
(R: M32401+32n/Q: M2401+20n)
Speed change "0"
Speed change V
2
Deceleration stop at the speed change
"0" accept.
Thereafter, by changing speed to
other than "0", it starts continuously.
V
1
V
2
t
OFF
OFF
ON
ON
automatic deceleration is performed during the execution of positioning at the final point.
• The signal turns off when all normal start complete commands became achieve.
• The "[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)" might be turned ON even during acceleration at
advanced S-curve acceleration/deceleration. (Page 221 Advanced S-curve acceleration/deceleration)
• In any of the following cases, "[St.1048] Automatic decelerating flag (R: M30208+n/Q: M2128+n)" does not turn on.
• During deceleration due to JOG signal OFF
• During deceleration due to machine JOG signal OFF
• During manual pulse generator operation
• During deceleration due to stop command or stop cause occurrence
• When travel value is 0
• During machine program operation due to sequential coordinate command control
[St.1049] Speed change "0" accepting flag (R: M30272+n/Q: M2240+n)
This flag turns on while a speed change request to speed "0" or negative speed change request is being accepted.
It turns on when the speed change request to speed "0" or negative speed change request is accepted during a start. After
that, this signal turns off when a speed change is accepted or on completion of a stop due to a stop cause.
This flag also turns on when the override ratio for the override function is set to "0". After that, this signal turns off when the
override ratio is set to a value other than "0" or on completion of a stop due to a stop cause.
2
• Even if it has stopped, when the "[St.1040] Start accept flag (R: M30080+n/Q: M2001+n)" is ON state, the
state where the request of speed change "0" is accepted is indicated. Confirm by this "[St.1049] Speed
change "0" accepting flag (R: M30272+n/Q: M2240+n)".
• During interpolation, the flags corresponding to the interpolation axes are set.
• In any of the following cases, the speed change "0" request is invalid.
(1) After deceleration by the JOG signal off
(2) During manual pulse generator operation
(3) After positioning automatic deceleration start
(4) After deceleration due to stop cause
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
85
• The flag turns off if a speed change request occurs during deceleration to a stop due to speed change "0".
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[St.1049] Speed change "0"
accepting flag
(R: M30272+n/Q: M2240+n)
ON
V
V
1
V
2
t
Speed change "0"
Speed change V
2
OFF
OFF
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[St.1049] Speed change "0"
accepting flag
(R: M30272+n/Q: M2240+n)
OFF
ON
V
t
Speed change "0"
Stop cause
OFF
ON
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[St.1049] Speed change "0"
accepting flag
(R: M30272+n/Q: M2240+n)
V
t
Speed change "0"
Automatic deceleration start
ON
OFF
OFF
[St.1040] Start accept flag
(R: M30080+n/Q: M2001+n)
[St.1049] Speed change "0"
accepting flag
(R: M30272+n/Q: M2240+n)
V
t
Speed change "0"
Automatic deceleration start
Speed change V
2
Command address P1
Command
address P2
P1 P2
ON
OFF
V
1
V
2
OFF
ON
• The flag turns off if a stop cause occurs after speed change "0" accept.
• The "[St.1049] speed change "0" accepting flag (R: M30272+n/Q: M2240+n)" does not turn on if a speed change "0" occurs
after an automatic deceleration start.
• Even if it is speed change "0" after the automatic deceleration start to the "command address", "[St.1049] Speed change "0"
accepting flag (R: M30272+n/Q: M2240+n)" turns on.
86
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
It does not start, even if the "command address" is changed during speed change "0" accepting.
[St.1050] Control loop monitor status (R: M30336+n/Q: M2272+n)
Fully closed loop
control change
ON
OFF
OFF
ON
Semi closed loop
control change
[Rq.1158] Control loop changing
command
(R: M34498+32n/Q: M3218+20n)
[St.1050] Control loop monitor
status
(R: M30336+n/Q: M2272+n)
When using the fully closed loop control servo amplifier, this signal is used to check the fully closed loop control/semi closed
loop control of servo amplifier.
Setting value Description
ON During fully closed loop control
OFF During semi closed loop control
It can be changed the fully closed loop control/semi closed loop control of servo amplifier in the Motion controller by the
"[Rq.1158] Control loop changing command (R: M34498+32n/Q: M3218+20n)" ON/OFF.
2
2 POSITIONING DEDICATED SIGNALS
2.1 Internal Relays
87
2.2 Data Registers
Data register list
■MELSEC iQ-R Motion device assignment
Device No. Symbol Purpose Reference
D0
to
D32000
to
D35072
to
D35120
to
D35248
to
D35280
to
D35440
to
D36464
to
D36480
to
D38528
to
D38560
to
D38944
to
D39120
to
D41168
to
D41200
to
D41712
to
D41760
to
D42272
to
D42320
to
D42512
to
D42640
to
D52880
to
D52896
to
User device
(32000 points)
[Md.20], [Md.25], [Md.34],
[Md.35], [Md.101], [Md.102],
[Md.1003] to [Md.1006], [Md.1008],
[Md.1011], [Md.1012]
Unusable
[Cd.1110] JOG speed setting registers
Unusable
[Cd.1096] to [Cd.1104] Common device (Command signal)
[Md.300] to [Md.303] Servo input axis monitor device
Unusable
[Md.340] to [Md.348] Command generation axis monitor device
Unusable
[Md.320] to [Md.324], [Md.326],
[Md.327]
Unusable
[Md.400] to [Md.402],
[Md.406] to [Md.412], [Md.422],
[Md.425]
Unusab
[Pr.302] Servo input axis control device
Unusable
[Cd.340], [Pr.348] Command generation axis control device
Unusable
[Pr.326], [Cd.320] to [Cd.322],
[Cd.325]
Unusable
[Pr.400] to [Pr.414],
[Pr.418] to [Pr.431],
[Pr.434] to [Pr.442], [Pr.444],
[Pr.445], [Pr.447], [Pr.448],
[Pr.460] to [Pr.468],
[Pr.490] to [Pr.493],
[Cd.407] to [Cd.409]
Unusable
[Cd.2160] to [Cd.2169], Machine control device
Axis monitor device
(48 points 64 axes)
(48 points)
(2 points 64 axes)
(32 points)
(160 points)
(16 points 64 axes)
(32 points)
(20 points 32 axes)
(32 points)
Synchronous encoder axis monitor device
(32 points 12 axes)
(176 points)
Output axis monitor device
(32 points 64 axes)
le
32 points)
(
(8 points 64 axes)
(48 points)
(8 points 64 axes)
(48 points)
Synchronous encoder axis control device
(16 points 12 axes)
(128 points)
Output axis control device
(160 points 64 axes)
(16 points)
(32 points 8 machines)
Page 91 Axis monitor devices
Page 104 JOG speed setting registers
Page 155 Common devices
Page 106 Servo input axis monitor device
Page 110 Command generation axis
monitor device
Page 115 Synchronous encoder axis
monitor device
Page 118 Output axis monitor device
Page 108 Servo input axis control device
Page 113 Command generation axis control
device
Page 117 Synchronous encoder axis control
device
Page 121 Output axis control device
Page 128 Machine control device
88
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Device No. Symbol Purpose Reference
D53152
to
D53168
to
D54192
to
D54224
to
D54226
to
D54230
to
D54262
to
D54278
to
D54310
to
D54438
to
D54440
to
D54448
to
D54480
to
D54496
to
D54752
to
264
D55
to
D55584
to
D57343
Unusable
(16 points)
[Md.2020] to [Md.2031],
[Md.2033] to [Md.2045],
[Md.2047] to [Md.2059],
[Md.2061] to [Md.2066],
[Md.2069] to [Md.2071],
[Md.2077] to [Md.2080],
[Md.2083] to [Md.2090]
Unusable
[Rq.3344] G-code control common command signal
[Rq.3376] to [Rq.3383] G-code control line command signal
Unusable
[Cd.3305] G-code control common control device
[Cd.3320] to [Cd.3322] G-code control line control device
Unusable
[St.3272] G-code control common status
[St.3208] to [St.3225] G-code control line status
[St.3076] G-code control axis status
[Md.3000] to [Md.3004] G-code control common monitor device
[Md.3016] to [Md.3071] G-code control line monitor device
[Md.3144] to [Md.3150],
[Md.3152] to [Md.3154]
[Md.3178] to [Md.3180] G-code control line monitor device (expansion)
Unusable
Machine monitor device
(128 points 8 machines)
(32 points)
(2 points)
(4 points)
(32 points)
(16 points)
(32 points)
(128 points)
(2 points)
(8 points)
(32 points)
(16 points)
(256 points)
G-code control axis monitor device
(512 points)
(320 points)
(1760 points)
Page 130 Machine monitor device
Page 134 G-code control common
command signal
Page 138 G-code control line command
signal
Page 135 G-code control common control
device
Page 139 G-code control line control device
Page 136 G-code control common status
Page 140 G-code control line status
Page 151 G-code control axis status
Page 137 G-code control common monitor
device
Page 142 G-code control line monitor device
age 153 G-code control axis monitor
P
device
Page 146 G-code control line monitor device
(expansion)
*1 It can be used as a user device.
2
Total number of user device points
• 32000 points
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
89
■Q series Motion compatible device assignment
For devices on axis 1 to 32, use Q series Motion compatible device assignment.
For devices on axis 33 to 64, machine control device (D52896 to D53151), and machine status (D53168 to D54191), use
MELSEC iQ-R Motion device assignment.
Device No. Symbol Purpose Reference
D0
to
D640
to
D704
to
D758
to
D800
to
D10240
to
D12280
to
D12600
to
D13240
to
D13480
to
D13600
to
D14560
to
D14600
to
D14664
to
D14680
to
D14808
to
D14820
to
940
D14
to
D15000
to
D19800
to
D19824
to
D20479
*1
[Md.20], [Md.25], [Md.34],
[Md.35], [Md.101], [Md.102],
[Md.1003] to [Md.1006], [Md.1008],
[Md.1011], [Md.1012]
[Cd.1110] JOG speed setting registers
[Cd.1096] to [Cd.1104] Common device (Command signal)
Unusable
User device
System area
[Md.300] to [Md.303] Servo input axis monitor device
[Md.340] to [Md.348] Command generation axis monitor device
[Md.320] to [Md.324], [Md.326],
[Md.327]
Unusable
[Md.400] to [Md.402],
[Md.406] to [Md.412], [Md.422],
[Md.425]
Unusable
[Pr.302] Servo input axis control device
Unusable
[Cd.340], [Pr.348] Command generation axis control device
Unusable
[Pr.326], [Cd.320] to [Cd.322],
[Cd.325]
Unusab
[Pr.400] to [Pr.414],
[Pr.418] to [Pr.431],
[Pr.434] to [Pr.442], [Pr.444],
[Pr.445], [Pr.447], [Pr.448],
[Pr.460] to [Pr.468],
[Pr.490] to [Pr.493],
[Cd.407] to [Cd.409]
Unusable
Unusable
Axis monitor device
(20 points 32 axes)
(2 points 32 axes)
(54 points)
(42 points)
(9440 points)
(2040 points)
(10 points 32 axes)
(20 points 32 axes)
Synchronous encoder axis monitor device
(20 points 12 axes)
(120 points)
Output axis monitor device
(30 points 32 axes)
(40 points)
(2 points 32 axes)
(16 points)
(4 points 32 axes)
(12 points)
Synchronous encoder axis control device
(10 points 12 axes)
le
(60 points)
Output axis control device
(150 points 32 axes)
(24 points)
(656 points)
Page 91 Axis monitor devices
Page 104 JOG speed setting registers
Page 155 Common devices
Page 106 Servo input axis monitor device
Page 110 Command generation axis
monitor device
Page 115 Synchronous encoder axis
monitor device
Page 118 Output axis monitor device
Page 108 Servo input axis control device
Page 113 Command generation axis control
device
Page 117 Synchronous encoder axis control
device
Page 121 Output axis control device
*1 It can be used as a user device.
Total number of user device points
• 10096 points
90
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
Axis monitor devices
The monitoring data area is used by the Motion CPU to store data such as the feed current value during positioning control,
the real current value and the deviation counter value.
It can be used to check the positioning control state using the Motion SFC program.
The user cannot write data to the monitoring data area.
Refer to processing times of the Motion CPU for the delay time between a positioning device (input, internal relay and special
relay) turning ON/OFF and storage of data in the monitor data area. (Page 473 Processing Times of the Motion CPU)
Device No. Signal name
MELSEC iQ-R Motion
device assignment
D32000 to D32047 D0 to D19 Axis 1 monitor device
D32048 to D32095 D20 to D39 Axis 2 monitor device
D32096 to D32143 D40 to D59 Axis 3 monitor device
D32144 to D32191 D60 to D79 Axis 4 monitor device
D32192 to D32239 D80 to D99 Axis 5 monitor device
D32240 to D32287 D100 to D119 Axis 6 monitor device
D32288 to D32335 D120 to D139 Axis 7 monitor device
D32336 to D32383 D140 to D159 Axis 8 monitor device
D32384 to D32431 D160 to D179 Axis 9 monitor device
D32432 to D32479 D180 to D199 Axis 10 monitor device
D32480 to D32527 D200 to D219 Axis 11 monitor device
D32528 to D32575 D220 to D239 Axis 12 monitor device
D32576 to D32623 D240 to D259 Axis 13 monitor device
D32624 to D32671 D260 to D279 Axis 14 monitor device
D32672 to D32719 D280 to D299 Axis 15 monitor device
D32720 to D32767 D300 to D319 Axis 16 monitor device
D32768 to D32815 D320 to D339 Axis 17 monitor device
D32816 to D32863 D340 to D359 Axis 18 monitor device
D32864 to D32911 D360 to D379 Axis 19 monitor device
D32912 to D32959 D380 to D399 Axis 20 monitor device
D32960 to D33007 D400 to D419 Axis 21 monitor device
D33008 to D33055 D420 to D439 Axis 22 monitor device
D33056 to D33103 D440 to D459 Axis 23 monitor device
D33104 to D33151 D460 to D479 Axis 24 monitor device
D33152 to D33199 D480 to D499 Axis 25 monitor device
D33200 to D33247 D500 to D519 Axis 26 monitor device
D33248 to D33295 D520 to D539 Axis 27 monitor device
D33296 to D33343 D540 to D559 Axis 28 monitor device
D33344 to D33391 D560 to D579 Axis 29 monitor device
D33392 to D33439 D580 to D599 Axis 30 monitor device
D33440 to D33487 D600 to D619 Axis 31 monitor device
D33488 to D33535 D620 to D639 Axis 32 monitor device
D33536 to D33583 Axis 33 monitor device
D33584 to D33631 Axis 34 monitor device
D33632 to D33679 Axis 35 monitor device
D33680 to D33727 Axis 36 monitor device
D33728 to D33775 Axis 37 monitor device
D33776 to D33823 Axis 38 monitor device
D33824 to D33871 Axis 39 monitor device
D33872 to D33919 Axis 40 monitor device
D33920 to D33967 Axis 41 monitor device
D33968 to D34015 Axis 42 monitor device
Q series Motion compatible
device assignment
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
91
Device No. Signal name
MELSEC iQ-R Motion
device assignment
D34016 to D34063 Axis 43 monitor device
D34064 to D34111 Axis 44 monitor device
D34112 to D34159 Axis 45 monitor device
D34160 to D34207 Axis 46 monitor device
D34208 to D34255 Axis 47 monitor device
D34256 to D34303 Axis 48 monitor device
D34304 to D34351 Axis 49 monitor device
D34352 to D34399 Axis 50 monitor device
D34400 to D34447 Axis 51 monitor device
D34448 to D34495 Axis 52 monitor device
D34496 to D34543 Axis 53 monitor device
D34544 to D34591 Axis 54 monitor device
D34592 to D34639 Axis 55 monitor device
D34640 to D34687 Axis 56 monitor device
D34688 to D34735 Axis 57 monitor device
D34736 to D34783 Axis 58 monitor device
D34784 to D34831 Axis 59 monitor device
D34832 to D34879 Axis 60 monitor device
D34880 to D34927 Axis 61 monitor device
D34928 to D34975 Axis 62 monitor device
D34976 to D35023 Axis 63 monitor device
D35024 to D35071 Axis 64 monitor device
Q series Motion compatible
device assignment
92
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
• Details for each axis
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
D32000+48n D0+20n Md.20 Feed current value Operation cycle Monitor device
D32001+48n D1+20n
D32002+48n D2+20n Md.101 Real current value
D32003+48n D3+20n
D32004+48n D4+20n Md.102 Deviation counter value
D32005+48n D5+20n
D32006+48n D6+20n Md.1003 Warning code Immediate
D32007+48n D7+20n Md.1004 Error code
D32008+48n D8+20n Md.1005 Servo error code Main cycle
D32009+48n D9+20n Md.1006 Home position return re-travel value Operation cycle
D32010+48n D10+20n Md.34 Travel value after proximity dog ON
D32011+48n D11+20n
D32012+48n D12+20n Md.1008 Execute program No. At start
D32013+48n D13+20n Md.25 M-code Operation cycle
D32014+48n D14+20n Md.35 Torque limit value
D32015+48n D15+20n Md.1011 Data set pointer for continuous trajectory
D32016+48n D16+20n Unusable
D32017+48n D17+20n
D32018+48n D18+20n Md.1012 Real current value at stop input Operation cycle Monitor device
D32019+48n D19+20n
D32020+48n #8001+20n Md.104 Motor current
D32021+48n #8017+20n Unusable
D32022+48n #8002+20n Md.103 Motor speed
D32023+48n #8003+20n
D32024+48n #8004+20n Md.28 Command speed Operation cycle
D32025+48n #8005+20n
D32026+48n #8006+20n Md.100 Home position return re-travel value At home position
D32027+48n #8007+20n
D32028+48n #8008+20n Md.1019 Servo amplifier display servo error code Main cycle
D32029+48n #8009+20n Md.107 Parameter error No.
D32030+48n #8000+20n Md.1014 Servo amplifier type When the servo
D32031+48n #8016+20n Md.1027 Servo amplifier vendor ID
D32032+48n #8010+20n Md.108 Servo status1
D32033+48n #8011+20n Md.1022 Servo status2
D32034+48n #8012+20n Md.125 Servo status3
D32035+48n #8013+20n Unusable
D32036+48n #8014+20n
D32037+48n #8015+20n
D32038+48n #8018+20n Md.500 Servo status7
D32039+48n #8019+20n Unusable
D32040+48n
D32041+48n
D32042+48n
D32043+48n
D32044+48n
D32045+48n
D32046+48n
Q series Motion
compatible
device
assignment
control
At start/during
start
*1
*2
*2
return re-travel
amplifier poweron
*2
*2
Monitor device
Monitor device
2
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
93
Device No. Symbol Signal name Refresh cycle Fetch cycle Signal type
MELSEC iQ-R
Motion device
assignment
D32047+48n Unusable
*1 It can be used as the travel value change register. The travel value change register can be set to the device optionally in the servo
program. (Page 324 Speed/Position Switching Control)
*2 Operation cycle 1.777[ms] or less: Operation cycle, operation cycle 3.555[ms] or more: 3.555[ms]
Q series Motion
compatible
device
assignment
• The following range is valid. R16MTCPU: Axis No.1 to 16, R32MTCPU: Axis No.1 to 32.
• The following device area can be used as a user device. R16MTCPU: 17 axes or more, R32MTCPU: 33
axes or more. However, when the project of R16MTCPU is replaced with R32MTCPU/R64MTCPU, or the
project of R32MTCPU is replaced with R64MTCPU, this area cannot be used as a user device.
[Md.20] Feed current value (R: D32000+48n/Q: D0+20n, D1+20n)
• This register stores the target address output to the servo amplifier on the basis of the positioning address/travel value
specified with the servo program.
• A part for the amount of the travel value from "0" after starting is stored in the fixed-pitch feed control.
• In the speed/position switching control or speed control (), the address at the start depends on the state of "[Rq.1152] Feed current value update command
(R: M34492+32n/Q: M3212+20n)" as shown below.
[Rq.1152] Feed current value update command
(R: M34492+32n/Q: M3212+20n)
OFF Resets the feed current value to "0" at the start.
ON Not reset the feed current value at the start.
• "0" is stored during speed control ().
Description
• The stroke range check is performed on this feed current value data.
[Md.101] Real current value (R: D32002+48n, D32003+48n/Q: D2+20n, D3+20n)
• This device stores the converted value (in an axis control unit) of the feedback position of the motor encoder (in pulse unit).
• The "feed current value" is equal to the "real current value" in the stopped state.
[Md.102] Deviation counter value (R: D32004+48n, D32005+48n/Q: D4+20n, D5+20n)
This register stores the droop pulses read from the servo amplifier.
[Md.1003] Warning code (R: D32006+48n/Q: D6+20n)
• This register stores the corresponding warning code at the warning occurrence. If another warning occurs after warning
code storing, the previous warning code is overwritten by the new warning code.
• The servo warning (Warning (error code: 0C80H)) is not stored in this device. It is stored in "[Md.1005] Servo error code (R:
D32008+48n/Q: D8+20n)".
• Warning codes can be cleared by "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" or "Error reset
(SM50)".
94
Refer to the following for details of the warning codes.
MELSEC iQ-R Motion controller Programming Manual (Common)
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
[Md.1004] Error code (R: D32007+48n/Q: D7+20n)
• This register stores the corresponding error code at the error occurrence. If another error occurs after error code storing,
the previous error code is overwritten by the new error code.
• The servo error (Minor error (error code: 1C80H)) is not stored in this device. It is stored in "[Md.1005] Servo error code (R:
D32008+48n/Q: D8+20n)".
• Error codes can be cleared by "[Rq.1147] Error reset command (R: M34487+32n/Q: M3207+20n)" or "Error reset (SM50)".
Refer to the following for details of the error codes.
MELSEC iQ-R Motion controller Programming Manual (Common)
[Md.1005] Servo error code (R: D32008+48n/Q: D8+20n)
• This device stores the applicable minor error (error code: 1C80H) or the warning (error code: 0C80H) when a servo error or
a servo warning occurs. The error code or the warning code read from the servo amplifier is stored in "[Md.1019] Servo
amplifier display servo error code (R: D32028+48n/Q: #8008+20n)". If another servo error occurs after error code storing,
the previous error code is overwritten by the new error code.
• The servo error code is stored several ms to several tens of ms after the servo error or the servo warning is detected. Refer
to the following devices when immediate detection of the servo error or the servo warning is required.
Error classification Device name
Servo error • "[St.1068] Servo error detection (R: M32408+32n/Q: M2408+20n)"
• "Servo alarm (b7)" of "[Md.108] Servo status 1 (R: D32032+48n/Q: #8010+20n)"
Servo warning "Servo warning (b15)" of "[Md.108] Servo status 1 (R: D32032+48n/Q: #8010+20n)"
2
• Servo error codes can be cleared by "[Rq.1148] Servo error reset command (R: M34488+32n/Q: M3208+20n)" or "Error
reset (SM50)".
[Md.1006] Home position return re-travel value (R: D32009+48n/Q: D9+20n)
If the position stopped in the position specified with the travel value after proximity dog ON (Page 181 Travel value after
proximity dog ON) using MT Developer2 is not zero point, it made to travel to zero point by re-travel in the Motion CPU. The
travel value (signed) of making it travel to zero point by re-travel at this time is stored.
(Data does not change with the last value in the data setting type.)
The following value is stored according to the number of feedback pulses of the motor connected.
Number of feedback pulses Storage data
Less than 131072 [pulse] Feedback pulses
131072 [pulse] or more, 262144 [pulse] or less 1/10 of feedback pulses
More than 262144 [pulse] 1/10000 of feedback pulses
*1 Refer to "[Md.100] Home position return re-travel value (R: D32026+48n, D32027+48n/Q: #8006+20n, #8007+20n)". (Page 100
[Md.100] Home position return re-travel value (R: D32026+48n, D32027+48n/Q: #8006+20n, #8007+20n))
*1
[Md.34] Travel value after proximity dog ON (R: D32010+48n, D32011+48n/Q: D10+20n,
D11+20n)
• This register stores the travel value (unsigned) from the proximity dog ON to home position return completion after the
home position return start.
• The travel value (unsigned) of the position control is stored at the time of speed/position switching control.
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
95
[Md.1008] Execute program No. (R: D32012+48n/Q: D12+20n)
• This register stores the starting program No. at the servo program starting.
• The following value is stored for the following items.
Item Monitor value
JOG operation FFFFh
Manual pulse generator operation FFFEh
Speed control FFDFh
Torque control FFDEh
Continuous operation to torque control FFDDh
Power supply on FF00h
Current value change execution by the Motion dedicated PLC instruction (CHGA instruction) FFE0h
Direct positioning start by the Motion dedicated PLC instruction (SVSTD instruction) FFE1h
Machine program operation start by the Motion dedicated PLC instruction (MCNST instruction) FFE2h
Machine program operation start by the Motion SFC program (MCNST instruction) FFE3h
Machine JOG operation FFE4h
Pressure control FFEEh
Advanced synchronous control FFEFh
• When the following control is being executed using MT Developer2 in the test mode, the following value is stored in this
register.
Item Monitor value
Home position return FFFDh
During G-code control, "[Md.1008] Execute program No. (R: D32012+48n/Q: D12+20n)" is not updated.
[Md.25] M-code (R: D32013+48n/Q: D13+20n)
• This register stores the M-code*1 set to the executed servo program at the positioning start. If M-code is not set in the servo
program, the value "0" is stored.
• It does not change except positioning start using the servo program.
• The value "0" is stored at leading edge of "[Rq.1120] PLC ready flag (R: M30000/Q: M2000)".
• During machine program operation, the M-code set in positioning data is stored at positioning start completion and at the
start of each point.
*1 Refer to the M-code output function for M-codes. (Page 425 M-code Output Function)
[Md.35] Torque limit value (R: D32014+48n/Q: D14+20n)
This device stores the positive direction torque limit value to command the servo (unit: 0.1[%]).
The default value "300.0[%]" is stored when communication with the servo amplifier is established.
To monitor the positive/negative direction torque limit value, set "Positive Direction Torque Limit Value Monitor Device" and
"Negative Direction Torque Limit Value Monitor Device" in [Motion Control Parameter] [Axis Setting Parameter]
"Expansion Parameter". (Page 192 Expansion Parameters)
96
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
[Md.1011] Data set pointer for continuous trajectory control (R: D32015+48n/Q:
CPSTART2
Axis
Axis
Speed
FOR-TIMES
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
ABS-2
Axis
Axis
NEXT
CPEND
Repetition instructions
Point
Pass point
<K 0>
D3200
D3000
D3002
D3004
D3006
D3008
D3010
D3012
D3014
D3016
D3018
D3020
D3022
D3024
D3026
D3028
D3030
D3032
D3034
1
2
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
1,
2,
9
*
1
2
3
4
5
6
7
8
9
*
10
. . . 0
. . . 1
. . . 2
. . . 3
. . . 4
. . . 5
. . . 6
. . . 7
. . . 8
Set in ascending order (0, 1, 2...) starting
from the first instructions defined by
the above repetition instructions.
FOR-TIMES
FOR-ON
FOR-OFF
NEXT
D15+20n)
This pointer is used in the continuous trajectory 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 Motion CPU.
Use this pointer to confirm which positioning data is to be updated using the Motion SFC program. Also, store the positioning
data updated last time to the end of a selected device to use as an updated data set pointer for checking the extent to which
the positioning data has been updated.
Data set pointer for continuous trajectory control and updated data set pointer are described below using the example servo
program below.
2
The input situation of positioning data to the Motion CPU is shown the next page by executing the 2-axes continuous
trajectory control using above the servo program and updating the positioning data in indirect devices D3000 to D3006.
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
97
■Input situation of positioning data in the Motion CPU
67 5 4 3 2 10
(1)(3)
(2)
(5)
(4)
(7)
(6)
(9)
(8)
(11)
(10)
(13)
(12)(14)
(15)
(16)
70 56 4 3 2 1
(3)
(4)
(5)
(6)
(7)(9)
(8)
(11)
(10)
(13)
(12)
(15)
(14)(16)
8
(17)
(18)
81 567 4 3 2
(5)(7)
(6)
(9)
(8)
(11)
(10)
(13)
(12)
(15)
(14)
(17)
(16)(18)
0
(A)
(B)
01 567 4 3
(7)(9)
(8)
(11)
(10)
(13)
(12)
(15)
(14)
(17)
(16)(18)
8
(A)
(B)
(C)
(D)
1 567 4
(9)(11)
(10)
(13)
(12)
(15)
(14)
(17)
(16)(18)
8
(A)
(B)
02
(C)
(D)
(5)
(6)
3 2 567
(11)(13)
(12)
(15)
(14)
(A)
(16)
8
(17)
(18)(B)
0
(C)
(D)
1
(5)
(6)
(7)
(8)
4 2 67
(13)(15)
(14)
(A)
(16)
8
(17)
(18)(B)
0
(C)
(D)
1
(5)
(6)
(7)
(8)
3
(9)
(10)
5 2 7
(15)(A)
(16)
8
(17)
(18)(B)
0
(C)
(D)
1
(5)
(6)
(7)
(8)
3
(9)
(10)
4
(11)
(12)
6 2
(17)
(18)
8
(A)
(B)
0
(C)(5)
(D)
1
(6)
(7)
(8)
3
(9)
(10)
4
(11)
(12)
5
(13)
(14)
2
3
4
5
6
7
62
(C)(5)
(D)
1
(6)
(7)
(8)
3
(9)
(10)
4
(11)
(12)
5
(13)
(14)
7
(15)
(16)
8
(17)
(18)
7 2
(A)
(B)
0
(C)(5)
(D)
1
(6)
(7)
(8)
3
(9)
(10)
4
(11)
(12)
56
(13)
(14)
(15)
(16)
8
Point 0
Second
positioning
Data set pointer for
continuous trajectory control
Indicates the last
positioning data input
to the Motion CPU.
Each time the
positioning at a point
is completed, the
value increases by one.
Update data set pointer
The user uses the Motion
SFC program to store the
positioning data updated
last time to the end of a
selected device.
Positioning point
Point
Input
Positioning
start
First
positioning
Indirect device D
(1)0 (A)
(2)2 (B)
(3)4 (C)
(4)6 (D)
(C)
(D)
(5)8
(6)10
(7)12
(8)14
(9)16
(10)18
(11)20
(12)22
(13)24
(14)26
(15)28
(16)30
(17)32
(18)34
Updated data
(A)
(B)
Updating
0
1
2
3
4
5
6
7
8
Update of data using the Motion SFC program Positioning data input to the Motion CPU at each point
The internal processing shown above is described in the next page.
98
2 POSITIONING DEDICATED SIGNALS
2.2 Data Registers
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