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Chapter 6 Sequence Program Used for Positioning Control
Device
name
Device
Application Details of storage
Axis 1 Axis 2 Axis 3 Axis 4
Data register
D15
—
Acceleration time setting
(low-order 16 bits)
[Cd.10] New acceleration time value
D16
Acceleration time setting
(high-order 16 bits)
D17
Deceleration time setting
(low-order 16 bits)
[Cd.11] New deceleration time value
D18
Deceleration time setting
(high-order 16 bits)
D19
Acceleration/deceleration time change
enable
[Cd.12] Acceleration/deceleration
time change during speed
change, enable/disable
selection
D20 Step mode [Cd.34] Step mode
D21 Step valid flag [Cd.35] Step valid flag
D22 Step start information —
D23 Target position (low-order 16 bits)
[Cd.27] Target position change value
(New address)
D24 Target position (high-order 16 bits)
D25 Target speed (low-order 16 bits)
[Cd.28] Target position change value
(New speed)
D26 Target speed (high-order 16 bits)
D27 Target position change request
[Cd.29] Target position change
request flag
D30 ZP.PSTRT1 instruction control data —
D31 Completion status —
D32 Start number —
D33 ZP.TEACH1 instruction control data —
D34 Completion status —
D35 Teaching data —
D36 Positioning data No. —
D37 ZP.PINIT instruction control data —
D38 Completion status —
D39 ZP.PFWRT instruction control data —
D40 Completion status —
D50 Unit setting [Pr.1] Unit setting
D51 Unit magnification [Pr.4] Unit magnification (AM)