> For the complete documentation index, see [llms.txt](https://captic-2.gitbook.io/docs/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://captic-2.gitbook.io/docs/overview/hands-on/integrating-your-robot/integration-flow/plcs/mitsubishi-plc.md).

# Mitsubishi

## Register Layout

Create a first register with the following words in this exact order. These are the values that you:

* We will mainly write to
* You will mainly read from 

<table><thead><tr><th width="216">Block</th><th>Details</th></tr></thead><tbody><tr><td>X</td><td>X coordinate in mm for pick point</td></tr><tr><td>Y</td><td>Y coordinate in mm for pick point</td></tr><tr><td>Z</td><td>Z coordinate in mm for pick point</td></tr><tr><td>Rx</td><td>Rotation around X axis in degrees</td></tr><tr><td>Ry</td><td>Rotation around Y axis in degrees</td></tr><tr><td>Rz</td><td>Rotation around Z axis in degrees</td></tr><tr><td>Class</td><td>Numerical indicator of object type</td></tr><tr><td>CapticCounter</td><td>Value that increments with each communication</td></tr><tr><td>CapticError</td><td>Numerical indicator for error in vision system</td></tr></tbody></table>

Create a second register with the following words in this exact order. These are the values that:&#x20;

* You will mainly write to
* We will mainly read from

<table><thead><tr><th width="217">Block</th><th>Details</th></tr></thead><tbody><tr><td>PLCCounter</td><td>Read CapticCounter and duplicate value here as acknowledgement</td></tr><tr><td>PLCError</td><td>Numerical communication of errors on the PLC side</td></tr></tbody></table>

## Additional Requirements

If you're using a Mitsubishi PLC, you'll have to provide the following settings to complete the configuration:

<table><thead><tr><th width="188">Setting</th><th>Detail</th></tr></thead><tbody><tr><td>IP</td><td>The IP address of the PLC</td></tr><tr><td>MC port</td><td>The port number of the TCP port of the PLC</td></tr><tr><td>Type</td><td><p>The type of PLC used. The options are: </p><ul><li>Q</li><li>L</li><li>QnA</li><li>iQ-L</li><li>iQ-R</li></ul></td></tr><tr><td>Write Register Start</td><td>The starting address of the registers which we will write to</td></tr><tr><td>Read Register Start</td><td>The starting address of the registers of which we will read from</td></tr></tbody></table>

## Notes

1. Ensure correct word order in registers, as values are pushed/pulled in batch mode. We assume blindly that the configuration (and thus the order) is correct.

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If you hit any snags or have questions, don’t hesitate to reach out to our support team at <support@captic.com>. We’re here to help!
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