Mitsubishi Electric A173UHCPU - Page 134

6. SERVO PROGRAMS FOR POSITIONING CONTROL
6 − 4
(2) Servo instruction list
The servo instructions that can be used in servo programs, and the positioning
data set for the servo instructions, are indicated in Table 6.2.
For details on the positioning data set for servo instructions, see Section 6.3.
Table 6.2 Servo Instruction List
Positioning Data
Common Settings
Circular
Interpolation
Parameter Block Others
Position-
ing
Control
Instruction
Symbol
Processing Details
Parameter Block No. Axis Address/Travel Value Commanded Speed Dwell Time M-Code Torque Limit Value Auxiliary Point Radius Enter Point Number of Pitches Control Unit Speed Limit Value Acceleration Time Deceleration Time Rapid Stop Deceleration Time Torque Limit Value Deceleration Processing on STOP Input Allowable Error Range for Circular Interpolation S- Curve Ratio Repeat Condition Program No. Commanded Speed (Constant Speed) Cancel Start Skip FIN Acceleration Number of Steps Section for Detailed Explanation
ABS-1
Absolute 1-axis
positioning
∆
!!!
∆∆ ∆∆∆∆∆∆ ∆ ∆∆
1-axis
INC-1
Incremental 1-axis
positioning
∆
!!!
∆∆ ∆∆∆∆∆∆ ∆ ∆∆
4 to
16
7.2
ABS-2
Absolute 2-axes linear
interpolation
∆
!!!
∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
2-axes
INC-2
Incremental 2-axes linear
interpolation
∆
!!!
∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
5 to
18
7.3
ABS-3
Absolute 3-axes linear
interpolation
∆
!!!
∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
3-axes
INC-3
Incremental 3-axes linear
interpolation
∆
!!!
∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
7 to
20
7.4
ABS-4
Absolute 4-axes linear
interpolation
∆
!!!
∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
Linear control
4-axes
INC-4
Incremental 4-axes linear
interpolation
∆
!!!
∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
8 to
23
7.5
ABS
Absolute circular
interpolation by auxiliary
point designation
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
Auxil-
iary
point
desig-
nation
INC
Incremental circular
interpolation by auxiliary
point designation
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
7 to
21
7.6
ABS
Absolute circular
interpolation by radius
designation, less than
CW180
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
ABS
Absolute circular
interpolation by radius
designation, CW180
°
or more
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
ABS
Absolute circular
interpolation by radius
designation, less than
CCW180
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
ABS
Absolute circular
interpolation by radius
designation, CCW180
°
or more
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
INC
Incremental circular
interpolation by radius
designation, less than
CW180
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
INC
Incremental circular
interpolation by radius
designation, CW180
°
or more
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
INC
Incremental circular
interpolation by radius
designation, less than
CCW180
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
Radius
desig-
nation
INC
Incremental circular
interpolation by radius
designation, CCW180
°
or more
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
6 to
20
7.7
ABS
Absolute circular
interpolation by center
point designation, CW
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
ABS
Absolute circular
interpolation by center
point designation, CCW
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
INC
Incremental circular
interpolation by center
point designation, CW
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
Circular interpolation control
Center
point
desig-
nation
INC
Incremental circular
interpolation by center
point designation, CCW
∆
!!!
∆∆
!
∆∆∆∆∆∆∆∆∆ ∆∆
7 to
21
7.8
!
: Must be set
∆
: Set if required