Mitsubishi Electric A173UHCPU - Page 135

6. SERVO PROGRAMS FOR POSITIONING CONTROL
6 − 5
Positioning Data
Common Settings
Circular
Interpolation
Parameter Block Others
Position-
ing
Control
Instruction
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
ABH
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
Auxil-
iary
point
desig-
nation
INH
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
10
to
27
7.9
ABH
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
ABH
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
ABH
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
ABH
INH
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
INH
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
INH
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
Radius
desig-
nation
INH
°
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
9 to
26
7.10
ABH
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
ABH
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
INH
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
Center
point
desig-
nation
INH
∆
!!!
∆∆
!
∆∆∆∆∆∆∆ ∆ ∆∆
10
to
27
7.11
!
: Must be set
∆
: Set if re
q
uired
!
!
!
!
!
!
!
!
!
!
!
!
!
!
Helical interpolation control
Absolute, auxiliary point-
specified, helical
interpolation
Incremental, auxiliary
point-specified, helical
interpolation
Absolute, radius-
specified, helical
interpolation less than
CW180
°
Absolute, radius-
specified, helical
interpolation CW180
or more
Absolute, radius-
specified, helical
interpolation less than
CCW180
Absolute, radius-
specified, helical
interpolation CCW180
or more
Incremental, radius-
specified, helical
interpolation less than
CW180
Incremental, radius-
specified, helical
interpolation CW180
or more
Incremental, radius-
specified, helical
interpolation less than
CCW180
Incremental, radius-
specified, helical
interpolation CCW180
or more
Incremental, central
point-specified, helical
interpolation CCW
Absolute, central point-
specified, helical
interpolation CW
Absolute, central point-
specified, helical
interpolation CCW
Incremental, central
point-specified, helical
interpolation CW
Symbol