Mitsubishi Electric A173UHCPU - Page 136

6. SERVO PROGRAMS FOR POSITIONING CONTROL
6 − 6
Table 6.2 Servo Instruction List (Continued)
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
1 axis
FEED-1
1-axis fixed-pitch feed
start
∆
!!!
∆∆ ∆∆∆∆∆∆ ∆ ∆∆
4 to
17
7.9
2 axis
2-axes linear interpolation
Fixed-pitch feed start
∆
!!!
∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
5 to
19
7.
10
Fixed-pitch feed
3 axis
FEED-2
FEED-3
3-axes linear interpolation
Fixed-pitch feed start
∆
!!!
∆∆ ∆∆∆∆∆∆∆ ∆ ∆∆
7 to
21
7.
11
For-
ward
rota-
tion
VF
Speed control (I)
Forward rotation start
∆
!!
∆ ∆∆∆∆∆∆ ∆ ∆∆
Speed control (I)
Re-
verse
rota-
tion
VR
Speed control (I)
Reverse rotation start
∆
!!
∆ ∆∆∆∆∆∆ ∆ ∆∆
3 to
14
7.
12
For-
ward
rota-
tion
VVF
Speed control (II)
Forward rotation start
∆
!!
∆∆ ∆∆∆∆∆∆ ∆ ∆∆
Speed control (II)
Re-
verse
rota-
tion
VVR
Speed control (II)
Reverse rotation start
∆
!!
∆∆ ∆∆∆∆∆∆ ∆ ∆∆
3 to
16
7.
13
For-
ward
rota-
tion
VPF
Speed/position switching
control
Forward rotation start
∆
!!!
∆∆∆ ∆∆∆∆∆∆ ∆ ∆∆
Re-
verse
rota-
tion
VPR
Speed/position switching
control
Reverse rotation start
∆
!!!
∆∆∆ ∆∆∆∆∆∆ ∆ ∆∆
4 to
17
7.
14.
1
Speed/position switching control
Re-start
VPSTART
Speed/position switching
control
Restart
!
∆∆
2 to
4
7.
14.
2
VSTART
Speed switching control,
start
∆ ∆∆∆∆∆∆∆ ∆ ∆∆
1 to
12
VEND
Speed switching control,
end
1
ABS-1
!!!
∆∆∆ ∆∆
4 to
9
ABS-2
!!!
∆∆∆ ∆∆
5 to
10
ABS-3
Speed switching control
End point address
!!!
∆∆∆ ∆∆
7 to
12
INC-1
!!!
∆∆∆ ∆∆
4 to
9
INC-2
!!!
∆∆∆ ∆∆
5 to
10
INC-3
Speed switching control
Travel value to end point
!!!
∆∆∆ ∆∆
7 to
12
VABS
Absolute designation of
speed switching point
!!
∆∆
Speed
switching
control
VINC
Incremental designation
of speed switching point
!!
∆∆
4 to
6
7.
15.
1
Position
follow-up
control
PFSTART
Position follow-up control
start
∆
!!!
∆ ∆∆∆∆∆∆ ∆ ∆∆
4 to
18
7.
17
CPSTART1
1-axis constant-speed
control start
∆
!!
∆∆∆∆∆∆ ∆ ∆∆ ∆
CPSTART2
2-axes constant-speed
control start
∆
!!
∆∆∆∆∆∆∆∆∆ ∆∆ ∆
3 to
17
CPSTART3
3-axes constant-speed
control start
∆
!!
∆∆∆∆∆∆∆ ∆ ∆∆ ∆
Constant-
speed
control
CPSTART4
4-axes constant-speed
control start
∆
!!
∆∆∆∆∆∆∆ ∆ ∆∆ ∆
4 to
18
7.
16
!
: Must be set
∆
: Set if required