Mitsubishi Electric A173UHCPU - Page 263

7. POSITIONING CONTROL
7 − 116
CAUTION
The operation that takes place on execution of a skip designated during constant-speed control,
when an axis for which "degree" is designated as the unit and which has no stroke range is in-
cluded, is described here. If, under these conditions, there is an ABS instruction following the
skip, the final positioning point and the travel distance in the program as a whole will be the same
ragardless of whether the skip is executed or not. Examples are presented below.
(1) When all the instructions after the skip are INC instructions:
CPSTART1
Axis 1
Speed
@
10.000
INC-1
Axis 1, 180.00000
Skip X100
INC-1
Axis 1, 180.00000
INC-1
Axis 1, 270.00000
CPEND
0 180 0 270[degree]
0 100 280 190[degree]
Motion when skip is not executed
Motion when skip is executed
(when the skip occurs at 100
[
degree
]
)
Program example
(2) When the instruction immediately following the skip is an ABS instruction
CPSTART1
Axis 1
Speed
@
10.000
INC-1
Axis 1, 180.00000
Skip X100
ABS-1
Axis 1, 350.00000
INC-1
Axis 1, 270.00000
CPEND
0 180 350 260[degree]
0 100 350 260[degree]
Motion when skip is not executed
Motion when skip is executed
(when the skip occurs at 100
[
degree
]
)
Program example
(3) When the instruction immediately following the skip is an INC instruction and there is an ABS
instruction after that
CPSTART1
Axis 1
Speed 10.000
INC-1
Axis 1, 360.00000
Skip X100
INC-1
Axis 1, 180.00000
INC-1
Axis 1, 180.00000
ABS-1
Axis 1, 90.00000
CPEND
0 0 180 90[degree]
0 80 260 90[degree]
Motion when skip is not executed
Motion when skip is executed
(when the skip occurs at 80
[
degree
]
)
Program example
At this point there is a motion of 370 degrees, not 10 degrees.
0
80