Mitsubishi Electric MELSEC-Q Series - Page 248

6 - 61
6 POSITIONING CONTROL
Control details for the servo instructions are shown below.
Instruction
Rotation direction
of servo motor
Controllable angle of
arc
Positioning pass
ABH
Radius-specified
helical interpolation
less than CW 180°
Clockwise (CW)
0° <
< 180°
Positioning path
End point
Radius R
Central point
<180
Start
point
ABH
Radius-specified
helical interpolation
less than CCW 180°
Counter
clockwise (CCW)
Central point
Radius R
Start
point
End point
Positioning path
<180
ABH
Radius-specified
helical interpolation
CW 180° or more
Clockwise (CW)
180° 
 360°
Positioning path
180 360
Central point
End point
Start point
Radius R
< <
ABH
Radius-specified
helical interpolation
CCW 180° or more
Counter
clockwise (CCW)
Radius R
Start point
End point
Positioning path
Central point
180 360< <
(1) The setting range of end point address for the both of circular interpolation axis
and linear interpolation axis is (-2
31
) to (2
31
-1).
(2) The maximum arc radius on the circular interpolation plane is (2
31
-1).
For example, the maximum arc radius for electronic gear 1:1 of unit [mm] is
214748364.7[
µm].
Maximum arc
2
31
-1-2
31
2
31
-1
0
Radius R
Arc central point
(3) Set the command speed with the vector speed for 2 axes circular interpolation
axis.
(4) The command speed unit is specified in the parameter block.
(5) Set the number of pitches within the range of 0 to 999. If it is set outside the
setting range, the servo program setting error (error code: 28) occurs, and cannot
be started.