Mitsubishi Electric Q173DSCPU - 7 Motion Control Programs

7 - 1
7 MOTION CONTROL PROGRAMS
7
7. MOTION CONTROL PROGRAMS
7.1 Servo Instruction List
Table 7.1 lists servo instructions used in servo programs.
Refer to Section 7.2 to 7.4 for details of the current value change control (CHGA,
CHGA-E, CHGA-C).
Refer to the "Q173D(S)CPU/Q172D(S)CPU Motion Controller (SV13/SV22)
Programming Manual (REAL MODE)" for other servo instructions.
(1) Guide to servo instruction list
Table 7.1 Guide to Servo Instruction List
olation control
Processing
Positioning data
Common Arc/Helical Parameter block OtherOSC
Fixed position stop
1 22111222122211211111211111
(Note-2)
1/
1(B)
21
1111111111111111211111111111 1122212
1
11
1
1
(Note-2)
1(B)
Virtual enable
Number of step
Number of indirect words
Absolute 1-axis positioning
Incremental 1-axis positioning
Absolute 2-axes linear
4 to 17
5 to 20
Number of
steps
Instruction
symbol
Positioning
control
1 axis
2 axis
ABS-1
INC-1
ABS-2
INC-2
Fixed position stop acceleration
/deceleration time
Repeat condition
Program No.
Command speed
(constant speed)
Cancel
Skip
FIN acceleration/deceleration
WAIT-ON/OFF
Interpolation control unit
Speed limit value
Acceleration time
Deceleration time
Rapid stop deceleration time
Torque limit value
Deceleration processing
at stop input
S-curve ratio
Allowable error range for
circular interpolation
Parameter block No.
Axis
Address/travel
Command speed
Dwell time
M-code
Torque limit value
Auxiliary point
Radius
Central point
Pitch
Starting angle
Amplitude
Frequency
Reference axis No.
Acceleration/deceleration
system
Advanced S-curve
acceleration/deceleration
Acceleration section 1
ratio
Acceleration section 2
ratio
Deceleration section 1
ratio
Deceleration section 2
ratio
3) 4) 5) 6) 7) 8)
2
)
1
)
(Note-1)
(Note-2 )
1(B)
(Note- 2)
1(B)
(Note-2)
1(B)
Number Description
1)
Instruction symbol Gives the servo instructions usable in servo programs.
Processing Gives the processing outlines of the servo instructions.
2)
(a) Indicates positioning data which can be set in servo instructions.
1)
: Item which must be set (Data which cannot execute the servo instruction unless it sets.)
2)
: Item which is set when required (Data which will be controlled by the default value unless it sets.)
(b) Allows direct or indirect designation (except axis No.)
1) Direct designation : Set with numerical value.
2) Indirect designation : Set with word device.
• Servo program execution is controlled using the preset word device contents.
• Each setting item may either be 1 or 2 word data.
• For 2 word data, set the start device No.
(c) Number of steps
As there are more setting items, there are more number of instruction steps. (The number of steps is displayed when a
servo program is created.)
(The instruction +
item comprise the minimum steps, and one item increases the number of steps by 1.)
3)
Items common to the servo instructions
4)
Items set in circular interpolation starting servo programs
5)
Items set for high-speed oscillation
6)
Set when changing the parameter block (default value when not set) data set in the servo program to control.
(The parameter block data are not changed.)
7)
Setting items other than the common, arc and parameter block items (Items to be set vary with the servo instruction.)
8)
Indicates the number of steps of each servo instruction.