Mitsubishi Electric Q173DSCPU - Servo Instruction List

7 - 2
7 MOTION CONTROL PROGRAMS
(2) Servo instruction list
Table 7.2 indicates the servo instructions available for servo programs and the
positioning data set in servo instructions.
Table 7.2 Servo Instruction List
Positioning
control
Instruction
symbol
Processing
Positioning data
Common Arc/Helical OSC
Parameter block No.
Axis
Address/travel value
Command speed
Dwell time
M -code
Torque limit value
Auxiliary point
Radius
Central point
Pitch
Starting angle
Amplitude
Frequency
Virtual enable
— — — —
Number of steps 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Number of indirect words 1 — 2 2 1 1 1 2 2 2 1 2 2 2
Linear interpolation control
1 axis
ABS-1
Absolute 1-axis positioning
INC-1
Incremental 1-axis positioning
2 axes
ABS-2
Absolute 2-axes linear interpolation
INC-2
Incremental 2-sxes linear interpolation
3 axes
ABS-3
Absolute 3-axes linear interpolation
INC-3
Incremental 3-axes linear interpolation
4 axes
ABS-4
Absolute 4-axes linear interpolation
INC-4
Incremental 4-axes linear interpolation
Circular interpolation control
Auxiliary
point-
specified
ABS
Absolute auxiliary point-specified
circular interpolation
INC
Incremental auxiliary point-specified
circular interpolation
Radius-
specified
ABS
Absolute radius-specified circular
interpolation less than CW 180°
ABS
Absolute radius-specified circular
interpolation CW 180° or more
ABS
Absolute radius-specified circular
interpolation less than CCW 180°
ABS
Absolute radius-specified circular
interpolation CCW 180° or more
INC
Incremental radius-specified circular
interpolation less than CW 180°
INC
Incremental radius-specified circular
interpolation CW 180° or more
INC
Incremental radius-specified circular
interpolation less than CCW 180°
INC
Incremental radius-specified circular
interpolation CCW 180° or more