Mitsubishi Electric R16MTCPU - Page 48

46
2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
• [Da.2] Control mode
Positioning control Instruction
symbol
Control description Setting
value
Remark
Linear
interpolation
control
1 axis ABS-1 Absolute 1-axis positioning 01H ■Interpolation control
*1
• When performing interpolation control,
set "[Da.2] Control mode" to "NOP" for
interpolation axes (axes other than the
reference axis) for the data of 1 to 4
axes. For the linear axis for helical
interpolation, set "ABS-1" or "INC-1".
When control mode settings are wrong,
a minor error (error code: 19FCH)
occurs, and positioning does not start.
■Continuous trajectory control
(CPSTART)
• The control modes that can be set to
"[Da.2] Control mode" are linear
interpolation control (ABS-1 to 4, INC-1
to 4), circular interpolation control
(ABS/INC), and helical interpolation
control (ABS/INC). If any other control
mode is set, a minor error (error code:
19FCH) occurs, and control does not
start.
• When performing circular interpolation
control or helical interpolation control
with 3 axes or more in continuous
trajectory control, set "[Da.2] Control
mode" to "0" for the resting axes (axes
that do not apply to interpolation).
• "[Da.29] Interpolation axis speed
designation" setting is ignored and is
always controlled at "vector speed".
INC-1 Incremental 1-axis positioning 02H
2 axis ABS-2 Absolute 2-axis positioning 0AH
INC-2 Incremental 2-axis positioning 0BH
3 axis ABS-3 Absolute 3-axis positioning 15H
INC-3 Incremental 3-axis positioning 16H
4 axis ABS-4 Absolute 4-axis positioning 1AH
INC-4 Incremental 4-axis positioning 1BH
Circular
interpolation
control
Auxiliary
point-
specified
ABS Absolute auxiliary point-specified circular interpolation 0DH
INC Incremental auxiliary point-specified circular interpolation 0EH
Central
point-
specified
ABS Absolute central point-specified circular interpolation CW 0FH
ABS Absolute central point-specified circular interpolation CCW 10H
INC Incremental central point-specified circular interpolation
CW
11H
INC Incremental central point-specified circular interpolation
CCW
12H
Radius-
specified
ABS Absolute radius-specified circular interpolation less than
CW 180
30H
ABS Absolute radius-specified circular interpolation CW 180 or
more
31H
ABS Absolute radius-specified circular interpolation less than
CCW 180
32H
ABS Absolute radius-specified circular interpolation CCW 180
or more
33H
INC Incremental radius-specified circular interpolation less than
CW 180
34H
INC Incremental radius-specified circular interpolation CW 180
or more
35H
INC Incremental radius-specified circular interpolation less than
CCW 180
36H
INC Incremental radius-specified circular interpolation CCW
180 or more
37H
Helical
interpolation
control
Auxiliary
point-
specified
ABH Absolute auxiliary point-specified helical interpolation 20H
INH Incremental auxiliary point-specified helical interpolation 21H
Central
point-
specified
ABH Absolute central point-specified helical interpolation CW 22H
ABH Absolute central point-specified helical interpolation CCW 23H
INH Incremental central point-specified helical interpolation CW 24H
INH Incremental central point-specified helical interpolation
CCW
25H
Radius-
specified
ABH Ab
so
lute radius-specified helical interpolation less than
CW 180
28H
ABH Absolute radius-specified helical interpolation CW 180 or
more
29H
ABH Absolute radius-specified helical interpolation less than
CCW 180
2AH
ABH Absolute radius-specified helical interpolation CCW 180 or
more
2BH
INH Incremental radius-specified helical interpolation less than
CW 180
2CH
INH Incremental radius-specified helical interpolation CW 180
or more
2DH
INH Incremental radius-specified helical interpolation less than
CCW 180
2EH
INH Incremental radius-specified helical interpolation CCW
180 or more
2FH