3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
49
3
*1 Control is carried out so that linear and arc paths are drawn using a motor set in two or more axes directions. This kind of control is
called "interpolation control". (Page 64 Interpolation control)
*2 In the RD77MS2, when 3- or 4-axis interpolation is carried out, or axis 3 or axis 4 is designated to the axis to be interpolated for 2-axis
interpolation, the error "Illegal interpolation description command" (error code: 1A22H) will occur and the positioning control does not
start.
Speed control 1-axis speed
control
Forward run speed 1
Reverse run speed 1
The speed control of the designated 1 axis is carried out.
2-axis speed
control
*1
Forward run speed 2
Reverse run speed 2
The speed control of the designated 2 axes is carried out.
3-axis speed
control
*1
Forward run speed 3
Reverse run speed 3
The speed control of the designated 3 axes is carried out.
4-axis speed
control
*1
Forward run speed 4
Reverse run speed 4
The speed control of the designated 4 axes is carried out.
Speed-position switching control Forward run speed/position
Reverse run speed/position
The control is continued as position control (positioning for the designated
address or movement amount) by turning ON the "speed-position switching
signal" after first carrying out speed control.
Position-speed switching control Forward run position/speed
Reverse run position/speed
The control is continued as speed control by turning ON the "position-speed
switching signal" after first carrying out position control.
Other control NOP
instruction
NOP A nonexecutable control method. When this instruction is set, the operation is
transferred to the next data operation, and the instruction is not executed.
Current value
changing
Current value changing "[Md.20] Current feed value" is changed to an address set in the positioning
data.
This can be carried out by either of the following 2 methods.
("[Md.21] Machine feed value" cannot be changed.)
• Current value changing using the control method
• Current value changing using the current value changing start No. (No. 9003).
JUMP
instruction
JUMP instruction An unconditional or conditional JUMP is carried out to a designated positioning
data No.
LOOP LOOP A repeat control is carried out by repeat LOOP to LEND.
LEND LEND Control is returned to the top of the repeat control by repeat LOOP to LEND.
After the repeat operation is completed specified times, the next positioning data
is run.
Major positioning control [Da.2] Control method Details
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