Mitsubishi Electric A171SHCPUN, Programming Manual

Page: 142 / 372

6. SERVO PROGRAMS FOR POSITIONING CONTROL
6
−
5
Table 6.2 Servo Instruction List (Continued)
Positioning Data
Common Settings
Circular
Interpolation
Parameter Block Others
Position-
ing
Control
Instruc-
tion
Symbol
Processing Details
P
a
ramet
e
r Bl
o
ck No
.
Axi
s
Ad
d
ress/
T
ravel
V
a
lu
e
C
o
m
m
a
nde
d S
p
e
e
d
Dw
el
l T
ime
M C
o
d
e
Tor
q
u
e
Lim
it
V
a
lue
Au
xi
li
ary P
o
in
t
R
a
dius
En
te
r P
o
in
t
N
u
m
b
e
r of
P
it
c
he
s
C
ont
ro
l U
n
it
Sp
e
e
d
L
im
it
Va
lu
e
Accel
erat
io
n
T
ime
Decel
erat
io
n
T
ime
Rap
id
S
to
p
Decel
erat
io
n
T
ime
Tor
q
u
e
Lim
it
V
a
lue
Decel
erat
io
n
P
ro
cessi
n
g
o
n
S
T
O
P
In
p
ut
Al
lo
w
a
b
le E
rro
r Ra
n
g
e
f
o
r C
ircu
lar
Int
e
rp
ola
tio
n
S
Cu
rve Rat
io
Rep
eat
Co
n
d
it
io
n
P
rogr
a
m
N
o
.
Co
mman
d
e
d
S
p
eed
(
C
o
n
st
an
t S
p
eed
)
Can
cel
Sta
rt
Sk
ip
F
IN Accel
erat
io
n
Nu
mb
er o
f
S
te
p
s
S
ect
io
n
f
o
r Det
a
il
e
d
E
x
p
lan
at
io
n
1 axis FEED-1
1 axis fixed-pitch feed
start
∆
! ! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
4 to
17
7.9
2 axis FEED-2
2 axis linear interpolation
Fixed-pitch feed start
∆
! ! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
5 to
19
7.
10
F
ix
ed-
pit
c
h f
eed
3 axis FEED-3
3 axis linear interpolation
Fixed-pitch feed start
∆
! ! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
7 to
21
7.
11
For-
ward
rota-
tion
VF
Speed control (I)
Forward rotation start
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
S
peed c
ont
ro
l (
I)
Re-
verse
rota-
tion
VR
Speed control (I)
Reverse rotation start
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
3 to
14
7.
12
For-
ward
rota-
tion
VVF
Speed control (II)
Forward rotation start
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
S
peed c
ont
ro
l (
II
)
Re-
verse
rota-
tion
VVR
Speed control (II)
Reverse rotation start
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
3 to
16
7.
13
For-
ward
rota-
tion
VPF
Speed/position switching
control
Forward rotation start
∆
! ! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
Re-
verse
rota-
tion
VPR
Speed/position switching
control
Reverse rotation start
∆
! ! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
4 to
17
7.
14.
1
S
peed/
pos
it
ion s
wit
c
h
ing c
ont
ro
l
Re-start
VPSTART
Speed/position switching
control
Restart
!
∆ ∆
2 to
4
7.
14.
2
VSTART
Speed switching control,
start
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
1 to
12
VEND
Speed switching control,
end
1
ABS-1
! ! !
∆ ∆ ∆ ∆ ∆
4 to
9
ABS-2
! ! !
∆ ∆ ∆ ∆ ∆
5 to
10
ABS-3
Speed switching control
End point address
! ! !
∆ ∆ ∆ ∆ ∆
7 to
12
INC-1
! ! !
∆ ∆ ∆ ∆ ∆
4 to
9
INC-2
! ! !
∆ ∆ ∆ ∆ ∆
5 to
10
INC-3
Speed switching control
Travel value to end point
! ! !
∆ ∆ ∆ ∆ ∆
7 to
12
VABS
Absolute designation of
speed switching point
! !
∆ ∆
Speed
switching
control
VINC
Incremental designation
of speed switching point
! !
∆ ∆
4 to
6
7.
15.
1
Position
follow-up
control
PFSTART
Position follow-up control
start
∆
! ! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
4 to
18
7.
17
CPSTART1
1 axis constant speed
control start
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
CPSTART2
2 axis constant speed
control start
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
3 to
17
CPSTART3
3 axis constant speed
control start
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
Constant
speed
control
CPSTART4
4 axis constant speed
control start
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
4 to
18
7.
16
!
: Must be set
∆
: Set if required
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