Mitsubishi Electric A171SHCPUN, Programming Manual

Page: 143 / 372

6. SERVO PROGRAMS FOR POSITIONING CONTROL
6
−
6
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
ABS-1
! !
∆ ∆ ∆ ∆
2 to
7
ABS-2
! !
∆ ∆ ∆ ∆
3 to
8
ABS-3
! !
∆ ∆ ∆ ∆
4 to
9
ABS-4
! !
∆ ∆ ∆ ∆
ABS
! !
∆ ∆
!
∆ ∆
5 to
10
ABS
! !
∆ ∆
!
∆ ∆
ABS
! !
∆ ∆
!
∆ ∆
ABS
! !
∆ ∆
!
∆ ∆
ABS
! !
∆ ∆
!
∆ ∆
4 to
9
ABS
! !
∆ ∆
!
∆ ∆
ABS
Absolute designation of
passing point for
constant speed control
! !
∆ ∆
!
∆ ∆
5 to
10
INC-1
! !
∆ ∆ ∆ ∆
2 to
7
INC-2
! !
∆ ∆ ∆ ∆
3 to
8
INC-3
! !
∆ ∆ ∆ ∆
4 to
9
INC-4
! !
∆ ∆ ∆ ∆
INC
! !
∆ ∆
!
∆ ∆
5 to
10
INC
! !
∆ ∆
!
∆ ∆
INC
! !
∆ ∆
!
∆ ∆
INC
! !
∆ ∆
!
∆ ∆
INC
! !
∆ ∆
!
∆ ∆
4 to
9
INC
! !
∆ ∆
!
∆ ∆
INC
Incremental designation
of passing point for
constant speed control
! !
∆ ∆
!
∆ ∆
5 to
10
Constant
speed
control
CPEND
Ends constant speed
control
∆
1to
2
7.
16
FOR-TIMES
! Repeti-
tion of
same
control
FOR-ON
!
FOR-OFF
!
2
(U
s
e
r f
o
r
s
peed
s
wit
c
h
ing c
ont
ro
l,
c
ons
tant
s
peed
c
ont
ro
l)
NEXT
Set the head step for
repetition
3
7.
15.
2
7.
16.
1
Simulta-
neous
start
START
Simultaneous start
!
2 to
3
7.
18
Zeroing
ZERO
Starts zeroing
!
2
7.
21
High-
speed
oscillation
OSC
High-speed oscillation
∆
! ! !
∆ ∆ ∆ ∆
5 to
13
7.
22
!
: Must be set
∆
: Set if required
Downloaded from ManualsNet.com search engine