Mitsubishi Electric A171SHCPUN, Programming Manual

Page: 259 / 372

7. POSITIONING CONTROL
7
−
107
7.16.4 2- to 4-axes constant-speed control
Constant-speed control for the 2, 3, or 4-axes designated with the sequence pro-
gram positioning commands.
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Pa
ra
me
te
r B
lo
c
k
N
o
.
Ax
is
A
d
d
ress/T
rav
el V
a
lu
e
C
o
mma
nd
e
d
Sp
e
e
d
Dwell T
im
e
M
C
ode
T
o
rq
ue
L
imi
t Va
lu
e
A
u
xiliar
y
P
o
in
t
Ra
d
iu
s
Cen
ter
P
o
in
t
Co
n
tr
o
l Un
it
S
p
e
e
d Li
m
it V
a
lu
e
A
cceler
atio
n
T
im
e
D
e
c
e
le
ra
ti
o
n
T
ime
R
a
pi
d S
top D
e
c
e
le
ra
ti
on
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
eceler
a
tio
n
P
ro
cessin
g
o
n
S
to
p
I
n
p
u
t
A
ll
o
w
a
b
le
Erro
r R
a
ng
e
f
o
r C
irc
ul
a
r I
n
te
rp
o
la
ti
o
n
SCurv
e
Ra
ti
o
C
o
m
m
a
n
d
e
d
S
p
e
e
d (c
on
s
ta
n
t-s
pe
e
d
)
Ca
n
c
e
l
St
a
rt
Sk
ip
F
IN
acceler
atio
n
S
p
eed
C
h
an
g
e
CPSTART2
2
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
CPSTART3
3
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
Start
CPSTART4
4
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
End
CPEND
−
− ∆
ABS-2
2
! !
∆ ∆ ∆ ∆
ABS-3
3
! !
∆ ∆ ∆ ∆
ABS-4
4
! !
∆ ∆ ∆ ∆
ABS
! !
∆ ∆
!
∆
ABS
ABS
ABS
ABS
! !
∆ ∆
!
∆ ∆
ABS
ABS
Absolute data
2
! !
∆ ∆
!
∆ ∆
INC-2
2
! !
∆ ∆ ∆ ∆
INC-3
3
! !
∆ ∆ ∆ ∆
INC-4
4
! !
∆ ∆ ∆ ∆
INC
! !
∆ ∆
!
∆ ∆
INC
INC
INC
INC
! !
∆ ∆
!
∆ ∆
INC
Pass
Point
INC
Incremental
2
! !
∆ ∆
!
∆ ∆
OK
!
: Must be set
∆
: Set if required
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