Mitsubishi Electric MELSEC iQ-R RD75P4, User Manual

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3 MAJOR POSITIONING CONTROL
3.1 Overview of the Major Positioning Controls
*1 In 2-axis linear interpolation control, 3-axis linear interpolation control, 4-axis linear interpolation control, 2-axis fixed-feed control, 3-axis
fixed-feed control, 4-axis fixed-feed control, 2-axis circular interpolation control, 3-axis helical interpolation control, 2-axis speed control,
3-axis speed control, and 4-axis speed control, use a motor set for the directions of two or more axes to control the positioning drawing
a straight line or an arc path.
This type of control is called interpolation control. (

Page 77 Interpolation control)
Speed control
*1
1-axis speed control Forward run speed 1
Reverse run speed 1 Performs the speed control of the specified one axis.
2-axis speed control
*1
Forward run speed 2
Reverse run speed 2 Performs the speed control of the specified two axes.
3-axis speed control
*1
Forward run speed 3
Reverse run speed 3 Performs the speed control of the specified three axes.
4-axis speed control
*1
Forward run speed 4
Reverse run speed 4 Performs the speed control of four axes.
Speed-position switching control Forward run speed-
position
Reverse run speed-
position Performs the speed control, and position control (Positioning
with the specified address or movement amount) immediately
after that by turning on Speed-position switching signal.
Position-speed switching control Forward run position-
speed
Reverse run position-
speed Performs the position control, and speed control immediately
after that by turning on Position-speed switching signal.
Other controls NOP instruction NOP instruction A control method that is not executed. When the NOP
instruction is set, the operation of the next data starts and this
instruction is not executed.
Current value change Current value change Changes the value in [Md.20] Current feed value to the address
set in the positioning data.
The following two methods can be used.
(Machine feed value cannot be changed.)
• Current value change using the control method
• Current value change using the start No. for a current value
change (No.9003)
JUMP instruction JUMP instruction Unconditionally or conditionally jumps to the specified
positioning data No.
LOOP LOOP Performs the repetition control with the LOOP to LEND
instructions.
LEND LEND Returns to the beginning of the repetition control with LOOP to
LEND instructions. When the repetition of the instructions has
been completed for the specified number of times, the operation
of the next positioning data starts.
Major positioning control [Da.2] Control
method Description