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5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
351
5
2 to 4 axes continuous trajectory control
Continuous trajectory control for 2 to 4 axes.
: Must be set,
: Set if required
*1 Only when the reference axis speed is specified
Positioning data set in servo instructions
Common
Servo
instruction
Positioning
method
Number
of
control
axes
Arc
OSC
Parameter block
Others
Parameter block No.
Acceleration time
Deceleration time
Rapid Stop deceleration time
Torque limit value
Deceleration processing on stop input
Allowable error range for circular interpolation
S-curve ratio
Advanced S-curve acceleration/deceleration
Bias speed at start
Repeat condition
Program No.
Command speed (Continuous trajectory)
Skip
FIN acceleration/deceleration
WAIT-ON/OFF
Fixed position stop
Axis
Address/travel value
Command speed
Dwell time
M-code
Torque limit value
Auxiliary point
Radius
Central point
Number of pitches
Starting angle
Amplitude
Frequency
Interpolation control unit
Speed limit value
Reference axis No.
*1
Fixed position stop acceleration/deceleration time
Start
End
Pass point
CPEND
CPSTART4
CPSTART3
CPSTART2
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Absolute
Incremental
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3
4
2
3
4
2
3
4
2
2
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ABS-2
ABS-3
ABS-4
ABS
ABS
ABS
ABS
ABS
ABS
ABS
INC-2
INC-3
INC-4
INC
INC
INC
INC
INC
INC
INC
Summary of Contents for MELSEC iQ-R16MTCPU
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Page 477: ...APPENDICES Appendix 1 Processing Times of the Motion CPU 475 A MEMO ...
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