Mitsubishi Electric A173UHCPU, Руководство по программированию

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7. POSITIONING CONTROL
7
−
104
7.16.3 One-axis constant-speed control
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
m
m
a
n
d
ed
S
p
eed
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
c
c
e
le
ra
ti
o
n
T
ime
D
e
c
e
le
ra
ti
o
n
T
ime
R
a
pi
d S
top D
e
c
e
le
ra
ti
o
n
T
im
e
T
o
rq
ue
L
imi
t Va
lu
e
D
e
c
e
le
ra
ti
on
P
roc
e
s
s
in
g
on
S
top I
n
pu
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
S-
Cu
rv
e
Ra
ti
o
C
o
m
m
a
n
d
ed
S
p
eed
(co
n
stan
t-sp
eed
)
C
a
n
cel
St
a
rt
Sk
ip
F
IN
acceler
atio
n
S
p
eed
C
h
an
g
e
Start
CPSTART1
−
1
∆
! !
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
End
CPEND
− − ∆
ABS-1
Absolute data 1
! !
∆ ∆ ∆ ∆
Pass
point
INC-1
Incremental 1
! !
∆ ∆ ∆ ∆
OK
!
: Must be set
∆
: Set if required
[Control Details]
Starting and ending one-axis constant-speed control
1-axis constant-speed control is started and ended using the following instructions:
(1) CPSTART1
Starts 1-axis constant-speed control. Sets the axis number used and the com-
manded speed.
(2) CPEND
Ends the 1-axis constant-speed control which was started using CPSTART1.
Positioning control method to the pass point
The positioning control to the point where control is changed is designated using
the following instructions:
(1) ABS-1/INC-1
Designates 1-axis linear positioning control.
See Section 7.2 "1-axis Linear Positioning Control" for details.