Mitsubishi Electric A173UHCPU, Руководство по программированию

Страница: 255 / 389

7. POSITIONING CONTROL
7
−
108
7.16.4 2 to 4-axes constant-speed control
Constant-speed control for the 2 to 4-axes designated with the sequence program
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
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
celer
a
tio
n
P
ro
c
essin
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
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
e
e
d C
h
a
n
ge
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