Servo Instructions - Mitsubishi Electric A173UHCPU Programming Manual

6. SERVO PROGRAMS FOR POSITIONING CONTROL
6.2

Servo Instructions

This section presents the servo instructions used in servo programs.
(1) How to read the servo instruction tables
Fig. 6.1 How to Read Servo Instruction Tables
Position- Instruc-
tion
ing Processing Details
Symbol
Control
Absolute 1 axis
ABS-1
positioning
1 axis
Incremental 1 axis
INC-1
positioning
Absolute 2 axis linear
ABS-2
2 axis interpolations
Incremental 2 axis
INC-2
linear interpolation
1)
Number
Instruction symbols
1)
Processing details
(1) Indicates the positioning data that can be set for servo instructions.
(a) !: Item that must be set
(the servo instruction cannot be executed if this data is not set)
∆
(b) : Item set if required
(if this data is not set, control is executed using the default value)
(2) Direct setting/indirect setting is possible (except for axis No.)
(a) Direct setting : Set with a numerical value.
(b) Indirect setting : Set with a word device (D, W).
2) When the servo program is executed, control is executed in accordance with
"
the contents of the set word device.
Some setting items are 1-word data and others are 2-word data.
"
In the case of 2-word data, set the head device.
"
(3) Number of steps
The number of instruction steps increases depending on the number of setting items
(the number of steps is indicated at the time of servo program creation).
(The number of steps is minimal when setting is made only for instructions and !
items. It is incremented by one each time one
3) Items set in common for all servo instructions.
4) Items set for a servo program to start circular interpolation.
Items set to execute control by changing the data in the parameter block set for the servo
5) program (or if no data is set, the default values). (The data in the parameter block is not
changed.)
Setting items other than common items, settings for circular interpolation, and parameter
6)
block settings (settings items differ according to the servo instruction.)
7) Indicates the number of steps for each servo instruction.
Indicates the section where the function explanation for using each instruction can be
8)
found.
3) 4)
Positioning Data
Circular
Common Settings
Interpolation
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆ ∆
! ! !
∆ ! ! ! ∆ ∆ ∆
Explanation
Indicate the servo instructions that can be used in servo programs.
Provide an outline of the processing of servo instructions.
6 − 3
5) 6)
Parameter Block Others
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
2)
∆
item is added.)
7) 8)
∆
4
to 7.2
∆
16
∆
5
to 7.3
∆
18