Mitsubishi Electric A173UHCPU Programming Manual page 136

6. SERVO PROGRAMS FOR POSITIONING CONTROL
Position-
Instruction
ing Processing Details
Symbol
Control
1-axis fixed-pitch feed
FEED-1
1 axis
start
2-axes linear interpolation
2 axis FEED-2
Fixed-pitch feed start
3-axes linear interpolation
3 axis
FEED-3
Fixed-pitch feed start
For-
ward Speed control (I)
VF
rota- Forward rotation start
tion
Re-
verse Speed control (I)
VR
rota- Reverse rotation start
tion
For-
ward Speed control (II)
VVF
rota- Forward rotation start
tion
Re-
verse Speed control (II)
VVR
rota- Reverse rotation start
tion
For-
Speed/position switching
ward
control
VPF
rota-
Forward rotation start
tion
Re-
Speed/position switching
verse
control
VPR
rota-
Reverse rotation start
tion
Speed/position switching
control
Re-start
VPSTART
Restart
Speed switching control,
VSTART
start
Speed switching control,
VEND
end
ABS-1
Speed switching control
ABS-2
End point address
ABS-3
Speed
switching
control
INC-1
Speed switching control
INC-2
Travel value to end point
INC-3
Absolute designation of
VABS
speed switching point
Incremental designation
VINC
of speed switching point
Position
Position follow-up control
follow-up
PFSTART
start
control
1-axis constant-speed
CPSTART1
control start
2-axes constant-speed
CPSTART2
Constant-
control start
speed
3-axes constant-speed
control
CPSTART3
control start
4-axes constant-speed
CPSTART4
control start
Table 6.2 Servo Instruction List (Continued)
Circular
Common Settings
Interpolation
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆
! !
∆ ∆
! !
∆ ∆ ∆
! !
∆ ∆ ∆
! !
∆ ∆ ∆ ∆
! ! !
∆ ∆ ∆ ∆
! ! !
!
∆
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆
! !
∆ ∆
! !
∆ ∆
! ! !
∆
! !
∆
! !
∆
! !
∆
! !
6 − 6
Positioning Data
Parameter Block
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆ ∆ ∆
Others
4 to
∆ ∆
7.9
17
5 to 7.
∆ ∆
19 10
∆ ∆ 7 to 7.
21 11
∆ ∆
3 to 7.
14 12
∆ ∆
∆ ∆
3 to 7.
16 13
∆ ∆
∆ ∆
7.
4 to
14.
17
1
∆ ∆
7.
2 to
∆ ∆
14.
4
2
∆ ∆ 1 to
12
1
4 to
∆ ∆
9
∆ ∆ 5 to
10
7 to
∆ ∆
7.
12
15.
4 to
∆ ∆
1
9
∆ ∆ 5 to
10
7 to
∆ ∆
12
4 to
6
∆ ∆ 4 to 7.
18 17
∆ ∆ ∆
3 to
17
∆ ∆ ∆
7.
16
∆ ∆ ∆
4 to
18
∆ ∆ ∆
! : Must be set
∆ : Set if required