Mitsubishi Electric A173UHCPU Programming Manual page 256

7. POSITIONING CONTROL
[Control Details]
Starting and Ending 2- to 4-axes Constant-Speed Control
2-, 3-, or 4-axes constant-speed control is started and ended using one of the fol-
lowing instructions:
(1) CPSTART2
Starts 2-axes constant-speed control.
Sets the axis numbers used and the commanded speed.
(2) CPSTART3
Starts 3-axes constant-speed control.
Sets the axis numbers used and the commanded speed.
(3) CPSTART4
Starts 4-axes constant-speed control.
Sets the axis numbers used and the commanded speed.
(4) CPEND
Ends the 2, 3, or 4-axes constant-speed control which was started using
CPSTART2, CPSTART3, or CPSTART4.
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-2/INC-2
Designates 2-axes linear interpolation control.
See Section 7.3 "2-axes Linear Interpolation Control" for details.
(2) ABS-3/INC-3
Designates 3-axes linear interpolation control.
See Section 7.4 "3-axes Linear Interpolation Control" for details.
(3) ABS-4/INC-4
Designates 4-axes linear interpolation control.
See Section 7.5 "4-axes Linear Interpolation Control" for details.
(4) ABS/INC
Designates circular interpolation control using auxiliary point designation.
See Section 7.6 "Circular Interpolation Using Auxiliary Point Designation" for
details.
(5) ABS/INC , ABS/INC
Designates circular interpolation control using radius designation.
See Section 7.7 "Circular Interpolation Using Radius Designation" for details.
(6) ABS/INC , ABS/INC
Designates circular interpolation control using center point designation.
See Section 7.8 "Circular Interpolation Using Center Point Designation" for de-
tails.
, ABS/INC , ABS/INC
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