Mitsubishi Electric QD77MS User Manual page 461

Major positioning control
1-axis speed
control
2-axis speed
control
Speed control
3-axis speed
control
4-axis speed
control
Speed-position switching control
Position-speed switching control
NOP
instruction
Current value
changing
Other control
JUMP
instruction
LOOP
LEND
(Note-1): Control is carried out so that linear and arc paths are drawn using a motor set in two or more axes directions.
This kind of control is called "interpolation control". (Refer to Section 9.1.6 "Interpolation control" for details.)
(Note-2): In the QD77MS2, when 3- or 4-axis interpolation is carried out, or axis 3 or axis 4 is designated to the axis to be
interpolated for 2-axis interpolation, an error "Illegal interpolation description command" (error code: 521) will
occur and the positioning control does not start.
[Da.2] Control method
Forward run speed 1
Reverse run speed 1
Forward run speed 2
(Note-1)
Reverse run speed 2
Forward run speed 3
(Note-1)
Reverse run speed 3
Forward run speed 4
(Note-1)
Reverse run speed 4
Forward run speed/position
Reverse run speed/position
Forward run position/speed
Reverse run position/speed
NOP
Current value changing
JUMP instruction
LOOP
LEND
Chapter 9 Major Positioning Control
The speed control of the designated 1 axis is carried out.
The speed control of the designated 2 axes is carried out.
The speed control of the designated 3 axes is carried out.
The speed control of the designated 4 axes is carried out.
The control is continued as position control (positioning for
the designated address or movement amount) by turning
ON the "speed-position switching signal" after first
carrying out speed control.
The control is continued as speed control by turning ON
the "position-speed switching signal" after first carrying out
position control.
A nonexecutable control method. When this instruction is
set, the operation is transferred to the next data operation,
and the instruction is not executed.
"[Md.20] Current feed value" is changed to an address set
in the positioning data.
This can be carried out by either of the following 2
methods.
("[Md.21] Machine feed value" cannot be changed.)

Current value changing using the control method

Current value changing using the current value
changing start No. (No. 9003).
An unconditional or conditional JUMP is carried out to a
designated positioning data No.
A repeat control is carried out by repeat LOOP to LEND.
Control is returned to the top of the repeat control by
repeat LOOP to LEND. After the repeat operation is
completed specified times, the next positioning data is
run.
9 - 3
Details