Main Functions - Mitsubishi Electric RD77MS2 User Manual

3.2

Main Functions

The outline of the main functions for positioning control with the Simple Motion module is described below.
Main functions
Home position Machine home position return control
return control
Fast home position return control
Major Position Linear control
positioning control (1-axis linear control)
control (2-axis linear
interpolation control)
(3-axis linear
interpolation control)
(4-axis linear
interpolation control)
Fixed-feed control
(1-axis fixed-feed control)
(2-axis fixed-feed control)
(3-axis fixed-feed control)
(4-axis fixed-feed control)
2-axis circular
interpolation control
3-axis helical
interpolation control
Speed Speed control
control (1-axis speed control)
(2-axis speed control)
(3-axis speed control)
(4-axis speed control)
Speed-position switching control
Position-speed switching control
Other Current value changing
control
NOP instruction
JUMP instruction
LOOP
LEND
High-level Block start (Normal start)
positioning
Condition start
control
Wait start
Simultaneous start
Repeated start (FOR loop)
Repeated start (FOR condition)
Details
Mechanically establishes the positioning start point using a near-point dog, etc.
In the data setting method, no axis movement occurs since the current position is set as the home
position.
(Positioning start No. 9001)
Positions a target to the home position address ([Md.21] Machine feed value) stored in the Simple
Motion module using machine home position return. (Positioning start No. 9002)
Positions a target using a linear path to the address set in the positioning data or to the position
designated with the movement amount.
Positions a target by the movement amount designated with the amount set in the positioning data.
(With fixed-feed control, the "[Md.20] Current feed value" is set to "0" when the control is started.
With 2-, 3-, or 4-axis fixed-feed control, the fixed-feed is fed along a linear path obtained by
interpolation.)
Positions a target using an arc path to the address set in the positioning data, or to the position
designated with the movement amount, sub point or center point.
Positions a target using a helical path to a specified position. (Specify the position by specifying the
end point address directly or by specifying the relative distance from the current position (movement
amount).)
Continuously outputs the command corresponding to the command speed set in the positioning
data.
First, carries out speed control, and then carries out position control (positioning with designated
address or movement amount) by turning the "speed-position switching signal" ON.
First, carries out position control, and then carries out speed control (continuous output of the
command corresponding to the designated command speed) by turning the "position-speed
switching signal" ON.
Changes the current feed value ([Md.20]) to the address set in the positioning data.
The following two methods can be used.
(The machine feed value ([Md.21]) cannot be changed.)
• Current value changing using positioning data
• Current value changing using current value changing start No. (No. 9003)
No execution control system. When NOP instruction is set, this instruction is not executed and the
operation of the next data is started.
Unconditionally or conditionally jumps to designated positioning data No.
Carries out loop control with repeated LOOP to LEND.
Returns to the beginning of the loop control with repeated LOOP to LEND.
With one start, executes the positioning data in a random block with the set order.
Carries out condition judgment set in the "condition data" for the designated positioning data, and
then executes the "block start data".
When the condition is established, the "block start data" is executed. When not established, that
"block start data" is ignored, and the next point's "block start data" is executed.
Carries out condition judgment set in the "condition data" for the designated positioning data, and
then executes the "block start data".
When the condition is established, the "block start data" is executed. When not established, stops
the control until the condition is established. (Waits.)
Simultaneously executes the positioning data having the No. for the axis designated with the
"condition data". (Outputs commands at the same timing.)
Repeats the program from the block start data set with the "FOR loop" to the block start data set in
"NEXT" for the designated number of times.
Repeats the program from the block start data set with the "FOR condition" to the block start data set
in "NEXT" until the conditions set in the "condition data" are established.
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3 FUNCTION LIST
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3.2 Main Functions