Mitsubishi Electric RD77MS2 User Manual page 51

Major positioning control
Speed 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 control NOP
instruction
Current value
changing
JUMP
instruction
LOOP
LEND
*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". (Page 64 Interpolation control)
*2 In the RD77MS2, 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, the error "Illegal interpolation description command" (error code: 1A22H) 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
*1
Reverse run speed 2
Forward run speed 3
*1
Reverse run speed 3
Forward run speed 4
*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
Details
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.
3 MAJOR POSITIONING CONTROL
3.1 Outline of Major Positioning Controls
3
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