Mitsubishi Electric R16MTCPU Programming Manual page 49

Positioning control Instruction
symbol
Fixed-Pitch 1 axis FEED1
feed control
2 axis FEED2
3 axis FEED3
Speed Forward VF
control () rotation
Reverse VR
rotation
Speed Forward VVF
control () rotation
Reverse VVR
rotation
Speed/ Forward VPF
position rotation
switching
Reverse VPR
control
rotation
Speed Forward PVF
control with rotation
fixed
Reverse PVR
position stop
rotation
Position follow-up PFSTART
control
Home position return ZERO
High speed oscillation OSC
NOP instruction NOP
Control description
1 Axis Fixed-Pitch Feed Control
2-axes linear interpolation fixed-pitch feed control
3-axes linear interpolation fixed-pitch feed control
Speed control () forward rotation start
Speed control () reverse rotation start
Speed control () forward rotation start
Speed control () reverse rotation start
Speed/position switching control forward rotation start
Speed/position switching control reverse rotation start
Speed control with fixed position stop forward rotation start
Speed control with fixed position stop reverse rotation start
Position follow-up control start
Home position return start
High-speed oscillation
No operation
Setting Remark
value
03H
0CH
17H
04H
05H
70H
71H
06H • VPSTART instruction is not supported.
• If VPF/VPR instructions are executed
by M(P).SVSTD/D(P).SVSTD
07H
instructions and VPSTART instruction
is executed by the Motion SFC
program, a minor error (error code:
19FCH) occurs.
73H • Set a bit device of the Motion CPU to
use for fixed position stop command to
(D1). If a valid device is not set to (D1),
74H
error code (2225) is stored to the
complete status (S1+0), and control
does not start. When a number outside
the range is set, a minor error (error
code: 19FCH) occurs.
• Acceleration/deceleration time is set by
"acceleration time (b4)" of positioning
data items setting. If not set, error code
(2224) is stored to the complete status
(S1+0), and control does not start.
75H Set a word device of the Motion CPU to
store the follow-up address to (D1). If a
valid device is not set to (D1), error code
(2225) is stored to the complete status
(S1+0), and control does not start. When
a number outside the range is set, a
minor error (error code: 19FCH) occurs.
76H Home position return is performed based
on home position return data. Data other
than "[Da.2] Control mode" is ignored.
77H Set the high speed oscillation setting
items (starting angle, amplitude,
frequency) to the following positioning
point data.
• Amplitude: [Da.6] Positioning address/
Travel value
• Starting angle: [Da.7] Arc address
• Frequency: [Da.8] Command speed
80H
2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
2
47