Servo Instructions - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

4.2

Servo Instructions

The servo instructions used in the servo programs are shown below.
Refer to positioning control for details of the servo instruction. (Page 250 POSITIONING CONTROL)
The servo instructions that can be used in servo programs are shown in the table below.
Refer to positioning data for details of the positioning data set in the servo instructions. (Page 242 Positioning Data)
: Usable : Unusable
Positioning control
Linear 1 axis
interpolation
control
2 axes
3 axes
4 axes
Circular Auxiliary
interpolation point-
control specified
Radius-
specified
Central
point-
specified
4 SERVO PROGRAMS FOR POSITIONING CONTROL
238
4.2 Servo Instructions
Instruction Processing
symbol
Absolute 1-axis positioning
ABS-1
Incremental 1-axis positioning
INC-1
Absolute 2-axes linear interpolation
ABS-2
Incremental 2-axes linear interpolation
INC-2
Absolute 3-axes linear interpolation
ABS-3
Incremental 3-axes linear interpolation
INC-3
Absolute 4-axes linear interpolation
ABS-4
Incremental 4-axes linear interpolation
INC-4
Absolute auxiliary point-specified circular interpolation
ABS
Incremental auxiliary point-specified circular
INC
interpolation
Absolute radius-specified circular interpolation less than
ABS
CW 180
Absolute radius-specified circular interpolation CW 180
ABS
or more
Absolute radius-specified circular interpolation less than
ABS
CCW 180
Absolute radius-specified circular interpolation CCW
ABS
180 or more
Incremental radius-specified circular interpolation less
INC
than CW 180
Incremental radius-specified circular interpolation CW
INC
180 or more
Incremental radius-specified circular interpolation less
INC
than CCW 180
Incremental radius-specified circular interpolation CCW
INC
180 or more
Absolute central point-specified circular interpolation
ABS
CW
Absolute central point-specified circular interpolation
ABS
CCW
Incremental central point-specified circular interpolation
INC
CW
Incremental central point-specified circular interpolation
INC
CCW
Command Reference
generation axis
usable/unusable
 Page 270 1 Axis
Linear Positioning Control

 Page 273 2 Axes
Linear Interpolation

Control
 Page 276 3 Axes
Linear Interpolation

Control
 Page 280 4 Axes
Linear Interpolation

Control
 Page 283 Auxiliary
Point-Specified Circular

Interpolation Control
 Page 287 Radius-
Specified Circular
Interpolation Control







 Page 291 Central
Point-Specified Circular
Interpolation Control


