Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 241

Positioning control Instruction
symbol
Helical Auxiliary
ABH
interpolation point-
control specified
INH
Radius-
ABH
specified
ABH
ABH
ABH
INH
INH
INH
INH
Central
ABH
point-
specified
ABH
INC
INC
Fixed-pitch feed 1 axis
FEED-1
2 axes
FEED-2
3 axes
FEED-3
Speed control Forward
() rotation
Reverse
rotation
Speed control Forward
() rotation
Reverse
rotation
Speed-position Forward
switching control rotation
Reverse
rotation
Restart
VPSTART
Speed control Forward
with fixed rotation
position stop
Reverse
rotation
Processing
Absolute auxiliary point- specified helical interpolation
Incremental auxiliary point- specified helical
interpolation
Absolute radius-specified helical interpolation less than
CW 180
Absolute radius-specified helical interpolation CW 180
or more
Absolute radius-specified helical interpolation less than
CCW 180
Absolute radius-specified helical interpolation CCW
180 or more
Incremental radius-specified helical interpolation less
than CW 180
Incremental radius-specified helical interpolation CW
180 or more
Incremental radius-specified helical interpolation less
than CCW 180
Incremental radius-specified helical interpolation CCW
180 or more
Absolute central point-specified helical interpolation CW
Absolute central point-specified helical interpolation
CCW
Incremental central point-specified helical interpolation
CW
Incremental central point-specified helical interpolation
CCW
1-axis fixed-pitch feed start
2-axes linear interpolation fixed-pitch feed start
3-axes linear interpolation fixed-pitch feed start
Speed control () forward rotation start
VF
Speed control () reverse rotation start
VR
Speed control () forward rotation start
VVF
Speed control () reverse rotation start
VVR
Speed-position switching control forward rotation start
VPF
Speed-position switching control reverse rotation start
VPR
Speed-position switching control restart
Speed control with fixed position stop absolute
PVF
specification
PVR
Command
generation axis
usable/unusable


























4 SERVO PROGRAMS FOR POSITIONING CONTROL
Reference
Page 295 Helical
Interpolation Control
Page 309 Axis Fixed-
Pitch Feed Control
Page 312 Fixed-Pitch
Feed Control Using 2
Axes Linear Interpolation
Page 315 Fixed-Pitch
Feed Control Using 3
Axes Linear Interpolation
Page 318 Speed
Control (I)
Page 321 Speed
Control (II)
Page 324 Speed/
position switching control
start
Page 330 Re-starting
after stop during control
Page 334 Speed
Control with Fixed
Position Stop
239
4.2 Servo Instructions
4