Mitsubishi Electric A173UHCPU Programming Manual page 134

6. SERVO PROGRAMS FOR POSITIONING CONTROL
Position-
Instruction
ing Processing Details
Symbol
Control
Absolute 1-axis
ABS-1
positioning
1-axis
Incremental 1-axis
INC-1
positioning
Absolute 2-axes linear
ABS-2
interpolation
2-axes
Incremental 2-axes linear
INC-2
interpolation
Absolute 3-axes linear
ABS-3
interpolation
3-axes
Incremental 3-axes linear
INC-3
interpolation
Absolute 4-axes linear
ABS-4
interpolation
4-axes
Incremental 4-axes linear
INC-4
interpolation
Absolute circular
Auxil-
ABS interpolation by auxiliary
iary
point designation
point
Incremental circular
desig-
interpolation by auxiliary
INC
nation
point designation
Absolute circular
interpolation by radius
ABS
designation, less than
CW180°
Absolute circular
interpolation by radius
ABS
designation, CW180 °
or more
Absolute circular
interpolation by radius
ABS
designation, less than
CCW180 °
Absolute circular
interpolation by radius
ABS
designation, CCW180°
Radius
or more
desig-
Incremental circular
nation
interpolation by radius
INC
designation, less than
CW180°
Incremental circular
interpolation by radius
INC
designation, CW180°
or more
Incremental circular
interpolation by radius
INC
designation, less than
CCW180°
Incremental circular
interpolation by radius
INC
designation, CCW180°
or more
Absolute circular
ABS interpolation by center
point designation, CW
Absolute circular
interpolation by center
Center ABS
point designation, CCW
point
desig-
Incremental circular
nation
interpolation by center
INC
point designation, CW
Incremental circular
interpolation by center
INC
point designation, CCW
(2) Servo instruction list
The servo instructions that can be used in servo programs, and the positioning
data set for the servo instructions, are indicated in Table 6.2.
For details on the positioning data set for servo instructions, see Section 6.3.
Table 6.2 Servo Instruction List
Common Settings
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
∆ ∆ ∆
! ! !
Positioning Data
Circular
Parameter Block
Interpolation
∆ ∆ ∆ ∆
∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
∆ ∆ ∆ ∆ ∆
!
6 − 4
Others
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
∆ ∆ ∆ ∆ ∆ ∆
4 to
7.2
16
5 to
7.3
18
7 to
7.4
20
8 to
7.5
23
7 to
7.6
21
6 to
7.7
20
7 to
7.8
21
! : Must be set
∆
: Set if required