Mitsubishi Electric A173UHCPU Programming Manual page 27

1. GENERAL DESCRIPTION
(1) Positioning control parameters
The positioning control parameters are classified into the seven types shown
below.
Parameter data can be set and corrected interactively by using a peripheral
device.
Item
1 System settings The system settings set the modules used, axis numbers, etc.
Fixed parameters are set for each axis. Their settings are
2 Fixed parameters predetermined by the mechanical system. They are used for
servo motor control during positioning control.
Servo parameters are set for each axis. Their settings are
Servo
3 predetermined by the type of servomotor connected. They are
parameters
set to control the servomotors during positioning control.
Zeroing data is set for each axis. The return direction, return
4 Zeroing data
method, return speed, etc. are set for zeroing.
JOG operation data is set for each axis. The speed limit value
5 JOG operation
and parameter block number are set for JOG operation.
Up to 16 parameter blocks are set for acceleration,
deceleration, speed control, etc. during positioning control.
They are designated by the servo program, JOG operation
6 Parameter block
data, and zeroing data to easily change acceleration and
deceleration (acceleration time, deceleration time, and speed
limit value) during positioning control.
Limit switch output data (ON/OFF pattern data) is set for each
axis to be used when "USE" is set for the limit switch output
Limit switch setting in the fixed parameter. When positioning control takes
7
output data place on an axis for which limit switch output data has been
set, the set ON/OFF pattern of the axis is output to an external
destination.
(2) Servo program
A servo program is a program for executing positioning control and is run in
response to a start request from the sequence program.
It comprises a program number, servo instructions, and positioning data.
For details, see Chapter 6.
• Program No. .................. This number is designated in the sequence program.
• Servo instruction ............ This instruction indicates the type of positioning control
• Positioning data ............. This data is required to execute servo instructions.
(3) Sequence program
The sequence program serves to enable the execution of positioning control by
servo programs, JOG operation, and manual pulse generator operation.
For details, see Chapter 5.
Description
to be executed.
The data required is fixed for each servo instruction.
1 − 13
Reference
Section 4.1
Section 4.2
Section 4.3
Section 7.21
Section 7.19
Section 4.4
Section 8.1