Mitsubishi Electric MELSEC Q Series Programming Manual page 165

5 SERVO PROGRAMS FOR POSITIONING CONTROL
(2) Servo instruction list
Positioning Instruction
control symbol
ABS-1
Absolute 1-axis positioning
1 axis
INC-1
Incremental 1-axis positioning
ABS-2
Absolute 2-axes linear interpolation
2 axes
INC-2
Incremental 2-sxes linear interpolation
ABS-3
Absolute 3-axes linear interpolation
3 axes
INC-3
Incremental 3-axes linear interpolation
ABS-4
Absolute 4-axes linear interpolation
4 axes
INC-4
Incremental 4-axes linear interpolation
Absolute auxiliary point-specified
ABS
Auxiliary
circular interpolation
point-
Incremental auxiliary point-specified
INC
specified
circular interpolation
Absolute radius-specified circular
ABS
interpolation less than CW 180°
Absolute radius-specified circular
ABS
interpolation CW 180° or more
Absolute radius-specified circular
ABS
interpolation less than CCW 180°
Absolute radius-specified circular
ABS
interpolation CCW 180° or more
Radius-
specified
Incremental radius-specified circular
INC
interpolation less than CW 180°
Incremental radius-specified circular
INC
interpolation CW 180° or more
Incremental radius-specified circular
INC
interpolation less than CCW 180°
Incremental radius-specified circular
INC
interpolation CCW 180° or more
The servo instructions that can be used in servo programs and the positioning
data set in the servo instruction are shown in Table 5.2. Refer to Section 5.3 for
details of the positioning data set in the servo instructions.
Table 5.2 Servo instruction list
Processing
Virtual enable
Number of steps 1
Number of indirect words 1
5 - 4
Positioning data
Common
—
1 1 1 1 1 1 1
— 2 2 1 1 1 2
Arc/Helical OSC
— — —
1 1 1 1 1 1
2 2 1 2 2 2