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Motion Control Programs - Mitsubishi Electric Q173CPU Programming Manual

Q series motion controller.
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9 MOTION CONTROL PROGRAMS

9. MOTION CONTROL PROGRAMS
9.1 Servo Instruction List
Table 9.1 lists servo instructions used in servo programs.
Refer to Section 9.2 to 9.4 for details of the current value change control (CHGA,
CHGA-E, CHGA-C).
Refer to the "Q173CPU(N)/Q172CPU(N) Motion Controller (SV13/SV22) Programming
Manual (REAL MODE)" for other servo instructions.
(1) Guide to servo instruction list
Instruction
Processing
symbol
Virtual enable
Number of step
Number of indirect words
ABS-1
Absolute 1-axis positioning
INC-1
Incremental 1-axis positioning
Absolute 2-axes linear
ABS-2
1)
Number
Instruction symbol
1)
Processing
(a) Indicates positioning data which can be set in servo instructions.
1)
: Item which must be set (Data which cannot execute the servo instruction unless it sets.)
2)
: Item which is set when required (Data which will be controlled by the default value unless it sets.)
(b) Allows direct or indirect designation (except axis No.)
1) Direct designation : Set with numerical value.
2) Indirect designation : Set with word device (D, W, #).
2)
• Servo program execution is controlled using the preset word device contents.
• Each setting item may either be 1 or 2 word data.
• For 2 word data, set the first device No..
(c) Number of steps
As there are more setting items, there are more number of instruction steps. (The number of steps is displayed when a
servo program is created.)
(The instruction +
3)
Items common to the servo instructions
4)
Items set in circular interpolation starting servo programs
5)
Items set for high-speed oscillation
Set when changing the parameter block (default value when not set) data set in the servo program to control.
6)
(The parameter block data are not changed.)
7)
Setting items other than the common, circular and parameter block items (Items to be set vary with the servo instruction.)
8)
Indicates the number of steps of each servo instruction.
Table 9.1 Guide to Servo Instruction List
3)
4)
Common
Circular
1
1
1
1
1
1
1
1
1
1
1
2
2
1
1
1
2
2
2
Gives the servo instructions usable in servo programs.
Gives the processing outlines of the servo instructions.
item comprise the minimum steps, and one
5)
6)
Positioning data
OSC
1
Parameter block
1
1
1
1
1
1
2
1
1
1
1
1
1
2
2
2
1
1
2
1
1
1
1
1
2)
Description
item increases the number of steps by 1.)
9 - 1
7)
8)
Other
1
2
1
1
1
1
2
2
2
2
2
2
2
2
1
2
1
1/
1(B) 1(B)
1(B)
1(B)
4 to 17
9

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Q173cpunQ172cpuQ172cpun

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