Mitsubishi Electric R16MTCPU Programming Manual page 48

• [Da.2] Control mode
Positioning control
Linear 1 axis
interpolation
control
2 axis
3 axis
4 axis
Circular Auxiliary
interpolation point-
control specified
Central
point-
specified
Radius-
specified
Helical Auxiliary
interpolation point-
control specified
Central
point-
specified
Radius-
specified
2 MOTION DEDICATED PLC INSTRUCTION
46
2.2 Motion Dedicated PLC Instruction
Instruction Control description
symbol
ABS-1 Absolute 1-axis positioning
INC-1 Incremental 1-axis positioning
ABS-2 Absolute 2-axis positioning
INC-2 Incremental 2-axis positioning
ABS-3 Absolute 3-axis positioning
INC-3 Incremental 3-axis positioning
ABS-4 Absolute 4-axis positioning
INC-4 Incremental 4-axis positioning
ABS Absolute auxiliary point-specified circular interpolation
INC Incremental auxiliary point-specified circular interpolation
ABS Absolute central point-specified circular interpolation CW
ABS Absolute central point-specified circular interpolation CCW
INC Incremental central point-specified circular interpolation
CW
INC Incremental central point-specified circular interpolation
CCW
ABS Absolute radius-specified circular interpolation less than
CW 180
ABS Absolute radius-specified circular interpolation CW 180 or
more
ABS Absolute radius-specified circular interpolation less than
CCW 180
ABS Absolute radius-specified circular interpolation CCW 180
or more
INC Incremental radius-specified circular interpolation less than
CW 180
INC Incremental radius-specified circular interpolation CW 180
or more
INC Incremental radius-specified circular interpolation less than
CCW 180
INC Incremental radius-specified circular interpolation CCW
180 or more
ABH Absolute auxiliary point-specified helical interpolation
INH Incremental auxiliary point-specified helical interpolation
ABH Absolute central point-specified helical interpolation CW
ABH Absolute central point-specified helical interpolation CCW
INH Incremental central point-specified helical interpolation CW
INH Incremental central point-specified helical interpolation
CCW
Absolute radius-specified helical interpolation less than
ABH
CW 180
ABH Absolute radius-specified helical interpolation CW 180 or
more
ABH Absolute radius-specified helical interpolation less than
CCW 180
ABH Absolute radius-specified helical interpolation CCW 180 or
more
INH Incremental radius-specified helical interpolation less than
CW 180
INH Incremental radius-specified helical interpolation CW 180
or more
INH Incremental radius-specified helical interpolation less than
CCW 180
INH Incremental radius-specified helical interpolation CCW
180 or more
Setting Remark
value
*1
■Interpolation control
01H
• When performing interpolation control,
02H
set "[Da.2] Control mode" to "NOP" for
0AH
interpolation axes (axes other than the
reference axis) for the data of 1 to 4
0BH
axes. For the linear axis for helical
15H
interpolation, set "ABS-1" or "INC-1".
16H
When control mode settings are wrong,
a minor error (error code: 19FCH)
1AH
occurs, and positioning does not start.
1BH
■Continuous trajectory control
0DH
(CPSTART)
• The control modes that can be set to
0EH
"[Da.2] Control mode" are linear
interpolation control (ABS-1 to 4, INC-1
0FH
to 4), circular interpolation control
10H
(ABS/INC), and helical interpolation
11H
control (ABS/INC). If any other control
mode is set, a minor error (error code:
19FCH) occurs, and control does not
12H
start.
• When performing circular interpolation
30H
control or helical interpolation control
with 3 axes or more in continuous
31H
trajectory control, set "[Da.2] Control
mode" to "0" for the resting axes (axes
that do not apply to interpolation).
32H
• "[Da.29] Interpolation axis speed
designation" setting is ignored and is
33H
always controlled at "vector speed".
34H
35H
36H
37H
20H
21H
22H
23H
24H
25H
28H
29H
2AH
2BH
2CH
2DH
2EH
2FH