Mitsubishi Electronics Q172HCPU Manual Do Utilizador
6 - 81
6 POSITIONING CONTROL
6.11 Fixed-Pitch Feed Control Using 2 Axes Linear Interpolation
Fixed-pitch feed control using 2 axes linear interpolation from the current stop position
with the specified 2 axes.
Fixed-pitch feed control using 2 axes linear interpolation uses the FEED-2 servo
instruction.
with the specified 2 axes.
Fixed-pitch feed control using 2 axes linear interpolation uses the FEED-2 servo
instruction.
Items are set in peripheral devices
Common Arc Parameter
block
Others
Servo
instruction
Positioning
method
Number of
control axes
P
ar
ame
te
r bl
oc
k
N
o.
Ax
is
Ad
dr
es
s/
tr
av
el
v
al
ue
C
om
m
an
d s
pe
ed
Dwe
ll T
im
e
M-
C
ode
To
rq
ue Li
mi
t V
al
ue
Au
xili
ar
y
poi
nt
Ra
diu
s
Ce
nt
ra
l p
oi
nt
Co
nt
ro
l u
nit
S
pe
ed
li
m
it v
alu
e
A
ccel
era
tio
n ti
me
Dec
el
er
ati
on
ti
m
e
Ra
pid
st
op
dec
el
er
at
io
n ti
m
e
To
rq
ue
li
mi
t v
al
ue
D
ece
le
ra
tion
p
ro
ce
ssi
ng
on
st
op
in
put
A
llo
w
abl
e er
ror
r
an
ge fo
r ci
rc
ul
ar
in
te
rp
ol
ati
on
S
-c
urv
e ra
tio
Ca
nc
el
W
A
IT
-O
N
/OF
F
Speed change
FEED-2
Incremental 2
Valid
: Must be set
: Set if required
[Control details]
(1) Positioning control from the current stop position "0" to the position which
combined travel direction and travel value specified with each axis is executed.
(2) The travel direction for each axis is set by the sign (+/ -) of the travel value for
each axis, as follows:
• Positive travel value .............Positioning control to forward direction
• Positive travel value .............Positioning control to forward direction
(Address increase direction)
• Negative travel value............Positioning control to reverse direction
(Address decrease direction)
0
Current stop position
Reverse
direction
direction
Forward direction
Reverse direction
Y-axis
travel value
travel value
X-axis travel value
Positioning direction
Forward
direction
direction
Operation timing
V
t
Fixed-pitch feed by FEED-2 instruction
Command speed
Servo program start
: Indicates setting data
(Note)
Fig.6.24 Fixed-pitch feed control using 2 axes linear interpolation