Mitsubishi Electric A173UHCPU - Page 168

7. POSITIONING CONTROL
7 − 21
[Program Example]
This program conducts positioning control using servo program No. 0 under the
conditions below.
(1) System configuration
1-axis linear positioning control of Axis 4.
A61P
A273UH
CPU
A278
LX
M
Axis
1
M
Axis
2
M
Axis
3
M
Axis
4
A61P
AX41
Positioning start command (X000)
MR- -B MR- -B MR- -B MR- -B
(2) Positioning details
The positioning by servo program No. 0 is shown in the diagram below.
In this example, Axis 4 is used in servo program No. 0.
Positioning address in servo program No.0
0 10000 80000
Current stop address
Home position
(3) Operation timing
The operation timing for servo program No. 0 is shown below.
V
10000
Servo program No.0
PLC ready (M2000)
All-axes servo start command
(M2042)
All-axes servo start accept flag
(M2049)
Positioning start command
(X000)
SVST instruction
Axis 4 start accept flag
(M2004)