Mitsubishi Electric A173UHCPU - Page 177

7. POSITIONING CONTROL
7 − 30
(4) Operation timing
The operation timing for 3-axes linear interpolation control is shown below.
V
Servo program No.21
PLC ready (M2000)
All axes servo start command
(M2042)
All-axes servo start accept flag
(M2049)
Positioning start command
(X000)
SVST insutruction
Axis 1 start accept flag
(M2001)
Axis 2 start accept flag
(M2002)
Axis 3 start accept flag
(M2003)
(5) Servo program
The servo program No. 21 for 3-axes linear interpolation control is shown
below.
3-axes linear interpolation control
⋅
Axis used
Axis
1,
Axis
2,
Axis
3
⋅
Positioning address
Commanded positioning speed
⋅
Combined speed
1000
<K 21>
ABS -3
Axis 1, 50000
Axis 2, 40000
Axis 3, 30000
Combined speed 1000
Axis
1 50000
Axis
2 40000
Axis
3 30000