Mitsubishi Electric A173UHCPU - Page 181

7. POSITIONING CONTROL
7 − 34
Axis 1 positioning
direction
(Forward direction)
A
xis 3 positioning
direction
(Forward direction)
Axis 2 positioning
direction
(Forward direction)
Axis 4 positioning
direction (Forward direction)
(Reverse direction)
(Reverse direction)
Positioning by No. 22 servo
program (Forward direction)
5000
5000
5000
(Reverse direction)
Fig.7.8 Positioning by 4-axes Linear Interpolation Control
(3) Positioning conditions
(a) The positioning conditions are shown below.
Servo Program Number
Item
No. 22
Positioning method Incremental
Positioning speed 1000
(b) Positioning start.................leading edge of X000 (OFF → ON)
(4) Operation timing
The operation timing for 4-axes linear interpolation control is shown below.
V
Servo program No.22
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)
Axis 4 start accept flag
(M2004)