Mitsubishi Electric A173UHCPU - Page 182

7. POSITIONING CONTROL
7 − 35
(5) Servo program
The servo program No. 22 for 4-axes linear interpolation control is shown
below.
4-axes linear interpolation control
⋅
Axis used
Axis
1,
Axis
2,
Axis
3,.
Axis
4
⋅
Positioning address
Commanded positioning speed
⋅
Combiend speed
10000
<K 22>
INC -4
Axis 1, 3000
Axis 2, 4000
Axis 3, 4000
Axis 4, 4000
Combiend speed 10000
Axis
1 3000
Axis
2 4000
Axis
3 4000
Axis
4 4000
(6) Sequence program
The sequence program which runs the servo program is shown below.
0
CIRCUIT END
M2000
SVST
2
4
11
13
M9039
M9074
X000
M21
M9074
M9074
M23
M2049 M9076
M2001
M2042
PLS
SET
RST
M21
M23
M23
22
K
M2002M2003
J1J2J3J4
M2004
Turns ON PLC ready.
Turns ON servo program No.22
start command flag (M23) when
X000 turns OFF ON.
turns ON all axes servo start
command.
Servo program No.22 execution
request.
Turns OFF M23 on completion
of sarvo program No.22 execution
request.