Mitsubishi Electric A173UHCPU - Page 186

7. POSITIONING CONTROL
7 − 39
(4) Operation timing
The operation timing for circular interpolation control using auxiliary point
designation is shown below.
V
Servo program No.31
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept frag
(M2049)
Positioning start command
(X000)
SVST instruction
Axis 3 start accept flag
(M2001)
Axis 4 start accept flag
(M2002)
(5) Servo program
The servo program No. 31 for circular interpolation control using auxiliary point
designation is shown below.
Circular interpolation control using auxiliary point
designation
⋅
Axis used
Axis
1,
Axis
2
⋅
End point address
Positioning speed
1000
Auxiliary point address
Axis
1 80000
Axis
2 30000
Axis
1 40000
Axis
2 50000
<K 31>
ABS
Axis 1, 80000
Axis 2, 30000
Speed 1000
Auxiliary
point
1, 40000
Auxiliary
point
2, 50000
(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
M31
M9074
M9074
M33
M2049M9076
M2001
M2042
PLS
SET
RST
M31
M33
M33
31
K
J1J2
M2002
Turns ON PLC ready.
Turns ON servo program No.31
start command flag (M1) when
X000 turns OFF ON.
turns ON all axes servo start
command.
Servo program No.31 execution
request.
Turns OFF M1 on completion
of sarvo program No.31 execution
request.