Mitsubishi Electric A173UHCPU - Page 192

7. POSITIONING CONTROL
7 − 45
(4) Operation timing
The operation timing for circular interpolation control using radius designation is
shown below.
V
Servo program No.41
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. 41 for circular interpolation control using radius
designation is shown below.
Circular interpolation control using radius
designation
Axis
used
Axis
1,
Axis
2
End point address
Positioning speed
1000
Radius
80000
Axis
1 100000
Axis
2 50000
<K 41>
ABS
Axis
1, 100000
Axis
2, 50000
Speed 1000
Radius 80000
(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
M41
M9074
M9074
M43
M2049M9076
M2001
M2042
PLS
SET
RST
M41
M43
43
41
K
J1J2
M2002
Turns ON PLC ready.
Turns ON servo program No.41
start command flag (M43) when
X000 turns OFF ON.
Turns ON all axes servo start
command.
Servo program No.41 execution
request.
Turns OFF M43 on completion
of sarvo program No.41 execution
request.