Mitsubishi Electric A173UHCPU - Page 209

7. POSITIONING CONTROL
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[Program Example]
This program conducts speed control (I) under the conditions below.
(1) System configuration
Speed control (I) of Axis 1.
M M M M
A61P
A273UH
CPU
A278
LX
Axis
1
Axis
2
Axis
3
Axis
4
A61P
AX41
Start/stop command (X000)
MR- -B
MR- -B MR- -B
MR- -B
(2) Speed control (I) conditions
(a) The speed control (I) conditions are shown below.
Item Setting
Servo program number No. 91
Controlled axis Axis 1
Control speed 3000
Rotation direction Forward
(b) Speed control (I) start command........ leading edge of X000
(OFF → ON)
(c) Speed control (I) stop command........trailing edge of X000 (ON → OFF)
(3) Operation timing
The operation timing for speed control (I) is shown below.
V
3000
Stop command
received
t
Speed control by
servo program No.91
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept flag
(M2049)
Positioning start command
(X000)
SVST instruction
Axis 1 start accept flag
(M2001)
Stop command (M3200)