Mitsubishi Electric A173UHCPU - Page 210

7. POSITIONING CONTROL
7 − 63
(4) Servo program
The servo program No. 91 for speed control (I) is shown below.
Speed control (I) (Forward)
Axis used
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Axis 1
Positioning speed
¥¥
3000
<K 91>
VF
Axis 1,
Speed 3000
(5) Sequence program
The sequence program which runs the servo program is shown below.
0
CIRCUIT END
M2000
SVST
2
4
14
16
M9039
M9074
X000
M91
M9074
M9074
M93
M2049 M9076
M2042
PLS
SET
RST
M91
M93
M93
91
K
J1
PLF M94
M2001
27
M94
SET M3200
29
M2001
RST M3200
M3200
Turns ON PLC ready.
Turns ON all axes servo start
command.
Servo program No.91 execution
request.
Turns OFF M93 on completion
of sarvo program No.91 executio
n
request.
Detects leading edge of X000
(OFF ON)
Detects leading edge of X000
(ON OFF)
Turns ON servo program No.91
start command flag (M93) when
X000 turns OFF ON.
Turns ON stop command flag
(M3200) at trailing edge of X000.
Turns OFF stop command flag
(M3200) when Axis 1 stops.