Mitsubishi Electric A173UHCPU - Page 220

7. POSITIONING CONTROL
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(2) Positioning conditions
(a) The positioning conditions are shown below.
Item Setting
Servo program number No. 101
Controlled axis Axis 4
Positioning control
travel value
40000
Commanded speed 1000
(b) Positioning start command........................... leading edge of X000
(OFF → ON)
(c) Speed/position switching enable flag ........... M3265
(3) Operation timing
The operation timing for speed/position switching control is shown below.
Servo program No.101
V
All axes servo start command
(M2042)
All axes servo start accept flag
(M2049)
Start command (X000)
SVST instruction
Axis 4 start accept flag (M2004)
PLC ready (M2000)
Speed/position switching enable flag
(M3265)
t
1 sec 1 sec
Speed control
Position control
CHANGE (external input)
Speed/position switching latch
(M2465)
(4) Servo program
The servo program No. 101 for speed/position switching control is shown
below.
Speed/position switching control
Axis used Axis 4
Dwell
<K
101
>
VPF
Axis
4,
Speed
1000
40000
Dwell
1000
Travel value 40000
Speed 1000
1000
⋅
⋅