Mitsubishi Electric A173UHCPU - Page 224

7. POSITIONING CONTROL
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[Program Example]
This program restarts speed/position switching control after a stop, under the
conditions below.
(1) System configuration
Speed/position switching control of Axis 4.
M M M M
A61P
A273UH
CPU
A278
LX
Axis
1
Axis
2
Axis
3
Axis
4
A61P
AX41
Start-stop command (X000),
restart (X001), stop command (X002)
MR- -B
MR- -B MR- -B
MR- -B
CHNGE signal
(2) Positioning conditions
(a) The positioning conditions are shown below.
Setting
Item
Speed/Position
Switching Control
Restart
Servo program number No. 101 No. 102
Controlled axis Axis 4 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
(d) Restart command......................................... leading edge of X001
(OFF → ON)
(e) Stop command ............................................. leading edge of X002
(OFF → ON)