Mitsubishi Electric A173UHCPU - Page 225

7. POSITIONING CONTROL
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(3) Operation timing
The operation timing for speed/position switching control and restarting is
shown below.
V
CHANGE signal accept
t
1000
Position
control
Speed
control
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept flag
(M2049)
Start command(X000)
SVST instruction
Speed/position switching
enable flag (M3265)
CHANGE (external input)
Stop command (X002, M3260)
Reset command(X001)
Speed/position switching
lunch (M2465)
SVST instruction Axis 4 start
accept flag (M2004)
(4) Servo program
The servo program No. 101 for speed/position switching control and No. 102 for
restarting are shown below.
Speed/position switching control
Axis used Axis 4
Travel value 40000
Speed 1000
Restart
Axis used
Axis 4
<K 101>
VPF
Axis 4, 40000
Speed 1000
<K 102>
VPSTART
Axis 4,