Mitsubishi Electric A173UHCPU - Page 237

7. POSITIONING CONTROL
7 − 90
(4) Servo program
The servo program No. 501 for speed-switching control is shown below.
Start speed-switching control
2-axes linear interpolation control (incremental method)
Axis used Axis 2, Axis 3
End address
Positioning speed
10000
Speed-switching point, speed setting
Indicated axis Axis 2
Travel value to speed-switching point 40000
Number or repeats 2
Speed-switching point and speed setting
End speed-switching range
End speed-switching control
<K 501>
VSTART
INC-2
Axis 2, 230000
Axis 3, 100000
Speed 10000
VINC
Axis 2, 40000
Speed 40000
FOR-TIMES
K 2
VINC
Axis 2, 30000
Speed 20000
VINC
Axis 2, 50000
Speed 40000
NEXT
VEND
Axis 2 230000
Axis 3
100000
Indicated axis number Axis 2
Travel value to speed-switching point 30000 50000
Speed to speed-switching point 20000 40000
(5) Sequence program
The sequence program which runs the servo program is shown below.
Turns ON PLC ready.
Turns ON all axes servo start command.
Turns ON servo program No.501 start
command flag (M511) when X000 turns
OFF ON.
Servo program No.501 execution
request.
Turns OFF M511 on completion of
servo program No.501 execution
request.
CIRCUIT END
M9039
M2042
J2J3
RST
501
K
M511
SVST
0
11
M2000
SET
M511
PLS
M510
2
4
13
M9074
X000
M510
M9074 M511 M2002 M2003
M9074 M2049 M9076