Mitsubishi Electric A173UHCPU - Page 250

7. POSITIONING CONTROL
7 − 103
(4) Servo program
The servo program No. 310 for speed switching is shown below.
P1 designation
P2 designation
P3 designation
Speed change
P4 designation
<K 310>
CPSTART2
Axis 1
Axis 2
Speed 10000
ABS-2
Axis 1, 20000
Axis 2, 10000
ABS
Axis 1, 30000
Axis 2, 20000
Center 1, 30000
Center 2, 10000
ABS-2
Axis 1, 40000
Axis 2, 25000
Speed 15000
ABS-2
Axis 1, 50000
Axis 2, 40000
CPEND
(5) Sequence program
The sequence program which runs the servo program is shown below.
Turns ON all axes servo start
command.
CIRCUIT END
Turns ON PLC ready.
Servo program No. 310 execution
request.
Turns ON servo program No. 310
start command flag (M551) when
X000 turns OFF ON.
Turns OFF M551 and M2016 on
completion of servo program
No. 310 execution request.
X0010
M9039
M9074
M550
X000
M2000
J1J2 310
K
SVST
0
2
4
8
13
M9074 M551 M2001
M2002
15
M9074 M2049 M9076
RST
M2040
RST
M551
SET M551
PLS
M550
M2042
SET M2040
Turns ON speed-switching point
designation flag (M2040) when
X110 turns OFF ON.