Mitsubishi Electric A173UHCPU - Page 253

7. POSITIONING CONTROL
7 − 106
(4) Operation timing
The operation timing for servo program No. 500 is shown below.
All axes servo start command (M2042)
PLC ready (M2000)
-10000
10000
V
t
P1 P2 P3 P4
1)
All axes servo start accept flag (M2049)
Start command (X000)
SVST instruction
Axis 4 start accept flag (M2004)
(5) Servo program
The servo program No. 500 for constant-speed control is shown below.
Start constant-speed control
Axis
used
Axis
4
Positioning speed 10000
1-axis linear positioning control
Axis
used
Axis
4
Positioning address -1000
Set 100 repeats
1-axis linear positioning control
Axis
used
Axis
4
Positioning address 2000
1-axis linear positioning control
Axis
used
Axis
4
Positioning address -2000
End repeated region
1-axis linear positioning control
Axis
used
Axis
4
Positioning address 1000
End constant-speed control
<K 500>
CPSTART2
Axis 4
Speed 10000
INC-1
Axis 4,
-
1000
FOR-TIMES
K 100
INC-1
Axis 4, 2000
Speed 20000
INC-1
Axis 4,
-
2000
NEXT
INC-1
Axis 4, 1000
CPEND