Mitsubishi Electric A173UHCPU - Page 258

7. POSITIONING CONTROL
7 − 111
(c) Servo program
Servo program No. 505 for constant-speed control is shown below.
Start constant-speed control
Axis
used
Axis
2
Axis
3
Positioning speed 10000
2-a
xes
linear interpolation control
Positioning address
Circular interpolation control
Positioning address
Radius 20000
2-a
xes
linear interpolation control
Positioning address
End constant-speed control
<K 505>
CPSTART2
Axis 2
Axis 3
Speed 10000
ABS-2
Axis 2, 30000
Axis 3 30000
ABS
Axis 2, 50000
Axis 3 50000
Radius 20000
ABS-2
Axis 2, 90000
Axis 3 100000
CPEND
Axis
2 30000
Axis
3 30000
Axis
2 50000
Axis
3 50000
Axis
2 90000
Axis
3 100000
(d) 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. 505 execution
request.
Turns ON servo program No. 505
start command flag (M551) when
X000 turns OFF ON.
Turns OFF M551 on completion
of servo program No. 505 executio
n
request.
M9039
M9074
X000
M9074
M550
M9074 M2049 M9076
M551 M2002
M2000
M2042
PLS
SET
J2J3
RST
M550
M551
505
K
M551
SVST
0
2
4
11
13
M2003