Mitsubishi Electric A173UHCPU - Page 261

7. POSITIONING CONTROL
7 − 114
(d) Servo program
The servo program No. 506 for constant-speed control is shown below.
Start constant-speed control
Axes used
Axis 1,Axis 2,Axis 3,Axis 4,
Positioning speed
10000
4-axes linear interpolation control(P1)
Positioning address
4-axes linear interpolation control(P2)
Positioning address
4-axes linear interpolation control(P3)
Positioning address
End constant-speed control
<K 506>
CPSTART4
Axis 1
Axis 2
Axis 3
Axis 4
Speed 10000
INC-4
Axis 1, 3000
Axis 2, 4000
Axis 3, 4000
Axis 4, 4000
INC-4
Axis 1, 5000
Axis 2, 3500
Axis 3, -4000
Axis 4, -6000
INC-4
Axis 1, 5000
Axis 2, 3500
Axis 3, 3000
Axis 4, 6000
CPEND
Axis 1 3000
Axis 2
4000
Axis 3
4000
Axis 4
4000
Axis 1 5000
Axis 2
3500
Axis 3
-4000
Axis 4
-6000
Axis 1 5000
Axis 2
3500
Axis 3
3000
Axis 4
6000
(e) 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. 506 execution
request.
Turns ON servo program No. 506
start command flag (M551) when
X000 turns OFF ON.
Turns OFF M551 on completion
of servo program No. 506 executio
n
request.
M9039
M9074
X000
M9074
M550
M9074 M2049 M9076
M551 M2001
M2000
M2042
PLS
SET
J1J2J3J4
RST
M550
M551
506
K
M551
SVST
0
2
4
11
13
M2002
M2003
M2004