Mitsubishi Electric A173UHCPU - Page 268

7. POSITIONING CONTROL
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(3) Operation timing
The operation timing for position follow-up control is shown below.
V
t
Command in-position
set value
All axes servo start command (M2042)
All axes servo start accept flag (M2049)
Start command (X000)
SVST instruction
PLC ready (M2000)
Positioning address (D50)
PCPU ready (M9074)
Start accept flag (M2001+n)
Positioning start completed
(M2400+20n)
Positioning completed
(M2401+20n)
Stop command (M3200+20n)
Complete signal OFF command
(M3204+20n)
M-code
Torque limit value
Command in-position
(M2403+20n)
(4) Servo program
The servo program No. 100 for position follow-up control is shown below.
Position follow-up control
Axis
used
Axis
3
Positioning address
D50
Speed
20000
<K 101>
PFSTART
Axis 3, D 5 0
Speed 20000