Mitsubishi Electric A173UHCPU - Page 295

7. POSITIONING CONTROL
7 − 148
[Program Example]
This program carries out zeroing using servo program No. 0, under the conditions
below.
(1) System configuration
Zeroing of Axis 4.
A61P A273UH
CPU
A278
LX
M M M M
A61P AX41
Zeroing return command (X000)
MR- -B MR- -B MR- -B MR- -B
Axis 4Axis 3Axis 2Axis 1
(2) Servo program example
Servo program No. 0 for zeroing is shown below.
Zeroing
Axis
used
Axis
4
<K 0 >
ZERO
Axis 4
(3) Sequence program example
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. 0 execution
request.
Turns ON servo program No. 0
start command flag (M1) when
X000 turns ON.
Turns OFF M1 on completion of
servo program No. 0 execution
request.
M9039
M9074
X000
M9074
M0
M9074 M2049 M9076
M1 M2004
M2000
M2042
PLS
SET
J4
RST
M0
M1
0
K
M1
SVST
0
2
4
11
13
M2482