Mitsubishi Electric Q173DSCPU - Page 427

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7 MOTION CONTROL PROGRAMS
[Program example]
A program which made the current value change control of the synchronous encoder
shaft is described as the following conditions.
(1) System configuration
The current value change control of the synchronous encoder shaft P1 is
executed.
Axis 1
M
Axis 2
M
AMP
M M
AMP
M M
AMP
M M
AMP
Axis 3
Axis 4
Axis 5
Axis 6
Axis 7
Axis 16
AMP
AMP
AMPAMP
P1 axis
QX10 Q172D
EX
Q173D
CPU
Q03UD
CPU
QX10Q61P
(2) The current value change control conditions
(a) The current value change control conditions are shown below.
Item Setting
Servo program No. 10
Synchronous encoder No. 1
Current value change address
Indirect designation
using D1500, D1501
(3) Operation timing
CHGA-E instruction
Synchronous encoder
shaft current value
changing flag
Current value change
completion
(4) Servo program
CHGA-E
Synchronous encoder shaft current value
change control
Axis 1, D1500
< K10 >
Synchronous encoder axis No. .......... 1
Current value change address ........... Indirect designation using
D1500, D1501