Mitsubishi Electric R64MTCPU - Page 52

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2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
Program example
■Program which requests to start direct positioning corresponding to the following servo
program in the Motion CPU (CPU No.2), when M0 turned ON
MOVP K0 D2000 Positioning type (A control other than
continuous trajectory control)
Positioning data items setting
(All invalid)
Axis No. (1)
Fixed at 0
Positioning control (ABS-1),
Interpolation speed (vector speed)
M-code (not using)
Dwell time (not using)
Torque limit during operation
(Invalid in ABS-1)
Command speed (100000 [pulse/s])
Positioning address (100000 [pulse])
Arc address (Invalid in ABS-1)
Positioning data area points
(14 points (D2000 to D2013))
Start of direct positioning
MP.SVSTD H3E1 D1000 D2000 "" M100
RST M0
MOVP K0 D2001
MOVP K1 D2002
MOVP K0 D2003
MOVP H0100 D2004
MOVP K0 D2005
MOVP K0 D2006
MOVP K0 D2007
DMOVP K100000 D2008
DMOVP K100000 D2010
DMOVP K0 D2012
MOVP K14 D1001
Instruction
execution
command
ABS-1
Axis 1,
Speed
100000 pulse
100000 pulse/s
M0
Normal complete program
Abnormal complete program
Complete
device
M100 M101
M101
Instruction
execution
command
Start accept
flag of CPU
No.2(Axis 1)
U3E1
\G516.0