Mitsubishi Electric R64MTCPU - Page 77

2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
75
2
Program example
■Program for machine program start request which performs linear interpolation to positioning
point P100 at a command speed of 10000 for the machine 1 that consists of axis 1 and axis 2,
by the Motion CPU (CPU No.2), when M0 turned ON
MOVP K1 D2000 Number of positioning points (1)
Machine No. (1)
Positioning data items setting
(all disabled)
Positioning data items setting value
(For 32 words)(Not used (0))
Specify positioning point
(world coordinate system)
Command speed (10000)
Point block data (P100)
Auxiliary/central point block data (Not used (0))
Radius (Not used (0))
Expansion point items setting
(all disabled)
Machine operation data area points
(78 points (D2000 to D2077))
Start machine program operation
MP.MCNST H3E1 D1000 D2000 M100
RST M0
MOVP K1 D2001
DMOVP K0 D2002
FMOVP K0
K0
D2004 K32
MOVP K0 D2037
Control method (linear interpolation (ABS))MOVP H0100 D2036
DMOVP K10000 D2038
MOVP K100 D2040
MOVP K0 D2041
DMOVP K0 D2042
DMOVP K0 D2044
MOVP K78 D1001
Expansion point items setting value
(For 32 words)(Not used (0))
FMOVP D2046 K32
Instruction
execution
command
M0
Normal complete program
Abnormal complete program
Complete
device
M100 M101
M101
Instruction execution
command
U3E1
\G 516.0
Start accept
flag of CPU
No.2(Axis 1)
U3E1
\G 516.1
Start accept
flag of CPU
No.2(Axis 2)