Mitsubishi Electric Q172CPU Programming Manual page 159

5 POSITIONING DEDICATED SIGNALS
POINTS
Example 1, 2 are shown below about in-position signal and command in-position
signal of the interpolation axis.
[Example1]
PLC program
To self CPU
high sped
interrupt accept
Start
flag from CPU
command
U3E1\G48.0
Motion program
O100;
G91;
G00 X100. Y100.;
M02;
%
Operation timing
Motion program (Axis
designation program) start
Start accept flag (M2001+n)
In-position signal (M2402+20n)
Command in-position signal
(M2403+20n)
(1) The in-position signal turns ON by reaching the in-position range of servo
parameter after deceleration start.
Since the Z-axis is stopped in this case, it always turns on immediately after
deceleration start.
Even if the only 2 axes (X,Y) is commanded in the G00 command of Motion
program, when the 3 axes is started by SVST instruction in the PLC program,
the in-position signal turns ON after deceleration start in the Z-axis as X,Y-axis.
(2) The command in-position signal turns ON when the difference between the
command position of Motion program and the absolute position of machine
value is less than the command in-position range set in the fixed parameter.
Since the command of Z-axis is not described in this program, the command in-
position check is not executed during travel of Z-axis and it remains OFF from
start to stop of travel.
Start accept flag
of the axis No.2
Start accept flag
(CPU No.2)
of the axis No.1
U3D1\G516.1
(CPU No.2)
U3E1\G516.0
Axis X,Y speed
(Z-axis does not travel)
G0 travel block
X
Y
Z
X
Y
Z
5 - 18
Start accept flag
of the axis No.3
(CPU No.2)
U3E1\G516.2
SP.SVST H3E1 "J1J2J3" K100 D0
Command in-position range
In-position range