Case Where Different Servo Programs Are Executed Consecutively - Mitsubishi Electric A173UHCPU Programming Manual

6. SERVO PROGRAMS FOR POSITIONING CONTROL
6.5.2

Case where different servo programs are executed consecutively

The general concept for a program that, on completion of positioning in accordance
with a servo program executed in response to a start request, executes the next
servo program, is shown in Figure 6.6. below.
Start request
1)
2)
3)
2)
6)
7)
The applications of 1) to 9) are indicated below.
1): Start request leading edge detection flag (devices that can be used: Y, M, L, S, B, F)
2): Start accept flag (set a number of flags corresponding to the number of axis
designated in the servo program)
3), 7): SVST instruction execution request flag (devices that can be used: Y, M, L, S, B, F)
4), 8): Axis No. designated in the servo program
5), 9): Started servo program No. (K0 to K4095)
6): Start request recording flag (Y, M, L, S, B, F)
Fig. 6.6 Sequence Program for Starting Servo Programs
PLS 1)
SET 3)
SVST 4) 5)
RST 3)
6)
SET
PLS 7)
SVST 8) 9)
6)
RST
6 − 16
When the start request comes ON, if
the designated axis is not in motion, a
request to execute a SVST instruction
is issued.
Servo program start request issued in
response to SVST instruction.
ON completion of execution of the
SVST instruction, the device
designated at 3) is reset.
The next SVST instruction execution
request flag 6) is turned ON.
When all axes have stopped after the
SVST instruction execution
request flag 6) has come ON, the
execution request for the next
SVST instruction is issued.
The servo program start request is
issued in accordance with the SVST
instruction.
On completion of execution of the
SVST insutruction, the device
designated at 6) is reset.