Mitsubishi Electric A173UHCPU Programming Manual page 173

7. POSITIONING CONTROL
M9039
0
M9074
2
X000 M9074 M2049 M9076
4
M0
11
M1 M9074 M2003 M2004
13
CIRCUIT END
(4) Operation timing
The operation timing for 2-axes linear interpolation control is shown below.
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept flag
(M2049)
Positioning start command
(X000)
SVST instruction
Axis 3 start accept flag
(M2003)
Axis 4 start accept flag
(M2004)
(5) Servo program
The servo program No. 11 for 2-axes linear interpolation control is shown
below.
<K 11>
ABS -2
Axis 3,
Axis 4,
Combined speed
(6) Sequence program
The sequence program which runs the servo program is shown below.
V
2-axes linear interpolation control
⋅ Axis used
50000
40000
30000
⋅ Positioning address
Commanded positioning speed
⋅ Combined speed
PLS
SET
SVST J3J4
RST
7 − 26
Servo program No.11
3,
Axis Axis
3
Axis
4
Axis
30000
M2000 Turns ON PLC ready.
Turns ON all axes servo start
M2042
command.
M0
Turns ON servo program No.11
start command flag (M1) when
M1 X000 turns OFF ON.
K
Servo program No.11 execution
11
request.
Turns OFF M1 on completion
M1
of sarvo program No.11 execution
request.
4
50000
40000