Mitsubishi Electric A173UHCPU Programming Manual page 181

7. POSITIONING CONTROL
Axis 3 positioning
direction
(Forward direction)
(Reverse direction)
Axis 2 positioning
direction
(Forward direction)
5000
5000
(Reverse direction) (Reverse direction)
Fig.7.8 Positioning by 4-axes Linear Interpolation Control
(3) Positioning conditions
(a) The positioning conditions are shown below.
Item
Positioning method
Positioning speed
(b) Positioning start .................leading edge of X000 (OFF → ON)
(4) Operation timing
The operation timing for 4-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 insutruction
Axis 1 start accept flag
(M2001)
Axis 2 start accept flag
(M2002)
Axis 3 start accept flag
(M2003)
Axis 4 start accept flag
(M2004)
Positioning by No. 22 servo
program (Forward direction)
Axis 4 positioning
direction (Forward direction)
5000
Servo Program Number
No. 22
Incremental
1000
V
7 − 34
Axis 1 positioning
direction
(Forward direction)
Servo program No.22