Mitsubishi Electric A173UHCPU Programming Manual page 182

7. POSITIONING CONTROL
M9039
0
M9074
2
X000 M9074 M2049 M9076
4
M21
11
M9074 M23 M2001 M2002 M2003
13
CIRCUIT END
(5) Servo program
The servo program No. 22 for 4-axes linear interpolation control is shown
below.
<K 22>
INC -4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
Combiend speed
(6) Sequence program
The sequence program which runs the servo program is shown below.
M2004
4-axes linear interpolation control
⋅ Axis used
3000
4000
⋅ Positioning address
4000
4000
10000
Commanded positioning speed
⋅ Combiend speed
PLS
SET
SVST J1J2J3J4
RST
7 − 35
1, 2,
Axis Axis Axis
1 3000
Axis
2 4000
Axis
3 4000
Axis
4 4000
Axis
10000
Turns ON PLC ready.
M2000
turns ON all axes servo start
M2042
command.
Turns ON servo program No.22
M21
start command flag (M23) when
X000 turns OFF
M23
K
Servo program No.22 execution
22
request.
Turns OFF M23 on completion
M23
of sarvo program No.22 execution
request.
3,. 4
Axis
ON.