Mitsubishi Electric A173UHCPU Programming Manual page 197

7. POSITIONING CONTROL
M9039
0
M9074
2
M9074 M2049 M9076
X000
4
M51
11
M2001 M2002
M9074 M53
13
CIRCUIT END
(4) Operation timing
The operation timing for circular interpolation control using center point
designation is shown below.
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept frag
(M2049)
Positioning start command
(X000)
SVST instruction
Axis 1 start accept flag
(M2001)
Axis 2 start accept flag
(M2002)
(5) Servo program
The servo program No. 51 for circular interpolation control using center point
designation is shown below.
<K 51>
ABS
Axis 1,
Axis
2,
Speed
Center
point
1,
Center
point 2,
(6) Sequence program
The sequence program which runs the servo program is shown below.
V
Circular interpolation control using center point
78541
designation
30000
⋅ Axis used ¥¥¥¥¥¥¥¥¥¥¥¥¥¥¥¥ Axis 1,Axis 2
@ 1000
⋅ End point address
45000
20000
Positioning speed ¥¥¥¥¥¥¥¥ 1000
Center point address
PLS
SET
SVST J1J2
RST
7 − 50
Servo program No.51
1 ¥¥¥¥ 78541
Axis
2 ¥¥¥ 30000
Axis
1 ¥¥¥¥ 45000
Axis
2 ¥¥¥ 20000
Axis
Turns ON PLC ready.
M2000
Turns ON all axes servo start
M2042
command.
M51 Turns ON servo program No.51
start command flag (M53) when
X000 turns OFF ON.
M53
K
Servo program No.51 execution
51
request.
Turns OFF M1 on completion
M53
of sarvo program No.51 execution
request.