Mitsubishi Electric A173UHCPU Programming Manual page 21

1. GENERAL DESCRIPTION
[Executing Positioning Control with a Servo System CPU]
Sequence program
Example: SVST instruction
M2001
1) In the sequence program, the servo program number and controlled
axis number are set with the SVST instruction.
2) When the SVST instruction is executed, the PCPU is
requested to execute the program with the designated servo
program number.
The servo system CPU executes positioning control in accordance with the servo
programs designated by the sequence program of the SCPU.
An overview of the method used for positioning control is presented below.
Servo System CPU System
SCPU Control
Created and modified using a
peripheral device
"Execute positioning" command
Interlock condition for axis 1
SVST J1 K15
Servo program No.15
Axis 1 (Controlled axis No.)
Servo program start request
(1) Servo programs and positioning control parameters are set using a peripheral
device.
(2) Positioning is started by the sequence program (SVST instruction).
(a) The servo program number and controlled axis number are designated by
the SVST instruction.
1) The servo program number can be set either directly or indirectly.
2) The controlled axis number can only be set directly.
(Note-1)
Request for
execution of
servo program
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