Mitsubishi Electric A173UHCPU Programming Manual page 220

7. POSITIONING CONTROL
(2) Positioning conditions
(a) The positioning conditions are shown below.
Item
Servo program number
Controlled axis
Positioning control
travel value
Commanded speed
(b) Positioning start command ........................... leading edge of X000
(c) Speed/position switching enable flag ........... M3265
(3) Operation timing
The operation timing for speed/position switching control is shown below.
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept flag
(M2049)
Start command (X000)
SVST instruction
Axis 4 start accept flag (M2004)
Speed/position switching enable flag
(M3265)
CHANGE (external input)
Speed/position switching latch
(M2465)
(4) Servo program
The servo program No. 101 for speed/position switching control is shown
below.
<K 101 >
VPF
4,
Axis
Speed
Dwell
Setting
No. 101
Axis 4
40000
1000
Servo program No.101
V
1 sec
Speed/position switching control
⋅
40000
Axis used
1000
⋅
Travel value
1000
Speed
Dwell
7 − 73
(OFF → ON)
Speed control
Position control
t
1 sec
Axis 4
40000
1000
1000