Mitsubishi Electric A173UHCPU Programming Manual page 225

7. POSITIONING CONTROL
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept flag
(M2049)
Start command(X000)
Reset command(X001)
SVST instruction
SVST instruction Axis 4 start
accept flag (M2004)
Speed/position switching
enable flag (M3265)
CHANGE (external input)
Speed/position switching
lunch (M2465)
Stop command (X002, M3260)
(3) Operation timing
The operation timing for speed/position switching control and restarting is
shown below.
V
1000
(4) Servo program
The servo program No. 101 for speed/position switching control and No. 102 for
restarting are shown below.
<K 101>
VPF
Axis 4,
Speed
<K 102>
VPSTART
Axis 4,
Speed
control
Speed/position switching control
40000
Axis used
1000
Travel value
Speed
Restart
Axis used
7 − 78
CHANGE signal accept
Position
control
t
Axis 4
40000
1000
Axis 4