Mitsubishi Electric A173UHCPU Programming Manual page 237

7. POSITIONING CONTROL
M9039
0
M9074
2
X000 M9074 M2049 M9076
4
M510
11
M9074 M511 M2002 M2003
13
CIRCUIT END
(4) Servo program
The servo program No. 501 for speed-switching control is shown below.
<K 501>
VSTART
INC-2
Axis 2, 230000
Axis 3, 100000
Speed 10000
VINC
Axis 2, 40000
Speed 40000
FOR-TIMES
K
VINC
Axis 2, 30000
Speed 20000
VINC
Axis 2, 50000
Speed 40000
NEXT
VEND
(5) Sequence program
The sequence program which runs the servo program is shown below.
Start speed-switching control
2-axes linear interpolation control (incremental method)
Axis used
End address
Positioning speed
Speed-switching point, speed setting
2
Indicated axis
Travel value to speed-switching point
Number or repeats 2
Speed-switching point and speed setting
Indicated axis number
Travel value to speed-switching point
Speed to speed-switching point
End speed-switching range
End speed-switching control
M2000
M2042
M510
PLS
M511
SET
K
SVST J2J3 501
M511
RST
7 − 90
Axis 2, Axis 3
Axis 2 230000
Axis 3 100000
10000
Axis 2
40000
Axis 2
30000
20000
Turns ON PLC ready.
Turns ON all axes servo start command.
Turns ON servo program No.501 start
command flag (M511) when X000 turns
OFF ON.
Servo program No.501 execution
request.
Turns OFF M511 on completion of
servo program No.501 execution
request.
50000
40000