Mitsubishi Electric A173UHCPU Programming Manual page 238

7. POSITIONING CONTROL
7.16 Constant-Speed Control
[Procedure to Write Servo Programs]
(1) After a single control start, positioning control is executed using the designated
positioning method and positioning speed to the preset pass point.
(2) The positioning method and positioning speed can be changed for each pass
point.
(3) Set the following parameters with the servo program.
• pass point
• positioning method from one pass point to the next pass point.
• positioning speed from one pass point to the next pass point.
(4) Repeat instructions permit repeated control between any pass points.
(5) M-code and torque limit value can be changed at each pass point.
(6) From 1 to 4-axes can be controlled.
The method to write servo programs for constant-speed control is shown below.
[Procedure]
Start
Designated constant-speed
controlled axis and speed
Designate all pass points
Designate positioning method
Designate positioning address
(travel value)
Designate speed-switching
NO
All pass points designated?
YES
End constant-speed control
End
[Example: Servo program for 2-axes
constant-speed control]
<K 1 >
Point
4
CPSTART2
Axis
Axis
Resultant speed
1 ABS-2
Axis
Axis
ABS-2
2
Axis
Axis
Resultant speed
3 ABS-2
Axis
Axis
4 CPEND
7 − 91
2,
3,
10000 (PLS/s)
2, 40000 (PLS)
3, 60000 (PLS)
2, 60000 (PLS)
3, 60000 (PLS)
15000 (PLS/s)
2, 100000 (PLS)
3, 80000 (PLS)