Mitsubishi Electric A173UHCPU Programming Manual page 261

7. POSITIONING CONTROL
M9039
0
M9074
2
X000 M9074 M2049 M9076
4
M550
11
M9074 M551 M2001
13
CIRCUIT END
(d) Servo
The servo program No. 506 for constant-speed control is shown below.
<K 506>
CPSTART4
Axis 1
Axis 2
Axis 3
Axis 4
Speed
INC-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
INC-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
INC-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
CPEND
(e) Sequence program
The sequence program which runs the servo program is shown below.
M2002 M2003 M2004
Start constant-speed control
Axes used
Positioning speed
10000
4-axes linear interpolation control(P1)
3000
4000
Positioning address
4000
4000
4-axes linear interpolation control(P2)
5000
3500
-4000
Positioning address
-6000
5000
4-axes linear interpolation control(P3)
3500
3000
6000
Positioning address
End constant-speed control
PLS
SET
SVST J1J2J3J4
RST
7 − 114
Axis 1,Axis 2,Axis 3,Axis 4,
10000
Axis 1 3000
Axis 2 4000
Axis 3 4000
Axis 4 4000
Axis 1 5000
Axis 2 3500
Axis 3 -4000
Axis 4 -6000
Axis 1 5000
Axis 2 3500
Axis 3 3000
Axis 4 6000
M2000
Turns ON PLC ready.
Turns ON all axes servo start
M2042
command.
M550
Turns ON servo program No. 506
start command flag (M551) when
M551 X000 turns OFF
K
Servo program No. 506 execution
506
request.
M551
Turns OFF M551 on completion
of servo program No. 506 execution
request.
program
ON.