Mitsubishi Electric A173UHCPU Programming Manual page 271

7. POSITIONING CONTROL
[Program Example]
This program executes simultaneous start under the conditions below.
(1) System configuration
Simultaneous start of Axis 1, Axis 2, Axis 3, and Axis 4.
A61P A273UH A278
CPU LX
A
MR- -B MR- -B MR- -B MR- -B
Axis 1 Axis 2
M M
(2) Quantity and numbers of servo programs designated
(a) Designated servo programs: 3
(b) Designated servo program numbers
Servo Program No.
1
14
45
(3) Start conditions
(a) Simultaneous start servo program number .............No. 121
(b) Simultaneous start run command............................leading edge of
(4) Servo program
The simultaneous start servo program No. 121 is shown below.
<K 121>
START
A61P AX41
Start command(X000)
Axis 3 Axis 4
M M
Axis
1, 2
3
4
K 1
K 14
K 45
7 − 124
Control Details
Circular interpolation
control
Speed control
Zeroing control
X100 (OFF → ON)
Simultaneous start
No.1 servo program
No.14 servo program
No.45 servo program