Mitsubishi Electric SV13/22 Programming Manual page 229

7. POSITIONING CONTROL
PLC ready(M2000)
All axes servo start command(M2042)
All-axis servo start accept flag(M2009)
Start command(X000)
Restart command(X001)
SVST instruction
SVST instruction Axis 4 start accept flag(M2004)
Speed/position switching enable flag(M1865)
CHANGE(external input)
Speed/position switching latch(M1665)
Stop command(X002 C M1860)
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(3) Operation timing
The operation timing for speed/position switching control and restarting is
shown below.
(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
Speed
<K 102>
VPSTART
Axis
search engine
V
1000
Speed
control
4, 40000
1000
4,
7 − 77
CHANGE signal accept
Position
control
t
Speed/position switching control
Axis used Axis 4
Travel value 40000
Speed 1000
Restart
Axis used Axis 4