Mitsubishi Electric Q173CPU Programming Manual page 295

Q series motion controller
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7 OPERATION CONTROL PROGRAMS
[Program examples]
[ Servo program ]
CPSTART2
Axis 1
Axis 2
Speed 1000
ABS-2
P1
Axis 1, 10000
Axis 2,
ABS-2
P2
Axis 1, 10000
Axis 2, 10000
ABS-2
P3
Axis 1,
Axis 2,
CPEND
Stat request SVST
Start accept M2001+n
Speed change request
CHGV
New speed
Combined speed
Command in-position
(OFF)
Speed change "0"
accepting flag
(1) Program which changes the positioning speed of axis 2
CHGV(K2,K10)
(2) Return program which changes the positioning speed of axis 1 to a negative value
CHGV(K1,K 1000)
The following operation will be performed when a return request is made in
constant-speed control.
Axis 2
0
20000
Starting point
10000
Return operation to point
If a speed change to a negative speed is made during execution of positioning to
P2 as shown above, the axis returns to P1 along the program specified locus and
waits at P1.
Locus
P2
P1
-1000
7 - 70
P3
Negative speed change
Axis 1
1000
Waiting at P1

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