Mitsubishi Electric Q173CPU Programming Manual page 341

9 MOTION CONTROL PROGRAMS
[Program example]
A program which made the current value change control of the synchronous encoder
shaft is described as the following conditions.
(1) System configuration
The current value change control of the synchronous encoder shaft P1 is
executed.
Q172
Q02H Q173
CPU CPU
(N)
AMP
Axis 1 Axis 2
M
(2) The current value change control conditions
(a) The current value change control conditions are shown below.
Item
Servo program No.
Synchronous encoder No.
Current value change address
(3) Operation timing
CHGA-E instruction
Synchronous encoder
shaft current value
changing flag
(4) Servo program
< K10 >
CHGA-E
Axis 1, D1500
QX10
EX
P1 axis
AMP
AMP AMP
Axis 3
Axis 4
M M M
Synchronous encoder shaft current value
change control
Synchronous encoder No. .......... 1
Current value change address ... Indirect designation using
9 - 18
AMP
AMP AMP
Axis 5 Axis 7
Axis 6
M M M
Setting
10
1
Indirect designation
using D1500, D11501
Current value change
completion
D1500, D1501
AMP
Axis 8
M