Mitsubishi Electric R16MTCPU Programming Manual page 52

Program example
■Program which requests to start direct positioning corresponding to the following servo
program in the Motion CPU (CPU No.2), when M0 turned ON
ABS-1
Axis 1, 100000 pulse
Speed 100000 pulse/s
U3E1
M0
\G516.0
Instruction Start accept
execution flag of CPU
command No.2(Axis 1)
M100 M101
Complete
M101
device
2 MOTION DEDICATED PLC INSTRUCTION
50
2.2 Motion Dedicated PLC Instruction
MOVP K0
MOVP K0
MOVP K1
MOVP K0
MOVP H0100
MOVP K0
MOVP K0
MOVP K0
DMOVP K100000 D2008
DMOVP K100000 D2010
DMOVP K0
MOVP K14
MP.SVSTD H3E1 D1000 D2000 "" M100
Normal complete program
Abnormal complete program
D2000 Positioning type (A control other than
continuous trajectory control)
D2001 Positioning data items setting
(All invalid)
D2002 Axis No. (1)
D2003 Fixed at 0
D2004 Positioning control (ABS-1),
Interpolation speed (vector speed)
D2005 M-code (not using)
D2006 Dwell time (not using)
D2007 Torque limit during operation
(Invalid in ABS-1)
Command speed (100000 [pulse/s])
Positioning address (100000 [pulse])
D2012 Arc address (Invalid in ABS-1)
D1001 Positioning data area points
(14 points (D2000 to D2013))
Start of direct positioning
RST M0
Instruction
execution
command