Mitsubishi Electric R16MTCPU Programming Manual page 77

Program example
■Program for machine program start request which performs linear interpolation to positioning
point P100 at a command speed of 10000 for the machine 1 that consists of axis 1 and axis 2,
by the Motion CPU (CPU No.2), when M0 turned ON
U3E1 U3E1
\G516.0 \G516.1
M0
Instruction Start accept Start accept
execution flag of CPU flag of CPU
command No.2(Axis 1) No.2(Axis 2)
M100 M101
Complete
M101
device
MOVP K1 D2000
MOVP K1 D2001
DMOVP K0 D2002
FMOVP K0 D2004 K32
MOVP H0100 D2036
MOVP K0 D2037
DMOVP K10000 D2038
MOVP K100 D2040
MOVP K0 D2041
DMOVP K0 D2042
DMOVP K0 D2044
FMOVP K0 D2046 K32
MOVP K78 D1001
MP.MCNST H3E1 D1000 D2000 M100
RST M0
Instruction execution
command
Normal complete program
Abnormal complete program
Number of positioning points (1)
Machine No. (1)
Positioning data items setting
(all disabled)
Positioning data items setting value
(For 32 words)(Not used (0))
Control method (linear interpolation (ABS))
Specify positioning point
(world coordinate system)
Command speed (10000)
Point block data (P100)
Auxiliary/central point block data (Not used (0))
Radius (Not used (0))
Expansion point items setting
(all disabled)
Expansion point items setting value
(For 32 words)(Not used (0))
Machine operation data area points
(78 points (D2000 to D2077))
Start machine program operation
2 MOTION DEDICATED PLC INSTRUCTION
2.2 Motion Dedicated PLC Instruction
2
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