Mitsubishi Electric A173UHCPU Programming Manual page 206

7. POSITIONING CONTROL
M9039
0
M9074
2
X000 M9074 M2049 M9076
4
M320
11
M9074 M321 M2001 M2002 M2003
13
CIRCUIT END
(3) Operation timing
The operation timing for fixed-pitch feed control using 3-axes linear
interpolation is shown below.
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept flag
(M2049)
Start command
(X000)
SVST instruction
Axis 2 start accept flag
(M2002)
Axis 3 start accept flag
(M2003)
(4) Servo program
The servo program No. 320 for fixed-pitch feed control using 3-axes linear
interpolation is shown below.
<K 320>
FEED -3
Axis 1,
Axis 2,
Axis 3,
Speed
(5) Sequence program
The sequence program which runs the servo program is shown below.
V
10000
Fixed-pitch feed control using 3-axes linear
50000
interpolation
40000
⋅ Axis used
30000
1000
⋅ Positioning address
Positioning speed
PLS
SET
SVST J1J2J3
RST
7 − 59
Servo program No.11
1,
Axis Axis
1
Axis
2
Axis
3
Axis
10000
Turns ON PLC ready.
M2000
Turns ON all axes servo start
M2042
command.
Turns ON servo program No.320
M320
start command flag (M321) when
X000 turns OFF ON.
M321
K Servo program No.320 execution
320
request.
Turns OFF M321 on completion
M321
of sarvo program No.320 execution
request.
t
2, 3
Axis
50000
40000
30000