Mitsubishi Electric A173UHCPU Programming Manual page 186

7. POSITIONING CONTROL
M9039
0
M9074
2
X000 M9074 M2049 M9076
4
M31
11
M9074 M33 M2001 M2002
13
CIRCUIT END
(4) Operation timing
The operation timing for circular interpolation control using auxiliary point
designation is shown below.
PLC ready (M2000)
All axes servo start command
(M2042)
All axes servo start accept frag
(M2049)
Positioning start command
(X000)
SVST instruction
Axis 3 start accept flag
(M2001)
Axis 4 start accept flag
(M2002)
(5) Servo program
The servo program No. 31 for circular interpolation control using auxiliary point
designation is shown below.
<K 31>
ABS
Axis 1,
Axis 2,
Speed
Auxiliary 1,
point
Auxiliary 2,
point
(6) Sequence program
The sequence program which runs the servo program is shown below.
V
Circular interpolation control using auxiliary point
80000
designation
30000
⋅ Axis used
1000
⋅ End point address
40000
50000
Positioning speed
Auxiliary point address
PLS
SET
SVST J1J2
RST
7 − 39
Servo program No.31
1,
Axis Axis
1 80000
Axis
2 30000
Axis
1000
1 40000
Axis
2 50000
Axis
Turns ON PLC ready.
M2000
turns ON all axes servo start
M2042
command.
Turns ON servo program No.31
M31
start command flag (M1) when
X000 turns OFF
M33
K
Servo program No.31 execution
31
request.
Turns OFF M1 on completion
M33
of sarvo program No.31 execution
request.
2
ON.