Mitsubishi Electric A173UHCPU Programming Manual page 192

7. POSITIONING CONTROL
M9039
0
M9074
2
X000 M9074 M2049 M9076
4
M41
11
M9074 M43 M2001 M2002
13
CIRCUIT END
(4) Operation timing
The operation timing for circular interpolation control using radius 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. 41 for circular interpolation control using radius
designation is shown below.
<K 41>
ABS
1,
Axis
2,
Axis
Speed
Radius
(6) Sequence program
The sequence program which runs the servo program is shown below.
V
Circular interpolation control using radius
100000
designation
50000
used
Axis
1000
80000
End point address
Positioning speed
Radius
PLS
SET
SVST J1J2
RST
7 − 45
Servo program No.41
1, 2
Axis Axis
1 100000
Axis
2 50000
Axis
1000
80000
Turns ON PLC ready.
M2000
Turns ON all axes servo start
M2042
command.
Turns ON servo program No.41
M41
start command flag (M43) when
X000 turns OFF ON.
M43
K
Servo program No.41 execution
41
request.
Turns OFF M43 on completion
43
of sarvo program No.41 execution
request.