Mitsubishi Electric A173UHCPU Programming Manual page 267

7. POSITIONING CONTROL
[Cautions]
[Program Example]
(1) The number of controllable axes is limited to one.
(2) Only the absolute method (ABS") is used for positioning control to the pass
points.
(3) The speed can be changed after control is started.
The changed speed remains valid until the stop command is input.
(4) Set the positioning address in the servo program using indirect designation with
the word devices D and W.
(5) Use only even-numbered devices for indirect designation of positioning ad-
dresses in a servo program.
If odd-numbered devices are used, when an attempt is made to start the control
error 141 occurs and control does not start.
(6) Positioning speeds can be set in the servo program using indirect designation
with the word devices D and W.
However, this set speed is valid only at the start of position follow-up control (on
execution of SVST, instructions) and the speed does not change if the indirect
designations are changed while control is in progress.
(1) System configuration
Position follow-up control of Axis 3.
A61P A273UH A278
CPU LX
MR- -B MR- -B MR- -B MR- -B
Axis 2
Axis 1
M M
(2) Positioning conditions
(a) The position follow-up conditions are shown below.
Item
Servo program number
Controlled axis
Positioning address
Positioning speed
(b) Position follow-up control start command .... leading edge of X000
(OFF → ON)
A61P AX41
Positioning Start command(X000)
Axis 3 Axis
4
M M
Setting
100
Axis 3
D50
20000
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