Simultaneous Start - Mitsubishi Electric A173UHCPU Programming Manual

7. POSITIONING CONTROL
7.18

Simultaneous Start

Servo Positioning
Instruction Method
START
[Control Details]
[Cautions]
Error
Designated servo program does
not exist
START instruction designated as
servo program
The designated servo program
start axis is already designated.
A servo program cannot start
due to an error
After a single control start, the designated servo programs start simultaneously.
Use the START instruction to simultaneously start servo programs.
Common
Number of
Controllable
Axes
Control Using START Instruction
(1) Simultaneously start the designated servo programs.
(2) Any servo program can be designated, except the simultaneous start (START
instruction) servo program.
(3) Up to 3 servo programs can be designated.
(4) After the simultaneous start, each axis is controlled by the designated servo
program.
(1) A check is made at the simultaneous start. An error occurs and operation does
not start in the cases shown in the table below.
Error Processing
Servo program setting error flag
(M9079): ON
Start accept flag
(M2001+n): OFF
(2) The servo programs cannot be designated for the START instruction using indi-
rect designation.
(3) If the servo programs designated for the START instruction include fixed-pitch
feed control or speed/position switching control, start may be delayed a maxi-
mum of 1 second compared to other speed control or position control.
Items Set by Peripherals
Arc
! : Must be set
: Varies with the servo program which makes simultaneous start.
D9189
Program number causing error on
simultaneous start
Program number for which error
occurred on simultaneous start
7 − 123
Parameter Block
Stored Codes
D9190
19
Error Item Data
(see Section 6.3)
Others
!