Mitsubishi Electric A173UHCPU, Руководство по программированию

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7. POSITIONING CONTROL
7
−
123
7.18 Simultaneous Start
After a single control start, the designated servo programs start simultaneously.
Use the START instruction to simultaneously start servo programs.
Items Set by Peripherals
Common Arc Parameter Block Others
Servo
Instruction
Positioning
Method
Number of
Controllable
Axes
Pa
ra
me
te
r B
lo
c
k
N
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.
Ax
is
A
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p
eed
Dwell T
im
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M
-C
ode
T
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L
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A
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P
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Ra
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ter
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it
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top D
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START
!
!
: Must be set
: Varies with the servo program which makes simultaneous start.
[Control Details]
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.
[Cautions]
(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.
Stored Codes
Error Error Processing
D9189 D9190
Designated servo program does
not exist
START instruction designated as
servo program
The designated servo program
start axis is already designated.
Program number causing error on
simultaneous start
19
A servo program cannot start
due to an error
Servo program setting error flag
(M9079): ON
Start accept flag
(M2001+n): OFF
Program number for which error
occurred on simultaneous start
Error Item Data
(see Section 6.3)
(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.