Mitsubishi Electric MELSEC Q Series Programming Manual page 226

6 POSITIONING CONTROL
(4) Operation timing
Operation timing for 4 axes linear interpolation control is shown below.
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 1 servo ready (M2415)
Axis 2 servo ready (M2435)
Axis 3 servo ready (M2455)
Axis 4 servo ready (M2475)
Start command (PX000)
Servo program start
Axis 1 start accept flag
(M2001)
Axis 2 start accept flag
(M2002)
Axis 3 start accept flag
(M2003)
Axis 4 start accept flag
(M2004)
(5) Servo program
Servo program No.22 for 4 axes linear interpolation control is shown below.
<K 22>
INC-4
Axis
Axis
Axis
Axis
Vector speed
(Note): Example of the Motion SFC program for positioning control is shown next page.
V
4 axes linear interpolation control
1, 4000
Axis used . . . . Axis 1, Axis 2, Axis 3, Axis4
2, 3000
3, 4000
Travel value to
4, 4000
stop position . . . . . . .
10000
Command positioning speed
Vector speed . . . . . . . . . . . . . . 10000
6 - 39
Servo program No.22
t
Axis 1 . . . . . 4000
Axis 2 . . . . . 3000
Axis 3 . . . . . 4000
Axis 4 . . . . . 4000