Mitsubishi Electric MELSEC Q Series Programming Manual page 320

6 POSITIONING CONTROL
(4) Servo program
Servo program No.510 for constant-speed control is shown below.
<K 510>
CPSTART2
Axis 2
Axis 3
Speed
ABS-2
Axis 2,
Axis 3,
FOR-TIMES
INC-2
Axis 2,
Axis 3,
INC
Axis 2,
Axis 3,
Radius
NEXT
CPEND
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
Constant-speed control
Constant-speed control
[F10]
SET M2042
[G10]
PX000*M2435*M2455
[K510]
CPSTART2
Axis 2
Axis 3
Speed 10000pulse/s
ABS-2
Axis 2, 40000pulse
Axis 3, 20000pulse
FOR-TIMES
INC-2
Axis 2, 30000pulse
Axis 3,
INC
Axis 2, 20000pulse
Axis 3, 20000pulse
Radius 20000pulse
NEXT
CPEND
[G20]
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.
Start constant-speed control
Axis used . . . . . . . . . Axis 2, Axis 3
Positioning speed . . . 10000
10000
Pass point setting
40000
20000
Number of repetitions 4
K 4
Pass point setting
Positioning
30000
method
0
Axis 2
Travel
20000
value Axis 3
20000
20000
End repetition region
End constant-speed control
Turn on all axes servo ON command.
Wait until PX000, Axis 2 servo ready and Axis 3 servo
ready turn on.
Start constant-speed control
Axis used . . . . . . . . . . Axis 2, Axis 3
Positioning speed . . . 10000[pulse/s]
2 axes linear interpolation control (Absolute data method)
Axis used . . . . . . . Axis 2, Axis 3
End address
Number of repetitions 4
K 4
Pass point setting
Positioning
0pulse
method
Axis 2
Travel
value Axis 3
End repetition region
End constant-speed control
Wait until PX000 turns off after constant-speed control
completion.
6 - 133
2 axes linear
Radius-specified
interpolation
circular interpolation
30000 20000
0 20000
Axis 2 . . . 40000[pulse]
Axis 3 . . . 20000[pulse]
2 axes linear Radius-specified
interpolation
circular interpolation
30000[pulse] 20000[pulse]
0[pulse] 20000[pulse]