Mitsubishi Electric MELSEC Q Series Programming Manual page 334

6 POSITIONING CONTROL
(e) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
2 axes constant-speed control
2 axes constant-speed control
[F10]
SET M2042
[G10]
PX000*M2435*M2455
[K505]
CPSTART2
Axis 2
Axis 3
Speed 10000pulse/s
ABS-2
Axis 2, 30000pulse
Axis 3, 30000pulse
ABS
Axis 2, 50000pulse
Axis 3, 50000pulse
Radius
20000pulse
ABS-2
Axis 2, 90000pulse
Axis 3, 100000pulse
CPEND
[G20]
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.
(2) Program for 4 axes constant-speed control is shown as the following conditions.
(a) System configuration
Constant-speed control for Axis 1, Axis 2, Axis 3, and Axis 4.
Q61P Q03UD
CPU
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
Positioning address
Circular interpolation control
Positioning address
Radius . . . 20000[pulse]
2 axes linear interpolation control
Positioning address
End constant-speed control
Wait until PX000 turn off after constant-speed control
completion.
Q172D QX41 QY41P Q172D
CPU LX
AMP AMP AMP
Axis Axis Axis
1 2 3
M M M
6 - 147
Axis 2 . . . 30000[pulse]
Axis 3 . . . 30000[pulse]
Axis 2 . . . 50000[pulse]
Axis 3 . . . 50000[pulse]
Axis 2 . . . 90000[pulse]
Axis 3 . . 100000[pulse]
Motion CPU control module
Start command (PX000)
AMP
Axis
4
M