Mitsubishi Electric MELSEC Q Series Programming Manual page 335

6 POSITIONING CONTROL
(b) Positioning conditions
1) Constant-speed control conditions are shown below.
Item
Servo program No.
Positioning speed
Positioning method
Axis 1
Axis 2
Pass point
Axis 3
Axis 4
2) Constant-speed control start command... PX000 Leading edge
(c) Servo program
Servo program No.506 for constant-speed control is shown below.
<K 506>
CPSTART4
Axis 1
Axis 2
Axis 3
Axis 4
Speed
INC-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
INC-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
INC-4
Axis 1,
Axis 2,
Axis 3,
Axis 4,
CPEND
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 148
4 axes linear 4 axes linear
interpolation interpolation
3000
4000
4000
4000
Constant-speed control
Axis used . . . Axis 1, Axis 2, Axis 3, Axis 4
Positioning speed . . . 10000
10000
4 axes linear interpolation control (P1)
3000
4000
Travel value to pass point
4000
4000
4 axes linear interpolation control (P2)
5000
3500
Travel value to pass point
-4000
-6000
4 axes linear interpolation control (P3)
5000
3500
Travel value to pass point
3000
6000
End constant-speed control
Setting
506
10000
4 axes linear
interpolation
5000 5000
3500 3500
-4000 3000
-6000 6000
(OFF ON)
Axis 1 . . . 3000
Axis 2 . . . 4000
Axis 3 . . . 4000
Axis 4 . . . 4000
Axis 1 . . . 5000
Axis 2 . . . 3500
Axis 3 . . . -4000
Axis 4 . . . -6000
Axis 1 . . . 5000
Axis 2 . . . 3500
Axis 3 . . . 3000
Axis 4 . . . 6000