Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 277

■Operation timing
Operation timing for 2 axes linear interpolation control is shown below.
[Rq.1120] PLC ready flag (M2000)
[Rq.1123] All axes servo ON command
(M2042)
[St.1045] All axes servo ON accept flag
(M2049)
Axis 3 [St.1075] Servo ready (M2455)
Axis 4 [St.1075] Servo ready (M2475)
Start command (X0)
Servo program start
Axis 3 [St.1040] Start accept flag
(M2003)
Axis 4 [St.1040] Start accept flag
(M2004)
■Motion SFC program
The Motion SFC program for executing the servo program (No. 11) for 2 axes linear interpolation control is shown below.
2 axes linear
interpolation control
[F10]
SET M2042
[G10]
X0*M2455*M2475
[K11]
ABS-2
Axis 3, 50000 pulse
Axis 4, 40000 pulse
Speed 30000 pulse/s
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
V
Turn on all axes servo ON command.
Wait until X0, Axis 3 servo ready and Axis 4 servo
ready turn on.
2 axes linear interpolation control
Axis used . . . . . . . . . . . . Axis 3
Travel value to Axis 3 . . . 50000 [pulse]
. . . . . . . .
stop position
Axis 4 . . . 40000 [pulse]
Command positioning speed
Vector speed . . . . . . . . . 30000 [pulse/s]
Wait until X0 turns off after linear interpolation
completion.
Servo program No.11
t
Axis 4
,
5 POSITIONING CONTROL
5.3 2 Axes Linear Interpolation Control
5
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