Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 284

■Operation timing
Operation timing for 4 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 1 [St.1075] Servo ready (M2415)
Axis 2 [St.1075] Servo ready (M2435)
Axis 3 [St.1075] Servo ready (M2455)
Axis 4 [St.1075] Servo ready (M2475)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag
(M2001)
Axis 2 [St.1040] Start accept flag
(M2002)
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. 22) for 4 axes linear interpolation control is shown below.
4 axes linear
interpolation control
[F10]
SET M2042
[G10]
X0*M2415*M2435*M2455
[K22]
INC-4
Axis 1, 5000 pulse
Axis 2, 3000 pulse
Axis 3, 5000 pulse
Axis 4, 4000 pulse
Speed 10000 pulse/s
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5 POSITIONING CONTROL
282
5.5 4 Axes Linear Interpolation Control
V
Turn on all axes servo ON command.
Wait until X0, Axis 1 servo ready, Axis 2 servo ready,
Axis 3 servo ready and Axis 4 servo ready turn on.
*M2475
4 axes linear interpolation control
Axis used . . . . . . . Axis 1
Travel value to
stop position
Command positioning speed
Vector speed . . . . . . . . . . . . . . . 10000 [pulse/s]
Wait until X0 turn OFF after linear interpolation
completion.
Servo program No.22
Axis 2 Axis 3 Axis 4
, , ,
Axis 1 . . . 5000 [pulse]
. . . . . . .
Axis 2 . . . 3000 [pulse]
Axis 3 . . . 5000 [pulse]
Axis 4 . . . 4000 [pulse]
t