Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 292

■Positioning conditions
• Positioning conditions are shown below.
Item
Positioning method
Positioning speed
• Positioning start command: X0 Leading edge (OFF  ON)
■Operation timing
Operation timing for radius-specified circular 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)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag
(M2001)
Axis 2 [St.1040] Start accept flag
(M2002)
■Motion SFC program
The Motion SFC program for executing the servo program (No. 41) for radius-specified circular interpolation control is shown
below.
Radius specified-circular
interpolation control
[F10]
SET M2042
[G10]
X0*M2415*M2435
[K41]
ABS
Axis 1, 100000 pulse
Axis 2,
Speed
Radius
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5 POSITIONING CONTROL
290
5.7 Radius-Specified Circular Interpolation Control
Servo Program No.
No.41
Absolute data method
1000
V
Vector speed
Turn on all axes servo ON command.
Wait until X0, Axis 1 servo ready and Axis 2 servo
ready turn on.
Radius specified-circular interpolation control
Axis used . . . . . . . . . . . . . . . Axis 1, Axis 2
50000 pulse
End point address
1000 pulse/s
Positioning speed . . . . . . . . . . . . . . . . . . . . .
80000 pulse
Radius . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80000 [pulse]
Wait until X0 turn OFF after circular interpolation
completion.
Servo Program No.41
Axis 1 . . . 100000 [pulse]
. . . . . . .
Axis 2 . . . . 50000 [pulse]
1000 [pulse/s]
t