Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 296

■Operation timing
Operation timing for central point-specified circular interpolation 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. 51) for central point-specified circular interpolation control is
shown below.
Central point specified-
circular interpolation control
[F10]
SET M2042
[G10]
X0*M2415*M2435
ABS
[K51]
Axis 1, 78541 pulse
Axis 2, 30000 pulse
Speed
Central point 1, 45000 pulse
Central point 2, 20000 pulse
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5 POSITIONING CONTROL
294
5.8 Central Point-Specified Circular Interpolation Control
V
Vector speed
Turn on all axes servo ON command.
Wait until X0, Axis 1 servo ready and Axis 2 servo
ready turn on.
Central point specified-circular interpolation control
Axis used . . . . . . . . . . . . . . . Axis 1, Axis 2
End point address
1000 pulse/s
Positioning speed . . . . . . . . . . . . . . . . . . . . .
Central point address
Wait until X0 turn OFF after circular interpolation
completion.
Servo Program No.51
Axis 1 . . . . 78541 [pulse]
. . . . . . .
Axis 2 . . . . 30000 [pulse]
1000 [pulse/s]
Axis 1 . . . . 45000 [pulse]
. . . . . .
Axis 2 . . . . 20000 [pulse]
t