Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 310

Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Motion SFC program
The Motion SFC program for executing the servo program (No. 61) for incremental auxiliary point-specified helical
interpolation control is shown below.
Incremental auxiliary point-specified
helical interpolation control
[F10]
SET M2042
[G10]
X0*M2415*M2435*M2455
[K61]
INH
Axis 1,
Axis 2,
Linear axis 3,
Speed
Number of pitches 500
Aux.P. 1,
Aux.P. 2,
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5 POSITIONING CONTROL
308
5.9 Helical Interpolation Control
Turn on all axes servo ON command.
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn on.
Incremental auxiliary point-specified circular helical interpolation
88541 pulse Axis for the circular . . . . . . . . . . . Axis 1, Axis 2
30000 pulse interpolation
20000 pulse End point relative address of . . .
1000 pulse/s the circular interpolation axis
Linear axis for the circular . . . . . . Axis 3
interpolation and linear interpolation
45000 pulse
End point relative address of the linear axis . . 20000 [pulse]
20000 pulse
Positioning speed . . . . . . . . . . . . . . . . . . . . . . . 1000 [pulse/s]
Number of pitches . . . . . . . . . . . . . . . . . . . . . . . 500
Auxiliary point relative address . . .
of the arc
Wait until X0 turn OFF after circular interpolation completion.
Axis 1 . . . . 88541 [pulse]
Axis 2 . . . . 30000 [pulse]
Axis 1 . . . 45000 [pulse]
Axis 2 . . . 20000 [pulse]