Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 318

Precautions
The feed current value is changed to "0" at the start. When fixed-pitch feed control is executed in the absolute position
system, the feed current value that is restored when the control circuit power supply of the servo amplifier or the Multiple CPU
system power supply is turned ON again, may be different from the feed current value before the power supply was turned
ON again.
Program example
The program for performing fixed-pitch feed control using 3 axes linear interpolation with Axis 1, Axis 2, and Axis 3 is
explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Fixed-pitch feed control
• Fixed-pitch feed control conditions are shown below.
Item
Servo program No.
Positioning speed
Control axes
Travel value
• Fixed-pitch feed control start command: X0 Leading edge (OFF  ON)
■Operation timing
Operation timing for fixed-pitch feed control using 3 axes linear 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)
Axis 3 [St.1075] Servo ready
(M2455)
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)
5 POSITIONING CONTROL
316
5.12 Fixed-Pitch Feed Control Using 3 Axes Linear Interpolation
Setting
No.320
1000
Axis 1 Axis 2 Axis 3
50000 40000 30000
Servo program No.320
V
1000
t