Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 331

■Motion SFC program
The Motion SFC program for executing the servo program (No. 101) for speed-position switching control is shown below.
Speed/position
switching control
[F10]
SET M2042
[G10]
X0*M2475
[F20]
SET M3265
[K101] VPF
Axis 4, 40000 pulse
Speed 1000 pulse/s
Dwell 1000 ms
[G20]
M2465
[F30]
RST M3265
[G30]
!X0*M2461
END
*: Shift transition is used to transit into the next processing during the positioning.
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
Turn on all axes servo ON command.
Wait until X0 and Axis 4 servo ready turn on.
Axis 4 speed/position switching enable command ON.
Speed/position switching control
Axis used . . . . . . . . . . Axis 4
Travel value . . . . . . . . 40000 [pulse]
Command speed . . . . . 1000 [pulse/s]
Dwell . . . . . . . . . . . . . .
1000 ms
Axis 4 speed/position switching latch
Axis 4 speed/position switching enable command OFF
Wait until positioning completion and X0 turn OFF.
5 POSITIONING CONTROL
5.15 Speed/Position Switching Control
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