Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 339

■Motion SFC program
The Motion SFC program for executing the servo program (No. 55) for speed control with fixed position stop is shown below.
Speed control with fixed position stop
[F10]
SET M2042
[G10]
X0*M2415
[K55]
PVF
Axis
1, 120.00000 degree
Speed 30000.000 degree/min
Accel./decel. time 20 ms
Fixed position stop
M100
[G20]
!X0
[F20]
SET M100
[G30
]
!M2001
[F30]
RST M100
END
*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, Axis 1 servo ready turn on.
Fixed position stop with speed control start
Axis used . . . . . .
. . . . . . .
Stop position . . . . . . . . . . . . . 120.00000 [degree]
Speed . . . . . . . . . . . . . . . . . . . . . 30000.000 [degree/min]
Accel./decel. time . . . . . . . . . . . . 20 [ms]
Fixed position stop command . . . M100
speed control
Wait until X0 turn OFF after
ixed position stop start
with f .
Turn on fixed position stop command.
Wait until Axis 1 start accept flag turn OFF.
Turn OFF fixed position stop command.
. . Axis 1
5 POSITIONING CONTROL
5.16 Speed Control with Fixed Position Stop
5
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