Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 345

• During a FOR-ON loop, or a FOR-OFF loop, if the time from satisfaction of trigger conditions until reaching end point of the
loop is shorter than the indicated time below, positioning operations are not normal. Set the trigger conditions so that the
time from satisfaction of trigger conditions until reaching end point of the loop is longer than the indicated time below.
Time required from satisfaction of trigger conditions until reaching end point of the loop = Main cycle + Time required for
deceleration stop
• At the end positioning address detection, an overrun occurs if the deceleration distance is insufficient for the output speed,
and a minor error (error code: 1A58H) occurs. If the end point has a movement amount 0, a minor error does not occur.
Program example
The program for repeating continuous trajectory control of 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.
■Positioning conditions
• Continuous trajectory control conditions are shown below.
Item Setting
Servo program No. 510
Control axis Axis 2, Axis 3
Positioning speed 10000
• Continuous trajectory control start command: X0 Leading edge (OFF  ON)
■Operation timing
Operation timing for continuous trajectory control is shown below.
Axis 3 positioning direction
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON
command (M2042)
[St.1045] All axes servo ON
accept flag (M2049)
Axis 2 [St.1075] Servo ready
(M2435)
Axis 3 [St.1075] Servo ready
(M2455)
Start command (X0)
Servo program start
Axis 2 [St.1040] Start accept
flag (M2002)
Axis 3 [St.1040] Start accept
flag (M2003)
100000
80000
60000
40000
20000
0 50000
V
1000
Vector
speed
Radius
20000
100000 150000
5.17 Continuous Trajectory Control
Axis 2
positioning
200000
direction
t
5 POSITIONING CONTROL
5
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