Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 346

■Motion SFC program
The Motion SFC program for executing the servo program (No.510) for continuous trajectory control is shown below.
Continuous trajectory control
[F10]
SET M2042
[G10]
X0*M2435*M2455
[K510]
CPSTART2
Axis 2
Axis 3
Speed
ABS-2
Axis 2, 40000 pulse
Axis 3, 20000 pulse
FOR-TIMES
INC-2
Axis 2, 30000 pulse
Axis 3,
INC
Axis 2, 20000 pulse
Axis 3, 20000 pulse
Radius
NEXT
CPEND
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
5 POSITIONING CONTROL
344
5.17 Continuous Trajectory Control
Turn on all axes servo ON command.
Wait until X0, Axis 2 servo ready and Axis 3 servo
ready turn on.
Start continuous trajectory control
Axis used . . . . . . . . . . Axis 2, Axis 3
10000 pulse/s Positioning speed . . . 10000 [pulse/s]
2 axes linear interpolation control (Absolute data method)
Axis used . . . . . . . Axis 2, Axis 3
End address . . . .
Number of repetitions 4
K 4
Pass point setting
Positioning
0 pulse
method
Travel
value Axis 3
20000 pulse
End repetition region
End continuous trajectory control
Wait until X0 turns OFF after continuous trajectory
control completion.
Axis 2 . . . 40000 [pulse]
Axis 3 . . . 20000 [pulse]
2 axes linear Radius-specified
interpolation
circular interpolation
Axis 2 30000 [pulse] 20000 [pulse]
0 [pulse] 20000 [pulse]