Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 348

Program example
The program for switching speed of Axis 1 and Axis 2 by turning ON "[Rq.1122] Speed-switching point specified flag (M2040)"
during the continuous trajectory control instruction is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Positioning conditions
• Speed switching conditions are shown below.
Item
Servo program No.
Positioning speed
Positioning method
Pass point Axis 1
Axis 2
• The continuous trajectory control start command for speed switching: X0 Leading edge (OFF  ON)
■Operation timing and speed-switching positions
Operation timing and positions for speed switching are shown below.
[Rq.1122] Speed switching point
specified flag (M2040)
[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)
Start command (X0)
Servo program start
Axis 1 [St.1040] Start accept flag
(M2001)
Axis 2 [St.1040] Start accept flag
(M2002)
5 POSITIONING CONTROL
346
5.17 Continuous Trajectory Control
Setting
310
10000
2 axes linear interpolation Central point-specified
circular interpolation
20000 30000
10000 20000
Axis 2 positioning direction
40000
20000
P1
0 20000
V
15000
10000
15000
2 axes linear interpolation
40000
25000
P4
P3
P2
Central
point
40000
2 axes linear interpolation
50000
40000
Axis 1 positioning
direction
t