Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 349

■Motion SFC program
The Motion SFC program for executing the servo program (No. 310) for speed switching during instruction is shown below.
Speed-switching during
instruction execution
[F10]
SET M2042
[G10]
X0*M2415*M2435
[F20]
SET M2040=X10
RST M2040=!X10
[K310]
CPSTART2
Axis 1
Axis 2
Speed 10000 pulse/s
ABS-2
Axis 1, 20000 pulse
Axis 2, 10000 pulse
ABS
Axis 1, 30000 pulse
Axis 2, 20000 pulse
Center 1, 30000 pulse
Center 2, 10000 pulse
ABS-2
Axis 1, 40000 pulse
Axis 2, 25000 pulse
Speed 15000 pulse/s
ABS-2
Axis 1, 50000 pulse
Axis 2, 40000 pulse
CPEND
[G20]
!X0
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 and Axis 2 servo
ready turn ON.
Speed-switching point specified flag turn ON when
X10 turn ON.
Speed-switching point specified flag turn OFF
when X10 turn OFF.
Set P1
Set P2
Set P3
Speed change
Set P4
Wait until X0 turn OFF after continuous trajectory
control completion.
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
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