Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 351

Program example
The program for repeating 1 axis continuous trajectory control of Axis 4 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
Servo program No.
Control axis
Positioning speed
Number of repetitions
Pass point travel value P1
P2
P3
P4
• Continuous trajectory control start command: X0 Leading edge (OFF  ON)
■Details of positioning operation
Number of repetitions
100
3
2
1
-1000
■Operation timing
Operation timing for servo program No.500 is shown below.
[Rq.1120] PLC ready flag
(M2000)
[Rq.1123] All axes servo ON
command (M2042)
[St.1045] All axes servo ON
accept flag (M2049)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Servo program start
Axis 4 [St.1040] Start accept
flag (M2004)
Setting
500
Axis 4
10000
100
-1000
2000
-2000
1000
Retur n
Out
Return
Out
Return
Out
Return
Out
Address
0 1000
V
P1 P2 P3
10000
-10000
P2 P3 P4
5.17 Continuous Trajectory Control
t
5 POSITIONING CONTROL
5
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