Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 355

• Positioning operation details
Axis 2 and axis 3 servomotors is used for positioning operation. Positioning details for Axis 2 and Axis 3 servomotors are
shown below.
Axis 3 positioning direction
100000
P2
50000
P1
30000
0 30000 50000
• Motion SFC program
The Motion SFC program for executing the servo program (No. 505) for 2 axes continuous trajectory control is shown
below.
2 axes continuous trajectory
control
[F10]
SET M2042
[G10]
X0*M2435*M2455
[K505]
CPSTART2
Axis 2
Axis 3
Speed 10000 pulse/s
ABS-2
Axis 2, 30000 pulse
Axis 3, 30000 pulse
ABS
Axis 2, 50000 pulse
Axis 3, 50000 pulse
Radius 20000 pulse
ABS-2
Axis 2, 90000 pulse
Axis 3, 100000 pulse
CPEND
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
P3
Axis 2 positioning direction
90000
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
Positioning speed . . . . . 10000 [pulse/s]
2 axes linear interpolation control
Positioning address . . .
Circular interpolation control
Positioning address . . .
Radius . . . . . . . . . . . . . 20000 [pulse]
2 axes linear interpolation control
Positioning address . . .
End continuous trajectory control
Wait until X0 turn OFF after continuous trajectory
control completion.
Axis 2 . . . 30000 [pulse]
Axis 3 . . . 30000 [pulse]
Axis 2 . . . 50000 [pulse]
Axis 3 . . . 50000 [pulse]
Axis 2 . . . 90000 [pulse]
Axis 3 . . 100000 [pulse]
5.17 Continuous Trajectory Control
5 POSITIONING CONTROL
5
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