Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 359

Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Program 1
• Motion SFC program
The Motion SFC program for executing the servo program (No. 510) for specifying helical interpolation at the pass points of
3 axes continuous trajectory control is shown below.
Helical interpolation
[F10]
SET M2042
[G10]
X0*M2415*M2435*M2455
[K510]
CPSTART3
Axis 1
Axis 2
Axis 3
Speed
ABS-3
Axis 1,
Axis 2,
Axis 3,
ABH
Axis 1,
Axis 2,
Linear axis 3,
Number of pitches
Radius
ABS-3
Axis 1,
Axis 2,
Axis 3,
CPEND
!M2001*!M2002*!M2003
END
Turn ON all axes servo ON command.
Wait until X0, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn ON
Continuous trajectory control
Axis used . . . Axis 1, Axis 2, Axis 3
10000 Positioning speed . . . . . 10000
3 axes linear interpolation control (P1)
3000
4000 Positioning address . . .
4000
3 axes helical interpolation control (P2)
5000
3500
-4000 Positioning address . . .
6
1000
3 axes linear interpolation control (P3)
5000
3500 Positioning address . . .
3000
End continuous trajectory control
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
Control with the following speed.
For linear/circular interpolation :
For helical interpolation
Axis 1 . . . . . . . . . . . 3000
Axis 2 . . . . . . . . . . . 4000
Axis 3 . . . . . . . . . . . 4000
Axis 1 . . . . . . . . . . . 5000
Axis 2 . . . . . . . . . . . 3500
Axis 3 . . . . . . . . . . -4000
Number of pitches . . . . 6
Radius . . . . . . . . . . 1000
Axis 1 . . . . . . . . . . . 5000
Axis 2 . . . . . . . . . . . 3500
Axis 3 . . . . . . . . . . . 3000
Vector speed for number of
interpolation axes.
:
2 axes vector speed for circular
interpolation.
5.17 Continuous Trajectory Control
5 POSITIONING CONTROL
5
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