Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 361

• Motion SFC program
Motion SFC program for is shown below.
Helical interpolation
[F10]
SET M2042
[G10]
X0*M2415*M2435*M2455
[K61]
ABS-3
0.0 m
Axis 1,
150000.0 m
Axis 2,
Axis 3, 0.00000 degree
Vector speed 30000.00 mm/min
[G11]
!M2001*!M2002*!M2003
[K62]
CPSTART3
Axis 1
Axis 2
Axis 3
Speed 1000.00 mm/min
ABS-3
50000.0 m
Axis 1,
150000.0 m
Axis 2,
Axis 3, 0.00000 degree
ABH
150000.0 m
Axis 1,
50000.0 m
Axis 2,
Linear Axis 3, 90.00000 degree
Number of pitches 0
50000.0 m
Ctr.P. 1,
50000.0 m
Ctr.P. 2,
ABS-3
150000.0 m
Axis 1,
-50000.0 m
Axis 2,
Axis 3, 90.00000 degree
ABH
50000.0 m
Axis 1,
2, -150000.0 m
Axis
Linear Axis 3, 180.00000 degree
Number of pitches 0
50000.0 m
Ctr.P. 1,
-50000.0 m
Ctr.P. 2,
ABS-3
-50000.0 m
Axis 1,
2, -150000.0 m
Axis
Axis 3, 180.00000 degree
ABH
1, -150000.0 m
Axis
-50000.0 m
Axis 2,
Linear Axis 3, 270.00000 degree
Number of pitches 0
-50000.0 m
Ctr.P. 1,
-50000.0 m
Ctr.P. 2,
ABS-3
1, -150000.0 m
Axis
50000.0 m
Axis 2,
Axis 3, 270.00000 degree
ABH
-50000.0 m
Axis 1,
150000.0 m
Axis 2,
Linear Axis 3, 0.00000 degree
Number of pitches 0
-50000.0 m
Ctr.P. 1,
50000.0 m
Ctr.P. 2,
ABS-3
0.0 m
Axis 1,
150000.0 m
Axis 2,
Axis 3, 0.00000 degree
CPEND
[G12]
!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
3 axes linear interpolation control (Travel to start point)
Axis used .................. Axis 1, Axis 2, Axis 3
Axis 1 ...................0.0 [m]
Positioning address .........
Axis 2 .........150000.0 [m]
Axis 3 ...........0.00000 [degree]
Command positioning speed
Vector speed ......... 30000.00 [mm/min]
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
3 axes continuous trajectory control start
Axis used .................. Axis 1, Axis 2, Axis 3
Positioning speed ..... 1000.00 [mm/min]
3 axes linear interpolation control (P1)
Axis 1 ............ 50000.0 [m]
Positioning address ......... Axis 2 .......... 150000.0 [m]
Axis 3 ............ 0.00000 [degree]
3 axes helical interpolation control (P2)
Axis 1 .......... 150000.0 [m]
Axis 2 ............ 50000.0 [m]
Positioning address .........
Axis 3 .......... 90.00000 [degree]
Number of pitches .... 0
Central point address of the arc .......
3 axes linear interpolation control (P3)
Axis 1 .......... 150000.0 [m]
Positioning address ......... Axis 2 ........... -50000.0 [m]
Axis 3 .......... 90.00000 [degree]
3 axes helical interpolation control (P4)
Axis 1 ............ 50000.0 [m]
Axis 2 ......... -150000.0 [m]
Positioning address .........
Axis 3 ........ 180.00000 [degree]
Number of pitches .... 0
Central point address of the arc .......
3 axes linear interpolation control (P5)
Axis 1 ........... -50000.0 [m]
Positioning address ......... Axis 2 ......... -150000.0 [m]
Axis 3 ........ 180.00000 [degree]
3 axes helical interpolation control (P6)
Axis 1 ......... -150000.0 [m]
Axis 2 ........... -50000.0 [m]
Positioning address .........
Axis 3 ........ 270.00000 [degree]
Number of pitches .... 0
Central point address of the arc .......
3 axes linear interpolation control (P7)
Axis 1 ......... -150000.0 [m]
Positioning address ......... Axis 2 ............ 50000.0 [m]
Axis 3 ........ 270.00000 [degree]
3 axes helical interpolation control (P8)
Axis 1 ........... -50000.0 [m]
Axis 2 .......... 150000.0 [m]
Positioning address .........
Axis 3 ............ 0.00000 [degree]
Number of pitches .... 0
Central point address of the arc .......
3 axes linear interpolation control Start point
Axis 1 .................... 0.0 [m]
Positioning address ......... Axis 2 .......... 150000.0 [m]
Axis 3 ............ 0.00000 [degree]
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
Axis 1 .......... 50000.0 [m]
Axis 2 .......... 50000.0 [m]
Axis 1 .......... 50000.0 [m]
Axis 2 ......... -50000.0 [m]
Axis 1 ......... -50000.0 [m]
Axis 2 ......... -50000.0 [m]
Axis 1 ......... -50000.0 [m]
Axis 2 .......... 50000.0 [m]
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
5
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