Fin Signal Wait Function - Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual

FIN signal wait function

By selecting the FIN signal wait function and setting a M-code at each executing point, a process end of each executing point
is synchronized with the FIN signal, the FIN signal turns ON to OFF and then the next positioning is executed.
Turn the FIN signal on/off using the Motion SFC program or sequence program.
Setting data
When the FIN signal wait function is selected, the fixed acceleration/deceleration time method is used. Set the acceleration/
deceleration time within the range of 1 to 5000 [ms] by "FIN acceleration/deceleration" (selecting item) in the servo program.
Indirect setting is also possible by the word devices (1 word).
Precautions
• If the acceleration/deceleration time is specified outside the setting range, the warning (error code: 0A44H) will occur at the
start and it is controlled with the acceleration/deceleration time of 1000 [ms].
• M-code outputting signal is output to all interpolation axes at the interpolation control. In this case, turn on the FIN signal for
one of the interpolation axes.
• When M-code is set at the end point, positioning ends after the FIN signal has turn OFF to ON to OFF.
• When the FIN acceleration/deceleration (Fixed acceleration/deceleration time method) is set in the continuous trajectory,
the setting for advanced S-curve acceleration/deceleration is invalid.
Processing details
Servo program K0 for FIN signal wait function is shown below.
<K 0>
CPSTART2
Axis 1
Axis 2
Speed 10000
FIN
ABS-2
Axis 1, 200000
Axis 2, 200000
M code
ABS-2
Axis 1, 300000
Axis 2, 250000
M code
ABS-2
Axis 1, 350000
Axis 2, 300000
M code
ABS-2
Axis 1, 400000
Axis 2, 400000
CPEND
5 POSITIONING CONTROL
362
5.17 Continuous Trajectory Control
Vector speed
Point
100 [ms]
M-code
10
M-code outputting
FIN signal
11
12
1. When the positioning of point 1 starts, M-code 10 is output and
M-code outputting signal turns ON.
2. FIN signal turns ON after performing required processing in the
Motion SFC program.
Transition to the next point does not execute until the FIN signal
turns ON.
3. When the FIN signal turns ON, M-code outputting signal turns OFF.
4. When the FIN signal turns OFF after the M-code outputting signal
turns OFF, the positioning to the next point 2 starts.
100 [ms]
1 WAIT 2
10 11
Explanatory