Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 365

Program example
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■FIN signal wait function by the PLC program
The program for executing the FIN signal wait function for continuous trajectory control of Axis 1 and Axis 2 is explained as an
example.
• Positioning conditions
• Continuous trajectory control conditions are shown below.
Item
Servo program No.
Positioning speed
FIN acceleration/deceleration time
Positioning method
Pass point Axis 1
Axis 2
M-code
• Continuous trajectory control start command: X0 Leading edge (OFF  ON) (PLC CPU device)
• Motion SFC program
The Motion SFC program for executing the servo program (No. 0) for continuous trajectory control is shown below.
Continuous trajectory control
[F10]
SET M2042
[G10]
M2415*M2435
[K0]
CPSTART2
Axis 1
Axis 2
Speed 10000
FIN
ABS-2
Axis 1, 200000
Axis 1, 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
END
Setting
0
10000
100 [ms]
2 axes linear interpolation control
200000
200000
10
Turn on all axes servo ON command.
Wait until Axis 1 servo ready and Axis 2 servo ready turn on.
Start continuous trajectory control
Axis used . . . . . . . . . Axis 1, Axis 2
Positioning speed . . . 10000 [pulse/s]
100 FIN acceleration/deceleration . . . . . 100 [ms]
2 axes linear interpolation control
Axis used . . . . . . . . . Axis 1, Axis 2
Address of stop position . . . . Axis 1 . . . 200000 [pulse]
10
M-code output . . . . . 10
2 axes linear interpolation control
Axis used . . . . . . . . . Axis 1, Axis 2
Address of stop position . . . . Axis 1 . . . 300000 [pulse]
11
M-code output . . . . . 11
2 axes linear interpolation control
Axis used . . . . . . . . . Axis 1, Axis 2
12 Address of stop position. . . .
M-code output . . . . . 12
2 axes linear interpolation control
Axis used . . . . . . . . . Axis 1, Axis 2
Address of stop position . . . . Axis 1 . . . 400000 [pulse]
End continuous trajectory control
300000 350000
250000 300000
11 12
Axis 2 . . . 200000 [pulse]
Axis 2 . . . 250000 [pulse]
Axis 1 . . . 350000 [pulse]
Axis 2 . . . 300000 [pulse]
Axis 2 . . . 400000 [pulse]
5.17 Continuous Trajectory Control
400000
400000

5 POSITIONING CONTROL
5
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