Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 369

• The Motion SFC program which outputs M-code of each point for continuous trajectory control to Y20 to Y2F by BCD code is shown below.
FIN signal wait
P0
[G50]
M2419*M2439
[F20]
#0=BCD(D13)
DOUT Y20,#0
SET M3219
[G60]
!M2419*!M2439*M2403*M2423
[F30]
RST M3219
[G70]
D13==K12
END
*: Details of #0 is used as control.
Turn ON Axis 1, Axis 2 M-code outputting signal.
Output Axis 1 M-code.
Turn ON FIN signal.
Turn OFF Axis 1, Axis 2 M-code outputting signal and
turn ON Axis 1, Axis 2 command in-position signal.
Turn OFF FIN signal.
Repeat until M-code value become 12.
P0
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
5
367