Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 372

Program example
The program for performing Axis 3 position follow-up control for PLC CPU (CPU No.1) to Motion CPU (CPU No.2) is
explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Positioning conditions
• Position follow-up conditions are shown below.
Item
Servo program No.
Control axis
Positioning address
Positioning speed
• Position follow-up control start command: X0 Leading edge (OFF  ON) (PLC CPU device)
■Operation timing
Operation timing for position follow-up control is shown below.
Positioning address (D4000)
[Rq.1120] PLC ready flag (M2000)
[Rq.1123] All axes servo ON
command (M2042)
[St.1045] All axes servo ON
accept flag (M2049)
Axis 3 [St.1075] servo ready (M2455)
Start command (X0)
Servo program start
Axis 3 [St.1040] Start accept flag
(M2003)
Axis 3 [St.1060] Positioning start
complete (M2440)
Axis 3 [St.1061] Positioning complete
(M2441)
Axis 3 [St.1063] Command in-position
(M2443)
Stop command (X1)
Axis 3 [Rq.1140] Stop command
(M3240)
5 POSITIONING CONTROL
370
5.18 Position Follow-Up Control
Setting
100
Axis 3
D4000
20000
V
0 100
t
0