Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 378

Precautions
A check is made at the start. An error occurs and operation does not start in the following cases.
• Specified servo program does not exist.
• START instruction is set as the specified servo program.
• The specified servo program start axis is already used.
• A servo program cannot start by an error.
• The specified program number for simultaneous start is already used.
• The program number for simultaneous start is set as the self program number.
• The real axis program and command generation axis program are mixed.
• The program to start does not exist.
• All of the specified program numbers are "-1".
Program example
The program for performing simultaneous start of Axis 1, Axis 2, Axis 3, and Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Number of specified servo programs and program No.
• Number of specified servo programs: 3
• Specified servo program No.
Servo Program No.
No.1
No.14
No.45
■Start conditions
• Simultaneous start servo program No.: No.121
• Simultaneous start execute command: X0 Leading edge (OFF  ON)
■Motion SFC program
The Motion SFC program for executing the servo program (No. 121) for simultaneous start control is shown below.
Simultaneous start control
[F10]
SET M2042
[G10]
X0*M2415*M2435*M2455*M2475
[K121]
START
Program No.
Program No.
Program No.
[G20]
!X0
END
*1 Example of the above Motion SFC program is started using the automatic start or sequence program
5 POSITIONING CONTROL
376
5.20 Simultaneous Start
Used axis Control Details
Axis 1, Axis 2 Circular interpolation control
Axis 3 Speed control
Axis 4 Home position return control
Turn on all axes servo ON command.
Wait until X0, Axis 1 servo ready, Axis 2 servo ready,
Axis 3 servo ready and Axis 4 servo ready turn ON.
Simultaneous start control
K 1 No.1 servo program
K 14 No.14 servo program
K 45 No.45 servo program
Wait until X0 turn OFF after simultaneous start
completion.