Mitsubishi Electric MELSEC Q Series Programming Manual page 299

6 POSITIONING CONTROL
(5) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
Re-starting after stop during speed-position switching control
Re-starting after stop
during control
[F10]
SET M2042
[G10] PX000*M2475
[F20]
SET M3265
[K101]
VPF
Axis 4, 40000pulse
Speed 1000pulse/s
[G20]
SET M3260=PX002
RST M3265=M2465
!M2004
[G30]
M3260
[G40]
PX001
[F30]
RST M3260
[K102]
VPSTART
Axis 4
[G50]
RST M3265=M2465
!M2004
[G60]
!PX000*!PX001*!PX002
END
(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.
Turn on all axes servo ON command.
Wait until PX000 and Axis 4 servo ready turn on.
Axis 4 speed/position switching enable command ON
Speed-position switching control for Axis 4
Axis used . . .. . . . . Axis 4
Travel value . .. . . . 40000[pulse]
Command speed . . . 1000[pulse/s]
Axis 4 stop command ON with PX002 ON .
Speed/position switching enable command OFF with axis 4
speed/position switching latch ON.
Axis 4 start accept flag OFF.
Wait until PX001 turn on.
Axis 4 stop command OFF
Re-start
Axis used . . .. . . . . Axis 4
Speed/position switching enable command OFF with axis 4
speed/position switching latch ON.
Axis 4 start accept flag OFF.
Wait until PX000, PX001 and PX002 turn off with
re-starting after stop during speed-position switching
control.
6 - 112
End with stop
due to error.
END