Mitsubishi Electric MELSEC Q Series Programming Manual page 310

6 POSITIONING CONTROL
(4) Servo program
Servo program No. 501 for speed-switching control by the repetition instruction is
shown below.
<K 501>
VSTART
INC-2
Axis 2,
Axis 3,
Speed
VINC
Axis 2,
Speed
FOR-TIMES
VINC
Axis 2,
Speed
VINC
Axis 2,
Speed
NEXT
VEND
(Note): Example of the Motion SFC program for positioning control is shown next page.
Starts speed-switching control
2 axes linear interpolation control (incremental data method)
Axis used . . . . .. . . . . .. . . . .. Axis 2, Axis 3
230000
Travel value to stop position Axis 2 . . . 230000
100000
10000
Positioning speed
Speed-switching point, speed setting
40000
Indicated axis . . . . . . . . . . . . . . . . . . . . . Axis 2
40000
Travel value to speed-switching point . . . 40000
Speed to speed-switching point . . . . . . . . . . 40000
K 2
Number or repetition 2
Speed-switching point, speed setting
30000
Indicated Axis No.
20000
Speed-switching point
50000
Speed to speed-switching point
40000
End repetition region
End speed-switching control
6 - 123
Axis 3 . . . 100000
Axis 2
30000 50000
20000 40000