Mitsubishi Electric MELSEC Q Series Programming Manual page 311

6 POSITIONING CONTROL
(5) Motion SFC program
Motion SFC program for which executes speed-switching control using repetition
instructions is shown below.
Specification of speed-switching points using repetition instructions
points using repeat
Speed-switching control
using repetition instructions instructions
[F10]
SET M2042
[G10]
PX000*M2435*M2455
VSTART
[K501]
INC-2
Axis 2, 230000pulse
Axis 3, 100000pulse
10000pulse/s
Speed
VINC
Axis 2, 40000pulse
Speed 40000pulse/s
FOR-TIMES
K 2
VINC
Axis 2, 30000pulse
20000pulse/s
Speed
VINC
50000pulse
Axis 2,
Speed 40000pulse/s
NEXT
VEND
[G20]
!PX000
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, Axis 2 servo ready and Axis 3 servo ready
turn on.
Starts speed-switching control
2 axes linear interpolation control (incremental data method)
Axis used . . . . . . . . . . . . . . . . Axis 2, Axis 3
Travel value to . . . . . . . . .
stop position
Positioning speed . . . 10000[pulse/s]
Speed-switching point, speed setting
Indicated axis . . . Axis 2
Travel value to speed-switching point . . . 40000[pulse]
Speed to speed-switching point . . .. . . . . . . 40000[pulse/s]
Number of repetitions 2
Speed-switching point, speed setting
Indicated axis No.
Speed-switching point
Speed to speed-switching point
End repetition region
End speed-switching control
Wait until PX000 turn off after speed switching control
completion.
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Axis 2 . . . 230000
Axis 3 . . . 100000
Axis 2
30000 50000
20000 40000
(Unit : Point [pulse]/speed [pulse/s])