Mitsubishi Electric MELSEC Q Series Programming Manual page 328

6 POSITIONING CONTROL
PLC ready flag (M2000)
All axes servo ON command
(M2042)
All axes servo ON accept flag
(M2049)
Axis 4 servo ready (M2475)
Start command (PX000)
Servo program start
Axis 4 start accept flag (M2004)
(4) Operation timing
Operation timing for servo program No.500 is shown below.
10000
-10000
(5) Servo program
Servo program No.500 for constant-speed control is shown below.
<K 500>
CPSTART1
Axis
Speed
INC-1
Axis
FOR-TIMES
INC-1
Axis
INC-1
Axis
NEXT
INC-1
Axis
CPEND
(Note): Example of the Motion SFC program for positioning control is shown next page.
V
P1 P2 P3
0
4
10000
4,
-1000
K 100
4,
2000
4,
-2000
4,
1000
6 - 141
P2 P3
Starts constant-speed control
Axis used . . . . . . . . . . Axis 4
Positioning speed . . . 10000
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . -1000
Number of repetitions 100
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . 2000
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . -2000
Ends repetition region
1 axis linear positioning control
Axis used . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . .1000
End constant-speed control
P4
t