Mitsubishi Electric MELSEC Q Series Programming Manual page 341

6 POSITIONING CONTROL
(4) Motion SFC program
Motion SFC program for is shown below.
Helical interpolation
[F10]
SET M2042
[G10]
PX000*M2415*M2435*M2455
[K61]
ABS-3
Axis 1,
Axis 2, 150000.0m
Axis 3,
Vector speed 30000.00mm/min
[G11]
!M2001*!M2002*!M2003
[K62]
CPSTART3
Axis 1
Axis 2
Axis 3
Speed
ABS-3
Axis 1,
Axis 2, 150000.0 m
Axis 3,
ABH
Axis 1, 150000.0 m
Axis 2,
Linear axis 3, 90.00000degree
Number of pitches
Ctr.P. 1,
Ctr.P. 2,
ABS-3
Axis 1, 150000.0 m
Axis 2, -50000.0 m
Axis 3, 90.00000degree
ABH
Axis 1,
Axis 2, -150000.0 m
Linear axis 3, 180.00000degree
Number of pitches
Ctr.P 1,
Ctr.P 2, -50000.0 m
ABS-3
Axis 1, -50000.0 m
Axis 2, -150000.0 m
Axis 3, 180.00000degree
ABH
Axis 1, -150000.0 m
Axis 2, -50000.0 m
Linear axis 3, 270.00000degree
Number of pitches
Ctr.P 1, -50000.0 m
Ctr.P 2, -50000.0 m
ABS-3
Axis 1, -150000.0 m
Axis 2,
Axis 3, 270.00000degree
ABH
Axis 1, -50000.0 m
Axis 2, 150000.0 m
Linear axis 3,
Number of pitches
Ctr.P 1, -50000.0 m
Ctr.P 2,
ABS-3
Axis 1,
Axis 2, 150000.0 m
Axis 3,
CPEND
[G12]
!M2001*!M2002*!M2003
END
Turn ON all axes servo ON command.
Wait until PX000, Axis 1 servo ready, Axis 2 servo ready and
Axis 3 servo ready turn ON
3 axes linear interpolation control (Travel to start point)
Axis used .................. Axis 1, Axis 2, Axis 3
0.0m
Positioning address Axis 2 ......... 150000.0[ m]
0.00000degree
Command positioning speed
Vector speed ......... 30000.00[mm/min]
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
3 axes constant speed control start
Axis used .................. Axis 1, Axis 2, Axis 3
1000.00mm/min Positioning speed ..... 1000.00[mm/min]
3 axes linear interpolation control (P1)
50000.0 m
Positioning address Axis 2 ......... 150000.0[ m]
0.00000degree
3 axes helical interpolation control (P2)
50000.0 m
Positioning address
0
50000.0 m
Central point address of the arc
50000.0 m
3 axes linear interpolation control (P3)
Positioning address Axis 2 .......... -50000.0[ m]
3 axes helical interpolation control (P4)
50000.0 m
Positioning address
0
50000.0 m
Central point address of the arc
3 axes linear interpolation control (P5)
Positioning address Axis 2 ........ -150000.0[ m]
3 axes helical interpolation control (P6)
Positioning address
0
Central point address of the arc
3 axes linear interpolation control (P7)
Positioning address Axis 2 ........... 50000.0[ m]
50000.0 m
3 axes helical interpolation control (P8)
Positioning address
0.00000degree
0
Central point address of the arc
50000.0 m
3 axes linear interpolation control Start point
0.0 m
Positioning address Axis 2 ......... 150000.0[ m]
0.00000degree
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
6 - 154
Axis 1 ................... 0.0[ m]
Axis 3 ........... 0.00000[degree]
Axis 1 ........... 50000.0[ m]
Axis 3 ........... 0.00000[degree]
Axis 1 ......... 150000.0[ m]
Axis 2 ........... 50000.0[ m]
Axis 3 ......... 90.00000[degree]
Number of pitches ... 0
Axis 1 ..... 50000.0[ m]
Axis 2 ..... 50000.0[ m]
Axis 1 ......... 150000.0[ m]
Axis 3 ......... 90.00000[degree]
Axis 1 ........... 50000.0[ m]
Axis 2 ........ -150000.0[ m]
Axis 3 ....... 180.00000[degree]
Number of pitches ... 0
Axis 1 ..... 50000.0[ m]
Axis 2 .... -50000.0[ m]
Axis 1 .......... -50000.0[ m]
Axis 3 ....... 180.00000[degree]
Axis 1 ........ -150000.0[ m]
Axis 2 .......... -50000.0[ m]
Axis 3 ....... 270.00000[degree]
Number of pitches ... 0
Axis 1 .... -50000.0[ m]
Axis 2 .... -50000.0[ m]
Axis 1 ........ -150000.0[ m]
Axis 3 ....... 270.00000[degree]
Axis 1 .......... -50000.0[ m]
Axis 2 ......... 150000.0[ m]
Axis 3 ........... 0.00000[degree]
Number of pitches ... 0
Axis 1 .... -50000.0[ m]
Axis 2 ..... 50000.0[ m]
Axis 1 ................... 0.0[ m]
Axis 3 ........... 0.00000[degree]