Mitsubishi Electric MELSEC Q Series Programming Manual page 346

6 POSITIONING CONTROL
(c) Servo program
Servo program No.0 for constant-speed control is shown below.
<K 0>
CPSTART2
Axis 1
Axis 2
Speed
FIN
ABS-2
Axis 1,
Axis 2,
M-code
ABS-2
Axis 1,
Axis 2,
M-code
ABS-2
Axis 1,
Axis 2,
M-code
ABS-2
Axis 1,
Axis 2,
CPEND
(d) Motion SFC program
Motion SFC program for constant-speed control is shown below.
Constant-speed control
[F10]
SET M2042
[G10] M2415*M2435
CPSTART2
[K0]
Axis 1
Axis 2
Speed
FIN
ABS-2
Axis 1,
Axis 2,
M-code
ABS-2
Axis 1,
Axis 2,
M-code
ABS-2
Axis 1,
Axis 2,
M-code
ABS-2
Axis 1,
Axis 2,
CPEND
END
(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.
Start constant-speed control
Axis used . . . . . . . . . Axis 1, Axis 2
Positioning speed . . . 10000[pulse/s]
FIN acceleration/ . . . . . 100[ms]
deceleration
10000
2 axes linear interpolation control
100
Axis used . . . . . . Axis 1, Axis 2
200000
Address of . . . . .
200000
stop position
10
M-code output . . . . . . 10
2 axes linear interpolation control
300000
Axis used . . . . . . Axis 1, Axis 2
250000
Address of . . . . .
11
stop position
M-code output . . . . . . 11
350000
2 axes linear interpolation control
300000
Axis used . . . . . . Axis 1, Axis 2
12
Address of . . . . .
stop position
400000
M-code output . . . . . . 12
400000
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of . . . . .
stop position
End constant-speed control
Turn on all axes servo ON command.
Wait until Axis 1 servo ready and Axis 2 servo
ready turn on.
Start constant-speed control
Axis used . . . . . . . . . Axis 1, Axis 2
Positioning speed . . . 10000[pulse/s]
FIN acceleration/ . . . . . 100[ms]
10000
deceleration
100
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
200000
Address of . . . . .
200000
stop position
10
M-code output . . . . . 10
2 axes linear interpolation control
300000
Axis used . . . . . Axis 1, Axis 2
250000
Address of . . . . .
11
stop position
M-code output . . . . . 11
350000
2 axes linear interpolation control
300000
Axis used . . . . . Axis 1, Axis 2
12
Address of . . . . .
stop position
400000
M-code output . . . . . 12
400000
2 axes linear interpolation control
Axis used . . . . . Axis 1, Axis 2
Address of . . . . .
stop position
End constant-speed control
6 - 159
Axis 1 . . . 200000[pulse]
Axis 2 . . . 200000[pulse]
Axis 1 . . . 300000[pulse]
Axis 2 . . . 250000[pulse]
Axis 1 . . . 350000[pulse]
Axis 2 . . . 300000[pulse]
Axis 1 . . . 400000[pulse]
Axis 2 . . . 400000[pulse]
Axis 1 . . . 200000[pulse]
Axis 2 . . . 200000[pulse]
Axis 1 . . . 300000[pulse]
Axis 2 . . . 250000[pulse]
Axis 1 . . . 350000[pulse]
Axis 2 . . . 300000[pulse]
Axis 1 . . . 400000[pulse]
Axis 2 . . . 400000[pulse]