Mitsubishi Electric MELSEC Q Series Programming Manual page 249

6 POSITIONING CONTROL
[Program]
(6) All of the circular interpolation axis, linear axis and point address, command speed,
radius (2 word data above) and number of pitches (1 word data) are set indirectly
by the word devices.
(1) Servo program
Servo program No.52 for absolute radius-specified helical interpolation control is
shown below.
<K 52>
ABH
Axis 1,
Axis 2,
Linear axis 3,
Speed
Number of pitches
Radius
(Note): Example of the Motion SFC program for positioning control is shown next page.
(2) Motion SFC program
Motion SFC program for which executes the servo program is shown below.
Absolute radius-specified helical interpolation control
Absolute radius-specified
helical interpolation control
[F10]
SET M2042
[G10]
PX000*M2415*M2435*M2455
[K52]
ABS
Axis 1, 100000pulse
Axis 2,
Linear axis 3,
Speed
Number of pitches
Radius
[G20]
!PX000
END
(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.
Absolute radius specified-circular helical interpolation
100000
Axis for the circular . . . . . . . .
50000
interpolation
25000
End point address of the . . .
1000
circular interpolation axis
100
Linear axis for the circular. . . . . . . . . . . . . Axis 3
60000
interpolation and linear interpolation
End point address of the linear axis . . . . . 25000
Positioning speed . . . 1000
Number of pitches . . .
Radius on a circular interpolation plane . . . . . 60000
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.
Absolute radius specified-circular helical interpolation
Axis for the circular . . . . . . . .
50000pulse
interpolation
25000pulse
End point address of the . . .
1000pulse/s
circular interpolation axis
100
Linear axis for the circular . . . . . . . . . . . . Axis 3
60000pulse
interpolation and linear interpolation
End point address of the linear axis . . . . . 25000[pulse]
Positioning speed . . . 1000[pulse/s]
Number of pitches . . .
Radius on a circular interpolation plane . . . . . 60000[pulse]
Wait until PX000 turn off after circular interpolation
completion.
6 - 62
Axis 1, Axis 2
Axis 1 . . . 100000
Axis 2 . . . . 50000
100
Axis 1, Axis 2
Axis 1 . . . 100000[pulse]
Axis 2 . . . . 50000[pulse]
100