Mitsubishi Electric MELSEC Q Series Programming Manual page 350

6 POSITIONING CONTROL
(b) Positioning conditions
1) Constant-speed control conditions are shown below.
Item
Servo program No.
Positioning speed
FIN
acceleration/deceleration time
Positioning method
Axis 1
Pass point
Axis 2
M-code
2) Constant-speed control start command ... PX000 Leading edge
(c) Servo program
Servo program No.0 for constant speed control is shown below.
<K 0>
CPSTART2
Axis 1
Axis 2
Speed 10000
100
FIN
ABS-2
Axis 1, 200000
Axis 2, 200000
M-code 10
ABS-2
Axis 1, 300000
Axis 2, 250000
M-code 11
ABS-2
Axis 1, 350000
Axis 2, 300000
M-code 12
ABS-2
Axis 1, 400000
Axis 2, 400000
CPEND
(Note): Example of the Motion SFC program for positioning control is shown next page.
6 - 163
Setting
10000
100[ms]
2 axes linear interpolation control
200000 300000
200000 250000
10 11
(OFF
Start constant-speed control
Axis used . . . . . . . . . Axis 1, Axis 2
Positioning speed . . . 10000[pulse/s]
FIN acceleration/ . . . . . 100[ms]
deceleration
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Axis 1 . . . 200000[pulse]
Address of . . . . .
Axis 2 . . . 200000[pulse]
stop position
M-code output . . . . . . 10
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Axis 1 . . . 300000[pulse]
Address of . . . . .
Axis 2 . . . 250000[pulse]
stop position
M-code output . . . . . . 11
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Axis 1 . . . 350000[pulse]
Address of . . . . .
Axis 2 . . . 300000[pulse]
stop position
M-code output . . . . . . 12
2 axes linear interpolation control
Axis used . . . . . . Axis 1, Axis 2
Address of Axis 1 . . . 400000[pulse]
stop position Axis 2 . . . 400000[pulse]
End constant- speed control
0
350000 400000
300000 400000
12
ON)