Mitsubishi Electric MELSEC Q Series Programming Manual page 351

6 POSITIONING CONTROL
(d) Motion SFC program
1) Motion SFC program for constant-speed control is shown below.
Constant-speed control
[F10]
SET M2042
[G10]
PX000*M2415*M2435
[K0]
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
FIN signal wait
END
(Note): Example of the above Motion SFC program is started using the automatic start or sequence program.
Turn on all axes servo ON command.
Wait until PX000, Axis 1 servo ready and Axis 2
servo ready turn on.
Start constant-speed control
Axis used
Positioning speed . . . 10000[pulse/s]
FIN acceleration/ . . . . . 100[ms]
10000
deceleration
100
2 axes linear interpolation control
Axis used
200000
Address of . . . . .
200000
stop position
10
M-code output . . . . . 10
2 axes linear interpolation control
300000
Axis used
250000
Address of . . . . .
11
stop position
M-code output . . . . . 11
350000
2 axes linear interpolation control
300000
Axis used
12
Address of . . . . .
stop position
400000
M-code output . . . . . 12
400000
2 axes linear interpolation control
Axis used
Address of . . . . .
stop position
End constant-speed control
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. . . . . . . . . . Axis 1, Axis 2
. . . . . . Axis 1, Axis 2
Axis 1 . . . 200000[pulse]
Axis 2 . . . 200000[pulse]
. . . . . . Axis 1, Axis 2
Axis 1 . . . 300000[pulse]
Axis 2 . . . 250000[pulse]
. . . . . . Axis 1, Axis 2
Axis 1 . . . 350000[pulse]
Axis 2 . . . 300000[pulse]
. . . . . . Axis 1, Axis 2
Axis 1 . . . 400000[pulse]
Axis 2 . . . 400000[pulse]