Mitsubishi Electric MELSEC-Q Series - Page 226

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6 POSITIONING CONTROL
(4) Operation timing
Operation timing for 4 axes linear interpolation control is shown below.
PLC ready flag (M2000)
All axes servo ON command
(M2042)
Servo program No.2
2
All axes servo ON accept flag
(M2049)
Start command (PX000)
Axis 1 start accept flag
(M2001)
Axis 2 start accept flag
(M2002)
Axis 3 start accept flag
(M2003)
Axis 4 start accept flag
(
M2004
)
V
Axis 1 servo ready (M2415)
Axis 3 servo ready (M2455)
Axis 2 servo ready (M2435)
Axis 4 servo ready (M2475)
Servo program start
t
(5) Servo program
Servo program No.22 for 4 axes linear interpolation control is shown below.
<K 22>
INC-4
Axis
Axis
Axis
Axis
Vector speed
1,
2,
3,
4,
4000
3000
4000
4000
10000
4 axes linear interpolation control
Axis used . . . . Axis 1, Axis 2, Axis 3, Axis4
Travel value to
stop position . . . . . . .
Axis 1 . . . . . 4000
Axis 2 . . . . . 3000
Axis 3 . . . . . 4000
Axis 4 . . . . . 4000
Command positioning speed
Vector speed . . . . . . . . . . . . . . 10000
(Note): Example of the Motion SFC program for positioning control is shown next page.