Mitsubishi Electric MELSEC-Q Series - Page 249

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