Mitsubishi Electric MELSEC-Q Series - Page 341

6 - 154
6 POSITIONING CONTROL
(4) Motion SFC program
Motion SFC program for is shown below.
[F10]
Helical interpolation
SET M2042
[G10]
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
[G11]
[K61]
ABS-3
Axis 1, 0.0m
Axis 2, 150000.0m
Axis 3, 0.00000degree
Vector speed 30000.00mm/min
3 axes linear interpolation control (Travel to start point)
Axis used .................. Axis 1, Axis 2, Axis 3
Command positioning speed
Vector speed ......... 30000.00[mm/min]
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
[K62]
Axis used .................. Axis 1, Axis 2, Axis 3
Positioning speed ..... 1000.00[mm/min]
3 axes linear interpolation control (P1)
3 axes helical interpolation control (P2)
Axis 1 ........... 50000.0[ m]
Positioning address Axis 2 ......... 150000.0[ m]
Axis 3 ........... 0.00000[degree]
Axis 1 ......... 150000.0[ m]
Axis 2 ........... 50000.0[ m]
Axis 3 ......... 90.00000[degree]
Number of pitches ... 0
Positioning address
Central point address of the arc
Axis 1 ..... 50000.0[ m]
Axis 2 ..... 50000.0[ m]
3 axes linear interpolation control (P3)
3 axes helical interpolation control (P4)
Axis 1 ........... 50000.0[ m]
Axis 2 ........ -150000.0[ m]
Axis 3 ....... 180.00000[degree]
Number of pitches ... 0
Positioning address
Axis 1 ......... 150000.0[ m]
Positioning address Axis 2 .......... -50000.0[ m]
Axis 3 ......... 90.00000[degree]
Central point address of the arc
Axis 1 ..... 50000.0[ m]
Axis 2 .... -50000.0[ m]
3 axes linear interpolation control (P5)
3 axes helical interpolation control (P6)
Axis 1 ........ -150000.0[ m]
Axis 2 .......... -50000.0[ m]
Axis 3 ....... 270.00000[degree]
Number of pitches ... 0
Positioning address
Central point address of the arc
Axis 1 .... -50000.0[ m]
Axis 2 .... -50000.0[ m]
Axis 1 .......... -50000.0[ m]
Positioning address Axis 2 ........ -150000.0[ m]
Axis 3 ....... 180.00000[degree]
3 axes linear interpolation control (P7)
3 axes helical interpolation control (P8)
Axis 1 .......... -50000.0[ m]
Axis 2 ......... 150000.0[ m]
Axis 3 ........... 0.00000[degree]
Number of pitches ... 0
Positioning address
Central point address of the arc
Axis 1 .... -50000.0[ m]
Axis 2 ..... 50000.0[ m]
Axis 1 ........ -150000.0[ m]
Positioning address Axis 2 ........... 50000.0[ m]
Axis 3 ....... 270.00000[degree]
3 axes linear interpolation control Start point
Axis 1 ................... 0.0[ m]
Positioning address Axis 2 ......... 150000.0[ m]
Axis 3 ........... 0.00000[degree]
[G12]
Wait until Axis 1, Axis 2 and Axis 3 start accept flag turn OFF
3 axes constant speed control start
CPSTART3
Axis 1
Axis 2
Axis 3
Speed 1000.00mm/min
ABS-3
Axis 1, 50000.0 m
Axis 2, 150000.0 m
Axis 3, 0.00000degree
ABH
Axis 1, 150000.0 m
Axis 2, 50000.0 m
Linear axis 3, 90.00000degree
Number of pitches 0
Ctr.P. 1, 50000.0 m
Ctr.P. 2, 50000.0 m
ABS-3
Axis 1, 150000.0 m
Axis 2, -50000.0 m
Axis 3, 90.00000degree
ABH
Axis 1, 50000.0 m
Axis 2, -150000.0 m
Linear axis 3, 180.00000degree
Number of pitches 0
Ctr.P 1, 50000.0 m
Ctr.P 2, -50000.0 m
ABS-3
Axis 1, -50000.0 m
Axis 2, -150000.0 m
Axis 3, 180.00000degree
ABH
Axis 1, -150000.0 m
Axis 2, -50000.0 m
Linear axis 3, 270.00000degree
Number of pitches 0
Ctr.P 1, -50000.0 m
Ctr.P 2, -50000.0 m
ABS-3
Axis 1, -150000.0 m
Axis 2, 50000.0 m
Axis 3, 270.00000degree
ABH
Axis 1, -50000.0 m
Axis 2, 150000.0 m
Linear axis 3, 0.00000degree
Number of pitches 0
Ctr.P 1, -50000.0 m
Ctr.P 2, 50000.0 m
ABS-3
Axis 1, 0.0 m
Axis 2, 150000.0 m
Axis 3, 0.00000degree
CPEND
PX000*M2415*M2435*M2455
!M2001*!M2002*!M2003
!M2001*!M2002*!M2003
END
Axis 1 ................... 0.0[ m]
Positioning address Axis 2 ......... 150000.0[ m]
Axis 3 ........... 0.00000[degree]