Mitsubishi Electric MELSEC-Q Series - Page 350

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