Mitsubishi Electronics Q172HCPU, Q173HCPU manual 295

6 POSITIONING CONTROL

(c)Servo program

Servo program No.0 for constant-speed control is shown below.

<K 0>

CPSTART2

Axis	1
Axis	2	10000
Speed
FIN acceleration/		100
deceleration
ABS-2
Axis	1,	200000
Axis	2,	200000
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	1,	400000
Axis
Axis	2,	400000
CPEND

Start constant-speed control
Axis used . . . . . . . . .	Axis 1, Axis 2
Positioning speed . . .	10000[PLS/s]
FIN acceleration/ . . .	. . 100[ms]
deceleration
2 axes linear interpolation control
Axis used . . . . . .	Axis 1, Axis 2
Address of . . . . .	Axis 1 . . .	200000[PLS]
stop position	Axis 2 . . .	200000[PLS]
M-code output . . . . . .	10
2 axes linear interpolation control
Axis used . . . . . .	Axis 1, Axis 2
Address of . . . . .	Axis 1 . . .	300000[PLS]
stop position	Axis 2 . . .	250000[PLS]
M-code output . . . . . .	11
2 axes linear interpolation control
Axis used . . . . . .	Axis 1, Axis 2
Address of . . . . .	Axis 1 . . .	350000[PLS]
stop position	Axis 2 . . .	300000[PLS]
M-code output . . . . . .	12
2 axes linear interpolation control
Axis used . . . . . .	Axis 1, Axis 2
Address of . . . . .	Axis 1 . . .	400000[PLS]
stop position	Axis 2 . . .	400000[PLS]

End constant-speed control

(d)Motion SFC program

Motion SFC program for constant-speed control is shown below.

	Constant-speed control
[F10]	SET M2042
[G10]	M2415*M2435
[K0]	CPSTART2	1
	Axis
	Axis	2
	Speed		10000
	FIN acceleration/		100
	deceleration
	ABS-2
	Axis	1,	200000
	Axis	2,	200000
	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	1,	400000
	Axis
	Axis	2,	400000
	CPEND

END

Turn on all axes servo ON command.

Wait until Axis 1 servo ready and Axis 2 servo ready turn on.

Start constant-speed control
Axis used . . . . . . . .	. Axis 1, Axis 2
Positioning speed . .	. 10000[PLS/s]
FIN acceleration/ . .	. . . 100[ms]
deceleration
2 axes linear interpolation control
Axis used . . . . .	Axis 1, Axis 2
Address of . . . . .	Axis 1 . . .	200000[PLS]
stop position	Axis 2 . . .	200000[PLS]
M-code output . . . . .	10
2 axes linear interpolation control
Axis used . . . . .	Axis 1, Axis 2
Address of . . . . .	Axis 1 . . .	300000[PLS]
stop position	Axis 2 . . .	250000[PLS]
M-code output . . . . .	11
2 axes linear interpolation control
Axis used . . . . .	Axis 1, Axis 2
Address of . . . . .	Axis 1 . . .	350000[PLS]
stop position	Axis 2 . . .	300000[PLS]
M-code output . . . . .	12
2 axes linear interpolation control
Axis used . . . . .	Axis 1, Axis 2
Address of . . . . .	Axis 1 . . .	400000[PLS]
stop position	Axis 2 . . .	400000[PLS]

End constant-speed control

(Note): Example of the above Motion SFC program is started using the automatic start or PLC program.

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