350
5 POSITIONING CONTROL
5.17 Continuous Trajectory Control
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Motion SFC program
The Motion SFC program for executing the servo program (No. 500) for 1 axis continuous trajectory control is shown below.
*1 Example of the above Motion SFC program is started using the automatic start or sequence program.
Axis used . . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . 2000 [pulse]
Axis used . . . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . -2000 [pulse]
Axis used . . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . . 1000 [pulse]
Axis used . . . . . . . . . . . . . . . . Axis 4
Travel value to pass point . . . -1000 [pulse]
!X0
[G20]
END
Wait until X0 turn OFF after continuous trajectory
control completion.
1 axis continuous trajectory
control
SET M2042
[F10]
X0*M2475
[G10]
CPSTART1
Axis 4
Speed
10000 pulse/s
INC-1
Axis
4, -1000 pulse
FOR-TIMES
K 100
INC-1
Axis
4, 2000 pulse
INC-1
Axis
4, -2000 pulse
NEXT
INC-1
Axis
4, 1000 pulse
CPEND
[K500]
Wait until X0 and Axis 4 servo ready turn ON.
Turn on all axes servo ON command.
Start continuous trajectory control
1 axis linear positioning control
1 axis linear positioning control
End repetition region
1 axis linear positioning control
End continuous trajectory control
1 axis linear positioning control
Number of repetitions 100
Axis used . . . . . . . . . . . . . . . . . Axis 4
Positioning speed . . . . . . . . . . 10000 [pulse/s]
Summary of Contents for MELSEC iQ-R16MTCPU
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