Mitsubishi Electric A173UHCPU - Page 176

7. POSITIONING CONTROL
7 − 29
[Program Example]
This program conducts 3-axes linear interpolation control under the conditions
below.
(1) System configuration
3-axes linear interpolation control of Axis 1, Axis 2, and Axis 3.
M M M M
A61P
A273UH
CPU
A278
LX
Axis
1
Axis
2
Axis
3
Axis
4
A61P
AX41
Positioning start command (X000)
MR- -B
MR- -B MR- -B
MR- -B
(2) Positioning details
The positioning by the Axis 1, Axis 2, and Axis 3 servomotors is shown in the
diagram below.
(Reverse direction)
Axis 2 positioning direction (Forward direction)
Axis 3 positioning
direction
(Forward direction)
Axis 1 positioning
direction
(Forward direction)
Positioning by No. 21
servo program
(Reverse direction)
(Reverse direction)
Home position
(0, 0, 0)
50000
30000
40000
(50000, 40000, 30000)
(3) Positioning conditions
(a) The positioning conditions are shown below.
Servo Program Number
Item
No. 21
Positioning method Absolute data
Positioning speed 1000
(b) Positioning start .................leading edge of X000 (OFF → ON)