7. POSITIONING CONTROL
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[Program Example]
This program conducts circular interpolation control using auxiliary point
designation under the conditions below.
(1) System configuration
Circular interpolation control of Axis 1 and Axis 2 using auxiliary point
designation.
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 and Axis 2 servomotors is shown in the diagram
below.
0
(10000,
20000)
10000
50000
80000
20000
30000
40000
Axis 2 positioning direction
(Forward direction)
Axis 1 positioning
direction
(Forward direction)
End point (80000, 30000)
Positioning by No. 31 servo program
Auxiliary point (40000, 50000)
Arc center
point
Start
point
(3) Positioning conditions
(a) The positioning conditions are shown below.
Servo Program Number
Item
No. 31
Positioning method Absolute data
Positioning speed 1000
(b) Positioning start ...........leading edge of X000 (OFF → ON)
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