7. POSITIONING CONTROL
7 − 44
[Program Example]
This program conducts circular interpolation control using radius designation under
the conditions below.
(1) System configuration
Circular interpolation control of Axis 1 and Axis 2 using radius 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
100000
Axis 2 positioning direction
(Forward direction)
Axis 1 positioning
direction
(Forward direction)
End point (100000, 50000)
Positioning by No. 41 servo program
Arc center point
Start point
(10000, 30000)
10000
(Reverse
direction)
Home position
(Reverse direction)
Radius 80000
50000
30000
(3) Positioning conditions
(a) The positioning conditions are shown below.
Servo Program Number
Item
No. 41
Positioning method Absolute data
Positioning speed 1000
(b) Positioning start...........leading edge of X000 (OFF → ON)
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