Mitsubishi Electric MELSEC-Q Series - Page 214

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6 POSITIONING CONTROL
Control using INC-2 (Incremental data method)
(1) Positioning control from the current stop address to the position which combined
travel direction and travel value specified with each axis is executed.
(2) The travel direction for each axis is set by the sign (+/ -) of the travel value for
each axis, as follows:
• Positive travel value .............Positioning control to forward direction
(Address increase direction)
• Negative travel value............Positioning control to reverse direction
(Address decrease direction)
Forward direction
Y-axis travel value
Reverse
direction
Reverse
direction
X-axis travel value
0
Y
1
X1
Current stop address
Forward direction
Reverse: Travel direction for
: Indicates setting data
negative travel value
positive travel value
Forward: Travel direction for
(Note-1):
When the X-axis travel value is 6000 and Y-axis travel value is -2000.
Y-axis travel value
X-axis travel value
(Note-2): Current stop address
(-1000, -1000)
Stop position after
positioning
Positioning operation
-3000
Home position
50000
(Note-2)
Fig.6.4 Positioning using incremental data method
[Program]
Program for 2 axes linear interpolation control is shown as the following conditions.
(1) System configuration
2 axes linear interpolation control of Axis 3 and Axis 4.
Q172D
CPU
Q172D
LX
QX41 QY41PQ61P Q03UD
CPU
Motion CPU control module
Positioning start command (PX000)
AMP
M
Axis
1
AMP
M
Axis
2
AMP
M
Axis
4
AMP
M
Axis
3
Exam
p
le