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6 POSITIONING CONTROL
[Program]
Program for radius-specified circular interpolation control is shown as the following
conditions.
(1) System configuration
Radius-specified circular interpolation control of Axis 1 and Axis 2.
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
(2) Positioning operation details
The positioning uses the Axis 1 and Axis 2 servo motors.
The positioning by the Axis 1 and Axis 2 servo motors is shown in the diagram
below.
Axis 2 positioning direction
(Forward direction)
Positioning using the servo program
No.41.
End point (100000, 50000)
Arc central point
10000010000
30000
50000
Start point
(10000, 30000)
(Reverse
direction)
Home position
0
(Reverse direction)
Axis 1 positioning direction
(Forward direction)
Radius 80000
(3) Positioning conditions
(a) Positioning conditions are shown below.
Item
Servo Program No.
No.41
Positioning method Absolute data method
Positioning speed 1000
(b) Positioning start command ........ PX000 Leading edge (OFF
ON)
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