Mitsubishi Electric MELSEC-Q Series - Page 332

6 - 145
6 POSITIONING CONTROL
(6) ABS/INC , ABS/INC
Sets circular interpolation control using center point specification.
Refer to Section 6.8 "Central Point-Specified Circular Interpolation Control" for
details.
[Cautions]
(1) For circular interpolation control at the pass points for constant-speed control of 2
to 4 axes, specify any 2 axes among the controlled axes. When axes other than
the axes specified for circular interpolation control are detected, an error occurs,
resulting in a deceleration stop.
[Program]
(1) Program for 2 axes constant-speed control is shown as the following conditions.
(a) System configuration
Constant-speed control for Axis 2 and Axis 3.
Start command (PX000)
Q172D
CPU
Q172D
LX
QX41 QY41PQ61P Q03UD
CPU
Motion CPU control module
AMP
M
Axis
1
AMP
M
Axis
2
AMP
M
Axis
4
AMP
M
Axis
3
(b) Positioning operation details
Axis 2 and axis 3 servo motors are used for positioning operation.
Positioning details for Axis 2 and Axis 3 servo motors are shown below.
A
xis 3 positioning direction
30000
P1
P2
100000
30000
P3
50000
50000
90000
Axis 2 positioning
direction
0
Fig.6.30 Positioning for Axis 2 and Axis 3