Mitsubishi Electric A173UHCPU Programming Manual page 175

7. POSITIONING CONTROL
Control with INC-3 (incremental method)
(1) Positioning control from the current stop position to the position which is the
resultant of the designated travel directions and travel values of the respective
axis.
(2) The travel direction of each axis is designated by the sign of the travel value, as
follows:
• Positive travel value .............forward direction (increased address)
• Negative travel value............reverse direction (decreased address)
Forward direction
Forward direction
Z- axis
travel
Reverse direction
Reverse direction
Example
The travel direction is shown below for an X-axis travel value of 10000, a Y-
axis travel value of 5000, and a Z-axis travel value of 6000.
Forward direction
6000
Z- axis travel
value (6000)
Home position
Fig.7.6 Positioning by Incremental Method
Y
1
Z
1
Position speed
value
0 Current stop position
Reverse direction
Forward direction
5000
Current stop address
(1300, 1300, 2000)
5000
X- axis travel value (10000)
Reverse direction
7 − 28
: indicates set data
Y- axis travel value
X
1
X- axis travel value
Stop position after
positioning
(11300, 6300, 8000)
Positioning
movement
Y- axis travel value
Forward direction
10000
Forward direction
(5000)