Mitsubishi Electric MELSEC Q Series Programming Manual page 214

6 POSITIONING CONTROL
[Program]
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
• Negative travel value............Positioning control to reverse direction
Forward direction
Y-axis travel value
Reverse
direction
Example
When the X-axis travel value is 6000 and Y-axis travel value is -2000.
Home position
(Note-2)
Y-axis travel value
Fig.6.4 Positioning using incremental data method
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.
Q61P Q03UD Q172D
CPU CPU
AMP
Axis
1
M
(Address increase direction)
(Address decrease direction)
Y
X
0
X-axis travel value
Reverse
direction
X-axis travel value
0
-3000
Positioning operation
Motion CPU control module
QX41 QY41P Q172D
LX
Positioning start command (PX000)
AMP AMP AMP
Axis Axis Axis
2 3 4
M M
6 - 27
(Note-1):
Forward: Travel direction for
positive travel value
1 Reverse: Travel direction for
negative travel value
: Indicates setting data
1
Current stop address
Forward direction
(Note-2): Current stop address
(-1000, -1000)
5000
Stop position after
positioning
M