Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 273

■Control using INC-1 (Incremental data method)
• Positioning control of the specified travel value from the current stop position address is executed.
• The travel direction is set by the sign (+/ -) of the travel value, as follows:
Travel direction
Positive
Negative
Reverse
direction
Travel direction for
negative travel value
Ex.
When the current stop address is -3000, and the travel value is -5000.
-8000
Travel value = -5000
Program example
The servo program No.0 for performing the 1 axis linear positioning control of Axis 4 is explained as an example.
This program example is explained in the "Q series Motion compatible device assignment" device assignment method.
■Positioning operation details
Positioning using the servo program No.0 is shown below.
In this example, Axis 4 is used in servo program No.0.
Current stop address
Home position
0 1000
■Operation timing
Operation timing for the servo program No.0 is shown below.
[Rq.1120] PLC ready flag (M2000)
[Rq.1123] All axes servo ON
command (M2042)
[St.1045] All axes servo ON accept
flag (M2049)
Axis 4 [St.1075] Servo ready
(M2475)
Start command (X0)
Servo program start
Axis 4 [St.1040] Start accept flag
(M2004)
Description
Positioning control to forward direction (Address Increase direction)
Positioning control to reverse direction (Address decrease direction)
Current stop address
Travel direction for
positive travel value
Current stop address
-3000 -2000 -1000 0
Home position
Positioning address using
the servo program No.0
80000
V
10000
Forward
direction
Servo Program No.0
t
5 POSITIONING CONTROL
5.2 1 Axis Linear Positioning Control
5
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