Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 276

■Control using INC-2 (Incremental data method)
• Positioning control from the current stop address to the position which combined travel direction and travel value specified
with each axis is executed.
• The travel direction for each axis is set by the sign (+/ -) of the travel value for each axis, as follows:
Travel direction
Positive
Negative
Forward direction
Y-axis travel value
Reverse
direction
Reverse
direction
Ex.
When the X-axis travel value is 6000 and Y-axis travel value is -2000.
Home position
*
Y-axis travel value
-3000
Program example
The program for performing 2 axes linear interpolation control of Axis 3 and 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
The positioning is used the Axis 3 and Axis 4 servomotors.
The positioning operation by the Axis 3 and Axis 4 servomotors is shown in the diagram below.
Axis 3 positioning
direction
Home position (0, 0)
■Positioning conditions
• Positioning conditions are shown below.
Item
Positioning speed
• Positioning start command: X0 Leading edge (OFF  ON)
5 POSITIONING CONTROL
274
5.3 2 Axes Linear Interpolation Control
Description
Positioning control to forward direction (Address increase direction)
Positioning control to reverse direction (Address decrease direction)
Y
1
X
1
0
X-axis travel value
X-axis travel value
0 5000
Stop position after positioning
Positioning operation
Positioning using the
servo program No.11
(40000, 50000)
Axis 4 positioning
direction
Servo Program No.
No.11
30000
*: Forward: Travel direction for
positive travel value
Reverse: Travel direction for
negative travel value
: Indicates setting data
Current stop address
Forward direction
* : Current stop address
(-1000, -1000)