Mitsubishi Electric MELSEC iQ-R16MTCPU Programming Manual page 283

Program example
The program for performing 4 axes linear interpolation control of Axis 1, Axis 2, 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 1, Axis 2, Axis 3 and Axis 4 servomotors.
The positioning by the Axis 1, Axis 2, Axis 3 and Axis 4 servomotors is shown in the diagram below.
Axis 2 positioning
direction
(Forward direction)
Axis 3 positioning
direction
(Forward direction)
5000
5000
(Reverse direction)
(Reverse direction)
■Positioning conditions
• Positioning conditions are shown below.
Item Servo Program No.
No.22
Positioning method Incremental data method
Positioning speed 10000
• Positioning start command: X0 Leading edge (OFF  ON)
Axis 4 positioning direction
(Forward direction)
Positioning using the servo program No.22
(Forward direction)
0 5000
(Reverse direction)
Axis 1 positioning
direction
(Forward direction)
5 POSITIONING CONTROL
5.5 4 Axes Linear Interpolation Control
5
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