Mitsubishi Electric A173UHCPU Programming Manual page 176

7. POSITIONING CONTROL
[Program Example]
This program conducts 3-axes linear interpolation control under the conditions
below.
(1) System configuration
3-axes linear interpolation control of Axis 1, Axis 2, and Axis 3.
A61P A273UH
CPU
MR- -B MR- -B MR- -B MR- -B
Axis
1
M
(2) Positioning details
The positioning by the Axis 1, Axis 2, and Axis 3 servomotors is shown in the
diagram below.
Axis 3 positioning
direction
(Forward direction)
(Reverse direction)
Home position
(3) Positioning conditions
(a) The positioning conditions are shown below.
Item
Positioning method
Positioning speed
(b) Positioning start .................leading edge of X000 (OFF → ON)
A61P AX41
A278
LX
Axis
Axis Axis
4
2 3
M M M
Axis 2 positioning direction (Forward direction)
(50000, 40000, 30000)
40000
30000
(0, 0, 0) (Reverse direction)
(Reverse direction)
Servo Program Number
No. 21
Absolute data
1000
7 − 29
Positioning start command (X000)
Positioning by No. 21
servo program
Axis 1 positioning
direction
50000 (Forward direction)