Mitsubishi Electric A173UHCPU Programming Manual page 191

7. POSITIONING CONTROL
[Program Example]
This program conducts circular interpolation control using radius designation under
the conditions below.
(1) System configuration
Circular interpolation control of Axis 1 and Axis 2 using radius designation.
A61P A273UH
CPU
MR- -B MR- -B MR- -B MR- -B
Axis
1
M
(2) Positioning details
The positioning by the Axis 1 and Axis 2 servomotors is shown in the diagram
below.
Axis 2 positioning direction
(Forward direction)
50000
30000
(Reverse
direction)
10000
0
Home position
(Reverse direction)
(3) Positioning conditions
(a) The positioning conditions are shown below.
Item
Positioning method
Positioning speed
(b) Positioning start ........... leading edge of X000 (OFF → ON)
A278 A61P AX41
LX
Axis
Axis Axis
4
2 3
M M M
Positioning by No. 41 servo program
Start point
(10000, 30000)
Radius 80000
Arc center point
Servo Program Number
No. 41
Absolute data
1000
7 − 44
Positioning start command (X000)
End point (100000, 50000)
Axis 1 positioning
direction
100000
(Forward direction)