Mitsubishi Electric MELSEC Q Series Programming Manual page 210

6 POSITIONING CONTROL
[Program]
Control using INC-1 (Incremental data method)
(1) Positioning control of the specified travel value from the current stop position
address is executed.
(2) The travel direction is set by the sign (+/ -) of the travel value, as follows:
• Positive travel value .............Positioning control to forward direction
• Negative travel value............Positioning control to reverse direction
Reverse
direction
Travel direction for
negative travel value
Example
When the current stop address is -3000, and the travel value is -5000.
-8000
Fig.6.2 Positioning using incremental data method
Servo program No. 0 for positioning control is shown as the following conditions.
(1) System configuration
1 axis linear positioning control of Axis 4.
Q61P Q03UD Q172D
CPU CPU
AMP
Axis
1
M
(2) 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 Positioning address using the servo program No.0
Home position
0 1000
(Address Increase direction)
(Address decrease direction)
-3000 -2000 -1000
Travel value = -5000
Motion CPU control module
QX41 QY41P Q172D
LX
Positioning start command (PX000)
AMP AMP AMP
Axis Axis Axis
2 3 4
M M
80000
6 - 23
Current stop address
Travel direction for
positive travel value
Current stop address
0
Home position
M
Forward
direction