Mitsubishi Electric MELSEC Q Series Programming Manual page 332

6 POSITIONING CONTROL
[Cautions]
[Program]
(6) ABS/INC , ABS/INC
Sets circular interpolation control using center point specification.
Refer to Section 6.8 "Central Point-Specified Circular Interpolation Control" for
details.
(1) For circular interpolation control at the pass points for constant-speed control of 2
to 4 axes, specify any 2 axes among the controlled axes. When axes other than
the axes specified for circular interpolation control are detected, an error occurs,
resulting in a deceleration stop.
(1) Program for 2 axes constant-speed control is shown as the following conditions.
(a) System configuration
Constant-speed control for Axis 2 and Axis 3.
Q61P Q03UD
CPU
(b) Positioning operation details
Axis 2 and axis 3 servo motors are used for positioning operation.
Positioning details for Axis 2 and Axis 3 servo motors are shown below.
Axis 3 positioning direction
100000
50000
30000
0
Fig.6.30 Positioning for Axis 2 and Axis 3
Q172D QX41 QY41P Q172D
CPU LX
AMP AMP AMP
Axis Axis Axis
1 2 3
M M M
P2
P1
30000 50000 90000
6 - 145
Motion CPU control module
Start command (PX000)
AMP
Axis
4
M
P3
Axis 2 positioning
direction