Mitsubishi Electric A173UHCPU Programming Manual page 185

7. POSITIONING CONTROL
[Program Example]
This program conducts circular interpolation control using auxiliary point
designation under the conditions below.
(1) System configuration
Circular interpolation control of Axis 1 and Axis 2 using auxiliary point
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
20000
0
10000
(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
Auxiliary point (40000, 50000)
Start
point
(10000,
Arc center
point
20000)
40000 80000
Servo Program Number
No. 31
Absolute data
1000
7 − 38
Positioning start command (X000)
Positioning by No. 31 servo program
End point (80000, 30000)
Axis 1 positioning
direction
(Forward direction)