Mitsubishi Electric A173UHCPU Programming Manual page 196

7. POSITIONING CONTROL
[Program Example]
This program conducts circular interpolation control using center point designation
under the conditions below.
(1) System configuration
Circular interpolation control of Axis 1 and Axis 2 using center 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)
Start address
(11459, 30000)
30000
20000
11459
0
(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
3 4
2
M M M
Positioning by No. 51 servo program
End address
(78541, 30000)
Center point address
(45000, 20000)
45000 78541
Servo Program Number
No. 51
Absolute data
1000
7 − 49
Positioning start command (X000)
Axis 1 positioning direction
(Forward direction)