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6 POSITIONING CONTROL
[Program]
Program for 3 axes linear interpolation control is shown as the following conditions.
(1) System configuration
3 axes linear interpolation control of Axis 1, Axis 2 and Axis 3.
Positioning start command (PX000)
MM MM
Motion CPU control module
Axis
4
Axis
1
Axis
2
Axis
3
AMP AMP AMP AMP
Q61P Q02H
CPU
Q172H
CPU
Q172
LX
QX41
(2) Positioning operation details
The positioning is used the Axis 1, Axis 2 and Axis 3 servomotors.
The positioning operation by the Axis 1, Axis 2 and Axis 3 servomotors is shown
in the diagram below.
Axis 2 positioning direction
(50000, 40000, 30000)
Positioning using the servo
program No.21.
40000
30000
50000
Home position
(0, 0, 0)
(Reverse direction)
Axis 3 positioning
direction
Axis 1 positioning
direction
(Reverse direction)
(
Reverse direction
)
(Forward direction)
(Forward direction)
(Forward direction)
(3) Positioning conditions
(a) Positioning conditions are shown below.
Servo Program No.
Item
No.21
Positioning method Absolute data method
Positioning speed 1000
(b) Positioning start command ........ Turning PX000 off to on (OFF
ON)