Mitsubishi FX2N-10GM, Hardware / Programming Manual

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FX Series Positioning Controllers Program format 5
5-23
5.6.3 cod 02 (CW), cod 03 (CCW): Circular interpolation with center point specification
c
CW/CCW
This instruction specifies the travel to the target
position around the center coordinates at the
peripheral speed "f".
When the start point is equivalent to the end point
or when the endpoint coordinates (target coordi-
nates) are not specified, the travel locus makes a
complete circle.
de
X/Y axis target position (x, y)
The target position can be specified by an incre-
mental or absolute address. The units and the set
range are equivalent to those for cod 00 and cod 01.
fg
X/Y axis center coordinates (i, j)
The center coordinate always treated as an incre-
mental address from the start point. The units and
the set range are equivalent to those for cod 00 and
cod 01.
h
Peripheral speed "f"
Set the circular operation speed. The acceleration/deceleration time constant (PARA. 10)
and the units of peripheral speed are equivalent to those for cod01.
Program example
cod90 (ABS); Absolute drive method.
cod02 (CW)
x1000
y1000
i250
j250
f1000;
When interpolation instructions are executed consecutively, path operation is performed (Refer
to Section 5.4.2).
cod 02
CW
Applicable models
Series name Remarks
Basic
format
FX
2N
-20GM
cod 02
CW
x y i
*** j
◆◆◆
f
FX
2N
-10GM
FX
2N
-20GM
Servo end check
Instruction group
Remarks
cod 03
CCW
Circular interpolation with center point specification
No
A
cod 03
CCW
X axis
target
position
This instruction is not available in
the programs (Ox, Oy and O100)
for independent 2-axis operation
and subtasks.
If this instruction is used in one of
these programs, it is ignored.
Peripheral
speed
Y axis
target
position
X axis
center
coordinate
Y axis
center
coordinate
X axis
target
position
Peripheral
speed
Y axis
target
position
X axis
center
coordinate
Y axis
center
coordinate
➀ ➁ ➂ ➃ ➄ ➅
x y i
***
j
◆◆◆
f
Target (x, y)
CCW
counterclockwise
Center (i, j)
CW
clockwise
Start point
ooo
PARA.10
:Interpolation
time constant
PARA.10
Time
f
Peripheral
speed
(0,0)
500 1000
500
1000
250
250
Y axis
X axis
Peripheral speed
1000
Target position
:Absolute (ABS) position
(1000, 1000)
Center: Incremental (INC) position
Start point :present position
(500, 500)