Mitsubishi FX2N-10GM, Hardware / Programming Manual

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FX Series Positioning Controllers Program format 5
5-24
c
CW/CCW (clockwise/counterclockwise)
This instruction moves the machine to the target posi-
tion (X,Y) at the peripheral speed "f".
The radius of the arc is determined by "r". When "r" is
positive, the movement route is a small circle A shown
on the right. When "r" is negative, the movement route is
a large circle B. (The radius may be positive or nega-
tive.)
This instruction cannot make a route of true circle.
The set value is defective error (Error code 3004)
occurs.
When a route of true circle is required, specify the circle
center coordinates as described in the previous page.
After using this instruction, pay rigid attention to PARA.
23 (stop mode).
(Refer to Paragraph 4.3.1.)
de
X/Y axis target position (x, y)
The target position can be specified by an incremental or absolute address. The unit and the
set range are equivalent to those for cod 00 and cod 01.
f
Radius "r"
The radius is always treated as an incremental address from the center point (which does not
have to be set). The unit and the set range are equivalent to those for cod 00 and cod 01. Pro-
grams for true circles cannot be created using this instruction.
g
Peripheral speed "f"
Set the circular operation speed. The acceleration/
deceleration time constant (set to PARA. 10) and
the unit of peripheral speed are equivalent to those
for cod 01.
cod 02
CW
Applicable models
Series name Remarks
FX
2N
-20GM
cod 02
CW
r
***
FX
2N
-10GM
FX
2N
-20GM
Servo end check
Instruction group
Remarks
cod 03
CCW
Circular interpolation with radius specification
No
A
cod 03
CCW
Radius
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.
Basic
format
X axis
target
position
Y axis
target
position
Peripheral
speed
x y f
r
***
x y f
Radius
X axis
target
position
Y axis
target
position
Peripheral
speed
➀ ➁ ➂ ➃ ➄
-r
+r
CW
CW
(clockwise)
B
Target (x, y)
A
Start point
+r
-r
CCW
CCW (counterclockwise)
Start point
A
B
Target (x, y)
CCW
PARA.10
:Interpolation time
constant
PARA.10
Time
f
Peripheral
speed
ooo