Mitsubishi FX2N-10GM, Hardware / Programming Manual

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FX Series Positioning Controllers Program format 5
5-21
5.6.2 cod 01 (LIN): Linear interpolation positioning
c
LINEAR
This instruction moves the machine to the target coordinates (X, Y) in a linear route by using
the both axes at the same time.
When using this instruction, pay rigid attention to PARA. 23 (stop mode). (Refer to Para-
graph 4.3.1.)
de
X axis/Y axis target position
The unit of the target position is set by PARA. 3.
Whether the target position is incremental (indicating the distance from the current position)
or absolute (indicating the distance from the coordinate zero point) is set by cod91 (INC) or
cod90 (ABS).
The table below shows the set range for the X axis. The set range for the Y axis is equivalent.
*1: D2000 to D3999 are not available in the FX
2N
-10GM.
f
Vector speed
Set the vector speed within the range shown in the table below. (The set value must not
exceed the value set to PARA. 4.)
*2: FX
2N
-10GM: f0 to f200,000
*3: D2000 to D3999 are not available in the FX
2N
-10GM.
Table 5.10: Specification method
Specification method Set range
Direct specification x0 to x999,999
Indirect specification (16-bit) xD0 to xD6999 *1
Indirect specification (32-bit) xDD0 to xDD6998 *1
Table 5.11: Specification method
Specification method Set range
Direct specification f0 to f100,000 *2
Indirect specification (16-bit) fD0 to fD6999 *3
Indirect specification (32-bit) fDD0 to fDD6998 *3
cod 01
LIN
Applicable models
Series name Remarks
Basic
format
FX
2N
-20GM
cod 01
LIN
FX
2N
-10GM
FX
2N
-20GM
Servo end check
Instruction group
Remarks
Linear interpolation positioning,
Multi-step operation (10GM)
LINEAR
Yes
A
This instruction is not available in the
programs (Ox, Oy and O100) for
independendent 2-axis operation and
subtasks.
If this instruction is used in one of these
programs, it is ignored.
In the FX
2N
-10GM (Ox), this instruction is
used for multi-step operation.
•
•
x y f
X axis
target
position
X axis
operation
speed
➀ ➁
Vector
speed
➂ ➃
¡¡¡
Y axisPARA.3-y
:Minimum command units.
Target position.
ABS/INC
X axis
PARA.3-x
x
y
ooo
Vector
speed
PARA.10
:Interpolation
time constant
PARA.10
Time
f