Mitsubishi MELSEC-F, Training Manual

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Positioning Control Actual Positioning 5
5-3
5.2.1 Program example
The program below demonstrates basic positioning using the FX
2N
-20GM. As this program is
designed to be used without a mechanical plotter, the electrical zero point is used for
reference.
Many programs can be stored in a GM unit at one
time. This example uses program number 0.
This command is to move from the start point, to
the electrical zero point
Here the program waits for 2 seconds, using a
10ms timer.
This command indicates the rapid command to
position C.
Here Y0 is turned on, to mimic the use of an end
effector tool.
This timer allows a tool to be activated, or an
operation executed.
This command is the start of a continuous steady
path, first using linear interpolation to position D
To position E, only the X axis need move.
For a smooth arc, circular interpolation is used.
This example shows the start and end positions
(F), as well as the radius and a speed f.
To position G, only the X axis need move.
Here Y0 is turned off, to mimic the the end of the
end effector use.
Again a timer related to the operation above.
This command rapidly moves only the Y axis a
short distance to position H.
The end of the program, and a wait for the next
start command.