Fig. 4-35:
Wait
2 seconds
Turn Y0 ON
Wait
2 seconds
Turn Y0 OFF
Wait
2 seconds
Many programs can be stored in a GM controller at one time.
This example uses program number 0.
The "DRV Ret" command is used 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 a high speed positioning command to
position C.
Here, Y0 is turned ON to mimic the use of an end effector tool.
This timer allows for a tool to be activated, or for an operation to be
executed.
This command is the start of a continuous steady path using linear
interpolation to position D.
Only the X-axis is used in this 1-speed positioning instruction to move
to position E.
For a smooth arc to position F, circular interpolation is used.
This example shows the start and end positions as well as the radius
(r) and speed (f).
Only the X-axis is used in this 1-speed positioning instruction to move
to position G.
Here, Y0 is turned OFF to mimic the end of use for an end effector.
A timer is used to ensure the end effector operation has finished
completely.
This command rapidly moves the Y-axis for a short distance so that it
can reach position H.
This denotes the end of the program, where the controller waits for
the next start command.
A to B
B to C
C to D
D to E
E to F
F to G
G to H
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