Mitsubishi Electric Q172CPU - Page 352

7 - 91
7 MOTION PROGRAMS FOR POSITIONING CONTROL
(9) The absolute circular interpolation or the absolute helical interpolation of the next
block cannot be executed.
(10) The F command is handled like G01.
(11) The coasting value
A
between skip signal detection and a stop is represented
by the following expression.
F : Command speed [mm/min]
t1 : Signal input delay time = Operation cycle + Detection delay time [s]
tc1 : Acceleration/deceleration time [s]
Tr : Position loop time constant [s]
(Reciprocal number of position control gain 1 value set in servo parameter.
When position control gain 1 = 25, Tr = 1/25 = 0.04 [s])
(12) Under the following conditions, G32 makes deceleration stop once, then
proceeds to the next block.
(a) When the point-to-point positioning command (G00, G25, G28, G30 or the
like) is executed after the G32 block
N10 G32 X100. F1000. SKIP #X10 ;
N20 G00 X200. ;
N30 G32 X300. F1000. SKIP #X11 ;
Deceleration stop is
made before this block.
(b) High-speed oscillation stop (G26) is executed after the G32 block
N10 G25 Y START 90. STRK 1. F400. ;
N20 G32 X100. F1000. SKIP #X10 ;
N30 G26 Y ;
G32 X200. F1000. SKIP #X11 ;
Deceleration stop is
made before this block.
(c) When the absolute value command (G90) or incremental value command
(G91) is executed after the G32 block
N10 G90 ;
N20 G32 X100. F1000. SKIP #X10 ;
N30 G91 ;
N40 G32 X200. Y200. F1000. SKIP #X11 ;
Deceleration stop is
made before this block.
(d) When the block immediately after G32 is in the constant-speed positioning
command but its command axes do not include the specified axis of the G32
block
N10 G32 X100. F1000. SKIP #X10 ;
N20 G32 Y100. Z100. F1000. SKIP #X11 ;
Deceleration stop is
made before this block.
F
tc1
A
[mm] =
60
( t1 +
2
+Tr )