Mitsubishi FX2N-10GM - Continuous Paths (FX 2 N -20 GM)

FX Series Positioning Controllers Program format 5
5-10
• Only the X axis is available in the FX
2N
-10GM.
• In the FX
2N
-20GM or the FX
2N
-10GM, m codes can be transmitted with the FX
2N
/FX
2NC
Series programmable controller using buffer memories.
• The signals related to m codes can be output to an external unit using PARAs 36 to 38. (For
details, refer to Section 4.3.1.)
• Lengthen the turming OFF time of m code ON signal more than the scan time of the pro-
grammable controller when you continuously use m codes.
5.4.2 Continuous paths (FX
2N
-20GM)
Continuous paths indicate to consecutively execute the interpolation control instructions such
as cod 01, cod 02 and cod 03.
Example of continuous paths
cod 01 Linear interpolation (LIN)
cod 02 Circular interpolation (CW)
cod 01 Linear interpolation (LIN)
cod 03 Linear interpolation (CCW)
When any instruction other than applicable instructions (the cod 01, the cod 02 and the cod 03)
is executed, continuous path operation is not performed. The machine is temporarily stopped,
then proceeds to the next operation.
The machine is stopped in the following cases.
• When another cod instruction is executed.
• When a sequence instruction is executed.
• When an m code of the AFTER mode is executed.
• When the cod 09 (CHK) servo end check instruction is executed (that is, when PARA. 21
is between 1 to 5000).
Continuous path operation
• Consecutive interpolation instructions are oper-
ated without stopping, and inflection points
become smooth curves.
The radius of curvature varies depending on the
interpolation time constant (set to PARA. 10). A
larger time constant makes a larger radius of cur-
vature.
• In order to draw a precise locus, create a program
using circular interpolation instructions.
• When the speed between each interpolation
instruction is different, the composite speed of the
current deceleration and the next acceleration is
used.
PARA.10
PARA.10
PARA.10
Curve
Inflection point
Speed
Time
When this period becomes larger, the
radius of curvature becomes larger.