Mitsubishi FX2N-10GM - Simultaneous 2-Axis Position Control Operation (FX 2 N -10 GM); Positioning by Constant Quantity of Reciprocating Motion (FX 2 N -20 GM)

FX Series Positioning Controllers Program Examples 9
9-16
9.4 Simultaneous 2-Axis Position Control Operation (FX2N-10GM)
9.4.1 Positioning by constant quantity of reciprocating motion (FX
2N
-20GM)
1) Outline of positioning
The machine moves a workpiece from the left table to the right table. Suppose that the left-
and-right direction is the X axis, and the up-and-down direction is the Y axis.
2) Operating procedure
c
The machine returns to the zero point by the start com-
mand only at the first time.
d
The machine moves down. When the clamp solenoid Y1
turns on, the machine clamps a workpiece.
e
The machine moves up, and moves to the right table.
f
The machine moves down. When the clamp solenoid Y1
turns off, the machine releases the workpiece.
g
The machine moves up, and returns to the left table.
3) Operation chart
4) Program
Electrical
zero point 0
Y1 ON
Clamp
Clamp solenoid
Y1 OFF
Unclamp
h
d
ge
j
ic
f
(-130,-130)
Y1 ON
0 2000
1000
y
x
Move-down
Y1 OFF
d
: Mechanical zero point
: Electrical zero point
h
ge
j
ic
f
Line No. Instruction Description
O0, N0 LD M9057;
N1 FNC00(CJ) P0; Jumps to P0 if the zero point return completion flag
M9057 is ON.
N2 cod28(DRVZ); Returns the machine to the zero point
(mechanical zero point address = -130 (X), -130 (Y)).
N3 cod00(DRV) x0 y0; Moves the machine to the address "0, 0".
N4 P0;
N5 cod00(DRV) y1000; Moves down the machine.
N6 SET Y1; Makes the machine clamp a workpiece.
N7 cod04(TIM) K150; Sets the clamp wait time to "1.5 sec".
N8 cod00(DRV) y0; Moves up the machine.
N9 cod00(DRV) x2000; Moves the machine to the right.
N10 cod00(DRV) y1000; Moves down the machine.
N11 RST Y1; Makes the machine unclamp (= release) the
workpiece.
N12 cod04(TIM) K150; Sets the unclamp wait time to "1.5 sec".
N13 cod00(DRV) y0; Moves up the machine.
N14 cod00(DRV) x0; Moves the machine to the left.
N15 m02(END);