YASKAWA YASNAC 3000G

2.14.2
POSITIONING
(GOO)
Feedrate
is
specified
by
an
F
code.
The
feedrate
in
the
component
axial
directions
are
so
control¬
led
that
the
resultant
feedrate
becomes
the
spec¬
ified
feedrate.
GOO
X-
•
•
Y-
.
Z-
•
•
(a1--
.
)
*
where
a
=
A,
B,
C,
U,
V,
or
W
With
this
command,
the
tool is
moved simulta¬
neously
in
the
three
axial directions
(four
axial
directions'!)
in
the
respective
rapid
traverse
rates to
the
specified
coordinate
position.
When
a
certain axis
is
missing
in
the
command,
the
tool
does
not
move
in
the
axial direction
of
that
axis.
Rapid
traverse
rates
differ
with
each
axis and
are
determined
by
the
machine tool
builder.
Refer
to
the
specifications
of
the machine
tool
builder.
The tool
moves
independently
on
each
specified
axis,
and
therefore,
the resultant motion
is
gen¬
erally
not-linear.
When
programming
a
rapid
traverse,
take
this into
consideration
to
avoid
any
interference
of
the
tool
with
the
workpieces
or
other
objects.
F
=
\J
Fx2
+
Fy2
+
Fz2
+
Fa2
(where
Fx,
Fy.
.
.
are
feedrates
in
the
X,
Y.
.
.
directions.
)
The end
point
can
be
programmed
either
in
ab¬
solute
coordinates
or
in
incremental
values
with
G90
or
G91
respectively.
(Refer
to
2.
14. 17
Absolute
/incremental
Designation
(G90,
G91)J
If
no
F
code
is
given
in
the
block
containing
the
G01
or
in
preceding
blocks,
the
block
constitutes
an
input
error.
PROGRAM
EXAMPLE
GO
1
X4000
Y
4000
Z4000
FI
00
*
EXAMPLE
100
tnm/min
RESULTANT
FEEDRATE
(TANGENTIAL
FEEDRATE)
4
GOO
X4000
Y
4000
Z4000
*
Y
0
X
4
4
Z
X
4
Fig.
2.14.3
Rapid
Traverse
Rates
X
axis:
8
oi/min
Y
axis:
8
m/min
Z
axis:
4
m/min
Z
Where the
optional
4th
axis
is
a
rotary
axis
(A,
B
or
C).
for
the
same
F
code,
the
feedrates
in
the basic
three axis
directions
(X,
Y
and
Z),
and
the
rotary
axis
feedrate
are
as
follows.
Fig.
2.14.2
2.14.3
LINEAR
INTERPOLATION
(ooi)
G01
X---
Y-..
Z-.
(a+.
..)
F-..
*
where
a
=
A,
B,
C,
U,
V,
or
W
With
this
command,
the
tool
is
moved
simulta¬
neously
in
the
three
(four+)
axial
directions
re¬
sulting
in
a
linear
motion.
When
a
certain
axis
is
missing
in
the
command,
the
tool
does
not
move
in
the
axial
direction
of
that
axis.
-
23
-