Speed Control Reference; Adding G04 Instruction In Comer - YASKAWA yasnac i80m Instruction Manual

'Q
Example
of Programming
|
oo-i
r-jr-oiH
|
Dwell time
: li.fi
sec.
I
(4) Two
types
of dwell
can
be selected by
parameter :(Pm40
15
D3).
Dwell when the
specified value in the command block before the dwell
block is identified by lag pulses of servo, or
dwell on completion
of
pulse distribution.
2.5.9
Speed Control Reference
For speed control of interpolation, accel/decel
control
is executed by a
time
constant
in
start
and
stop.
Part
program
is created without
regard
to
the control.
However, cutting in a corner
may
result in rounding by follow-up error
between NC command and actual machine movement. To eliminate the
rounding, add G04
(dwell) instruction in
the corner for positive deceleration.
Y-axis moves before X-axis has fully decelerated.
Y-axis
lx- fur
X
has decelerated.
moves
-axis
cm
ADDITON
o
X
,/
X
Fig. 2.5.8
Adding G04 Instruction in Comer
To control the follow-up error(rounding) in the
program,
use
G09
(exact
stop)
in the
program.
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65
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