Mitsubishi Electric Q Series Programming Manual page 259

6 MOTION PROGRAMS FOR POSITIONING CONTROL
[Program Example]
The example of the direction of the nozzle of controlling the normal for circular arc
curve.
150.0
100.0
50.0
0.0
150.0 100.0
100.0
150.0
X, Y-axis
The program to start as the upper figure from start point and witch keeps a nozzle at
right angles toward the contour of line and that it goes around the contour and witch
is returned to start point. It is the following program when a helical interpolation
function is used.
G90 G00 X0. Y150. Z0. ;
G01 X50. F1000. ;
G12 X150. Y50. Z90. I0. J-100. P0 ;
G01 Y-50. ;
G12 X50. Y-150. Z180. I-100. J0. P0 ;
G01 X-50. ;
G12 X-150. Y-50. Z270. I0. J100. P0 ;
G01 Y50. ;
G12 X-50. Y150. Z0. I100. J0. P0 ;
G01 X0 ;
M02 ;
%
Y
Start point
Nozzle
R=50
R=100
X
50.0 100.0 150.0
Travel to start point
6 - 72
180
90 270
0
Z-axis (Rotation angle)