Mitsubishi Electric Q Series Programming Manual page 305

6 MOTION PROGRAMS FOR POSITIONING CONTROL
Example
1) Linear interpolation
The direction changes to 90° in a point during positioning. The acceleration of X-axis starts near the
positioning point with deceleration of Y-axis, it becomes to a rounded locus. X-axis operates with
constant-speed after Y-axis stops, and the positioning is executed to the next point.
O100;
G100;
G91 G01 X0.Y100.F100.;
X100.;
M02;
%
2) Circular interpolation
In the case of G02/G03 (Circular interpolation), the locus is inside further than a circular arc set in a
program. It becomes to a rounded locus in a start and end points for circular interpolation.
O110;
G100;
G90 G02 X0.Y0.I0.J50.F500.;
M02;
%
REMARK
About locus of G100/G101
Locus commanded from the Motion controller is different by setting of the
G100/G101.
(a) Locus of G100
Time-fixed acceleration/deceleration method is used to enable the smooth
operation between positioning points for CP operation. In the case of a
continuous point of G01 (CP Linear interpolation), it passes roundly inside in a
point during positioning. And in the case of G02/G03 (Circular interpolation), the
locus is inside further than a circular arc set in a program. The degree which
become inside further than a positioning point changes by the
acceleration/deceleration time or speed.
This is indicated by the following example.
Positioning point
1) Acceleration of X-axis
starts with deceleration
of Y-axis.
Time-fixed acceleration/
deceleration method
Y-axis
Y-axis
1)
X-axis
Circular locus set in a
program
Locus after process of
time-fixed acceleration/
deceleration.
The locus is inside further
than a circular arc set in
a program.
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3) Deceleration stop in Y-axis
2) Smooth operation without
passing the positioning
point set in a program
X-axis
3)
2)
Time-constant