Festo Кабели и принадлежности User Manual
Page 303
7. Description of the commands
7−37
Festo P.BE−SPC200−EN en 0901d
G02
Move smoothly to position at defined speed
ć pneumatic axis; ć permitted in operating mode: Start/Stop, Record Select
Nn G02 [G90|G91] X
n
Position in [mm] or [°]
n = ±9999.99
@n
Position in [mm] or [°] saved in the position register @n
n = 0 ... 99
n
Positioning speed in % of the configured maximum
speed; 0 = 100 %, 1 = 1 % ... 99 = 99 %
n = 0 ... 99
Rn
1)
Positioning speed in % of the configured maximum speed
saved in register Rn
n = 0 ... 99
@n
1)
Absolute value of the positioning speed in [m/s] or
[10
3
°/s] saved in position register @n; permitted:
0.01
Ţ Speed Ţ Defined maximum speed
n = 0 ... 99
Effect
The drive moves smoothly at the defined speed and acceleration from the current
position to the defined position (absolute or relative). The programmed nominal
acceleration values are to be understood as medium values (see Fig. 7/8).
With regard to the programmed nominal values and acceleration, you must observe
the
instructions for pneumatic drives with command G01.
Example
N010 G02 X90 FX0
N011 G02 X@2 FX30
;Move to position X90 at 100 % of the
;defined maximum speed
;Move to position 2 from register @2 at 30 % of
;the defined maximum speed
Remark
With this command sudden movements of the slide when arriving and braking can
be reduced. The following are preset when the system starts:
Ĉ Absolute positioning (G90)
Ĉ Approach ramp = 100 % of the maximum acceleration (G08)
Ĉ Braking ramp = 100 % of the maximum acceleration (G09).
Command G02 has a saving effect. It remains effective until it is cancelled by comĆ
mand G00 or G01.
With WinPISA programming, positions can also be specified symbolically. For this
purpose, the position values and position names are entered in the position list.
Example:
N010 G02 X@ABHOL_POS FX20 Y@ABHOL_POS FY30
1)
This syntax is only available as from operating system version 4.6. Programs which contain this
syntax cannot be edited with control panel type SPC200−MMI−1... .