Yaskawa J50M Instructions User Manual

Page 136

2.14.1 OVERVIEW (Cent’d)

ORBIT

SPEED VARIATION

G198 is also the start and G199 the end of

form compensation.

25.

Circular projection compensation

Another problem is the projection remaining in

circular cutting, at the point where the quadrant is
switched.

(ii) When commanding a form with angle, divide

This projection can be made smaller by using

each line before and after the angle in two, and

the circular projection compensation function.

command

before and after the angle.

The above two functions are called high-speed

EXAMPLE (SQUARE CUT WITH FORM

) ;

contouring functions.

Note :

When using form compensation, set

in all the

exponential

parameters (#6418 to #6420) .

Otherwise, correct movement cannot be guaranteed.

2.14.2 FORM COMPENSATION FUNCTION

Programming

The form compensation mode turns on by com-

manding G198 in the GO1 mode.

This mode

GO1

G91 F6000 ;

N 1 X25. G198 ;

N 2 X25.

;

N 3 Y25. G198 ;

N 4 Y25. G199 ;

N 5 X-25. G198 ;

N 6 X-25.

;

N 7 Y-25. G198 ;

compensates for the delay of the servo system, and

performs interpolation.

This mode turns off by

8 Y-25. G199 ;

commanding G 199 in the single-block, feed hold or

modes.

M30 ;

(a) Command format

ORBIT

SPEED VARIATION

( i )

X . . . Y . . . Z . . . ;

(Start form compensation mode)

Command G198 under the GO1 mode after position-

ing, to turn on the form compensation mode,

perform linear acceleration to the currently

Then

commanded cutting speed in the block.

The move

command must be large enough for acceleration.

( i i )

X . . . Y , . . Z . . . ;

(End form compensation mode)

Command G 199 under the GO 1 mode in the form

compensation mode, to perform linear deceleration

and position at the commanded point.

The form

compensation mode turns off after positioning.
The move command must be large enough for
deceleration.

(b) Program example

(i) How to command linear

/ decel in a block

with discontinuous command speed

( C

I R

U L A R

W I T H

O M P

) ;

GO1

F1OOOO ;

N Y25. G198 ;

N 2 G02 125;

N 3 GO1 Y25. G199 ;
M30 ;

(a) The movement has no delay against the inter-

polation command, under the form compensation
mode.

Thus, if disconnected speed is commanded,

it can shock the machine, or cause servo error.

(b) Giving commands other than the interpolation

command under the form compensation mode can
shock the machine, or cause servo error.

form compensation mode causes the form compen-
sation mode to turn off.

The form compensation

mode will not turn on until G198 is commanded
under modes other than the single-block mode.

(d) The override cannot be changed while executing

the block commanded with G 199.

(e) When interpolating a

shorter than the

distance, divide the line into two equal

parts, and command G198 and

Smooth

cannot be gained unless this division is

p r e c i s e .

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