Yaskawa YASNAC PC NC Programming Manual - Manual (Page 50)

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YASNAC PCNC Programming Manual Chapter 2: Commands Calling Axis Movements
2.2.4 Second to Fourth Reference Point Return (G30)
With the commands of “G30 Pn X • • • Y • • • Z (*a • • • b • • •);”, the axes are moved to P2 (sec-
ond reference point), P3 (third reference point*), or P4 (fourth reference point*) in the simulta-
neous 3-axis (* 5-axis) control mode after the positioning at the specified intermediate positioning
point. If “G30 P3 X30. Y50.;” “N specified, the X- and Y-axis return to the third reference point.
If “Pn” is omitted, the second reference point is selected. The axes not specified in the G30 block
do not move.
(1) Reference Point Positions
The position of each reference point is determined in reference to the first reference point.
The distance from the first reference point to each of the reference points is set for the follow-
ing parameters.
Table 2.2.4.1 Reference Point Positions
(2) Supplements to the 2nd to 4th Reference Point Return Commands
• For the points to be considered to for the execution of G30, refer to the supplements in
2.2.1, “Automatic Return to Reference Point (G28)”.
• If G29 is specified after G30, positioning is made at the point specified with G29 after
passing the intermediate positioning point specified with G30. Only the coordinate value
of intermediate positioning point of the axis specified with G30 is updated.
• For the execution of G30, reference point return must have been completed after power-
ON either manually or by the execution of G28. If an axis for which reference point return
has not been completed is included in the axes specified in the G30 block, alarm “0240”
occurs.
X-axis Y-axis Z-axis 4th-axis 5th-axis
2nd reference point pm pm pm pm pm
3rd reference point pm pm prn pm pm
4th reference point pm pm pm pm pm