Panasonic FP Series Programming Manual page 1079

Pulse output instructions
F176_PulseOutput_
Center
Pulses are output from two channels in accordance with the parameters in the specified DUT, so
Description
that the path to the target position forms an arc. The radius of the circle is calculated by specifying
the center position and the end position. Pulses are output from the specified channel when the
control flag for this channel is FALSE and the execution condition is TRUE.
See also: PulseOutput_Center_FB (see page 1173)
Use the following predefined DUT: F176_PulseOutput_Center_DUT
The following parameters can be specified in the DUT:
 Control code
 Composite speed
X-axis target value

 Y-axis target value
 X-axis center value
 Y-axis center value
The following parameters for each axis are calculated upon execution of the instruction and stored
in the operation result area of the DUT.
 Radius
Pulse output characteristics
O (Xo, Yo)
Rotation direction: Reverse
1
Composite speed
F :
v
X-axis speed
F :
x
Y-axis speed
F :
y
Radius
r:
1078
Circular interpolation (center position)
Y
S(Xs, Ys)
Fx
θ
r
Fv
Fy
θ
X
P (Xp, Yp)
E (Xe, Ye)
2
O (Xo,Yo):
S (Xs,Ys):
P (Xp,Yp)
E (Xe,Ye)
Rotation direction: Forward
Center position
Current position (Start)
Pass position
Target position (End)