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7.2 FP-X Compatible Instruction Mode Control Instruction
● With 30 steps:
∆f = (7000 - 1000) / 30 steps = 200 (Hz)
∆t = 300 ms / 30 steps =10 ms
● With 60 steps:
∆f = (7000 - 1000) / 60 steps = 100 (Hz)
∆t = 300 ms / 60 steps = 5 ms
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Regarding the specification of acceleration / deceleration time
For specifying acceleration / deceleration time, No. of steps and initial speed, set the value to
be calculated by the formula below. Specify acceleration / deceleration time in 30 ms
increments with 30 steps, and in 60 ms increments with 60 steps. When the time is not
specified in 30 ms nor 60 ms increments, it will be automatically corrected to the multiple value
(larger value) of 30 ms or 60 ms.
Acceleration / deceleration time t [ms] ≥ (No. of steps x 1000) / Initial speed f0 [Hz]
● When "Acceleration / deceleration time priority" is specified for the control code, the initial
speed is corrected according to the time.
The corrected speed is stored in the correction speed area of initial speed of special data
registers (from DT90400).
(Example): When the initial speed is 10 Hz, and acceleration / deceleration time is 1 msec,
the initial speed is corrected to 1000 Hz.
● When the corrected initial speed exceeds the maximum speed, the initial speed is corrected
to the maximum speed.
(Example): When the initial speed is 10 Hz, the maximum speed is 500 Hz, acceleration /
deceleration time is 1 msec, and acceleration / deceleration time priority is specified,
it takes 100 msec for outputting one pulse at the initial speed and it exceeds 1 msec of
acceleration / deceleration time.
Although the initial speed is corrected to 1000 Hz as "Acceleration / deceleration time
priority" is specified, it is corrected to 500 Hz because it exceeds the maximum speed.
■
Supplement to pulse output operation
When outputting pulses with the PLS+SIGN (direction output) method, pulses will be output
approx. 300 μs later after the output of direction signal (SIGN). (The characteristics of a motor
driver are considered.)
■
Precautions during programming
● When describing the same channel in both the normal program and the interrupt program, be
sure to program not to execute them simultaneously.
● This instruction cannot be executed when a control active flag corresponding to each
channel is ON.
● Select "Pulse output" for the channel setting corresponding to the system register no. 402.
● By performing the rewriting during RUN while outputting pulses, more pulses than the setting
may be output.
● For details of the allocations of I/O and flags, refer to "Allocation of Memory Areas".
7-14
WUME-FPXHPOSG-01
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