Panasonic FP-E Programming Manual page 774

High−level Instructions
Sample program4: Trapezoidal control type 1, with change of speed
R0
( DF ) F1 DMV, H10010000, DT0
F1 DMV, K1000, DT2
F1 DMV, K25000, DT4
F1 DMV, K600, DT8
F1 DMV, K400, DT6
F1 DMV, K100000, DT10
R1
F171 SPDH, DT0, K0
R2
( DF ) F1 DMV, K20000, DT4
Data table
DT0
Control information
Initial speed
DT2
(Hz)
Target speed
DT4
(Hz)
Acceleration time
DT6
(ms)
Deceleration time
DT8
(ms)
Target value
DT10
(No. of pulses)
Flag conditions
・Error flag (R9007):
・Error flag (R9008):
3 − 510
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Trapezoidal control
Incremental CW/CCW
1000Hz
25000Hz
600ms
400ms
100,000 pulses
− Turns on when the area specified using the index modifier exceeds the limit.
− Turns on when n is out of the specified range.
− Turns on when each data of [S,S+1] to [S+4,S+5] is out of the specified
range.
− Turns on when [S+2,S+3]>[S+4,S+5].
− Turns on when [S10,S+11] is out of the specified range.
− Turns on when the pulse output has not been set by the system register.
− Turns on when the interrupt execution has been specified for executing the
instruction in the main program.
Frequency
50kHz
25kHz
1kHz
300ms 300ms
R1
R2
Change of speed
Pulse output instruction flag
Acceleration time up to 50kHz
Deceleration time from 50kHz
FP0R
Output pulse
number
100,000
200ms
400ms
Deceleration stop
When changing the target value,
keep the trigger ON.
Time