Panasonic FP-E Programming Manual page 777

FP0R
Pulse output channels and areas used
Channel
Output Output type
No.
Y0 CW PLS
ch0 ch0
Y1 CCW SIGN
Y2 CW PLS
ch1 ch1
Y3 CCW SIGN
Y4 CW PLS
ch2 ch2
Y5 CCW SIGN
Y6 CW PLS
ch3 ch3
Y7 CCW SIGN
Setting the data table
S Control code
S+1
S+2 Initial speed
S+3 (Hz)
S+4 Target speed
S+5 (Hz)
S+6 Acceleration time
S+7 (ms)
S+8 S+8
Deceleration time Deceleration time
S+9
(ms)
S+10 Target value
S+11 (No. of pulses)
Note the following characteristics according to the specified initial speed.
(1) When the initial speed is 1 or higher, and lower than 46Hz, the control up to the maximum frequency to the
degree of 10kHz can be performed.
If the frequency is higher than that, the speed error will be larger.
(2) When the initial speed is 46 or higher, and lower than 184Hz, the control up to 50kHz can be performed.
(3) When the initial speed is 184 or higher, the control up to 50kHz can be performed.
The speed error around 50kHz will be smallest.
Change of speed during pulse output
(1) If the target value is set to a value larger than 50kHz, it will be corrected to 50kHz.
(2) If the elapsed value crosses over the acceleration forbidden area starting position during accelerating,
acceleration cannot be performed.
For information on the acceleration forbidden area starting position, refer to the special registers.
(3) For deceleration, the speed cannot be lower than the deceleration minimum speed.
For information on the deceleration minimum speed, refer to the special registers.
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Position Pulse
control output Elapsed
starting instruction value area
flag
input
X0
DT90400 DT90400
DT90052 DT90052
R9120 R9120
DT90401
bit6
X1
DT90410 DT90410
DT90052 DT90052
R9121 R9121
DT90411
bit6
X2
DT90420 DT90420
DT90052 DT90052
R9122 R9122
DT90421
bit6
X3
DT90430 DT90430
DT90052 DT90052
R9123 R9123
DT90431
bit6
Velocity range (Frequency) (Hz) Velocity range (Frequency) (Hz)
1Hz to 50kHz [K1 to K50000 (Unit: Hz)]
Acceleration time up to the max. speed 50kHz.
Acceleration time range (ms) K1 to K32760 (Unit: ms)
Deceleration time from the max. speed 50kHz. Deceleration time from the max. speed 50kHz.
Deceleration time range (ms) K1 to K32760 (Unit: ms)
Target value range
K−2,147,483,648 to K2,147,483,647
High−level Instructions
Correction
Target Deceleration
speed of
value minimum
initial
area speed
speed
DT90402 DT90402
DT90406 DT90406 DT90407 DT90407
DT90403
DT90412 DT90412
DT90416 DT90416 DT90417 DT90417
DT90413
DT90422 DT90422
DT90426 DT90426 DT90427 DT90427
DT90423
DT90432 DT90432
DT90436 DT90436 DT90437 DT90437
DT90433
Acceleration
forbidden
area starting
position
DT90408 DT90408
DT90409
DT90418 DT90418
DT90419
DT90428 DT90428
DT90429
DT90438 DT90438
DT90439
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