Panasonic FP-E Programming Manual page 790

High−level Instructions
Precautions during programming
When the same channel is described in a normal program and interrupt program both, do not execute them at
the same time.
This instruction cannot be executed when the corresponding pulse output instruction flag to the channel
started is on.
If rewriting during RUN is perofrmed during the pulse output, the pulse output stops during the program is
being rewritten.
It is not effecitve if the control code is changed after starting the instruction. It has no effect on the operation.
Pules output channels and areas used
Channel No. Output Output type
Y0 CW
ch0 ch0
Y1 CCW
Y2 CW
ch1 ch1
Y3 CCW
Y4 CW
ch2 ch2
Y5 CCW
Y6 CW
ch3 ch3
Y7 CCW
Setting the data table
S Control code
S+1
Initial speed
S+2
(Hz)
S+3
Target speed 1
S+4
(Hz)
S+5
Acceleration time
S+6
(ms)
S+7
Deceleration time
S+8
(ms)
S+9
Target value
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) With the type 0, if a value larger than the target speed at start−up is specified, it will be corrected to the
target speed at start−up.
With the type 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.
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Pulse
output Elapsed
instruction value area
flag
PLS
DT90400 DT90400
R9120 R9120
DT90401
SIGN
PLS
DT90410 DT90410
R9121 R9121
DT90411
SIGN
PLS
DT90420 DT90420
R9122 R9122
DT90421
SIGN
PLS
DT90430 DT90430
R9123 R9123
DT90431
SIGN
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 range (ms) K1 to K32760 (Unit: ms)
Target value range
Note: Available for JOG type 1 (with target values) only.
K−2,147,483,648 to K2,147,483,647
Available for JOG type 1 only
Correction
Deceleration
Target speed of
minimum
value area initial
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
FP0R
Acceleration
forbidden
area starting
position
DT90408 DT90408
DT90409
DT90418 DT90418
DT90419
DT90428 DT90428
DT90429
DT90438 DT90438
DT90439