Panasonic FP-E Programming Manual page 810

High−level Instructions
Note:
Cautions regarding specification of composite speed (initial speed)
The trajectory might not be linear if the initial composite speeds for CH0 and CH2 are not 1.5 Hz or
higher in the formula below (when the formula below can't be worked out).
1.5 (∆x2+∆y2)
f
∆x
∆x: Short CH of distance between target and current value
∆y: Long CH of distance between target and current value
When using ch2, ch3 of FP−X Tr type, 1.5Hz to 20kHz [K1 to K20000]
(*3): Acceleration/deceleration time (ms) "K constant"
K0 to K32767
If this is 0, pulses will be output for the initial speed (composite speed) as is, with no
acceleration/deceleration.
(*4): Target value
K−8388608 to K8388607
When operating only one axis,
a) In incremental mode, set the target value for the axis which will not be operated to 0.
b) In absolute mode, set the target value for the axis which will not be operated the same as the
current value.
Note: Infinite feed is not possible during linear interpolation.
(*5): Component speed (Initial speed and maximum speed of each axis)
This is stored as 2 words in real numbers type.
X−axis component speed =
Y−axis component speed =
Example:
Even if the initial speed is corrected (See *6), the calculation value will be stored as is in the
operation result storage area.
(*6): Frequency range
The system automatically selects the frequency range for each component of each axis.
Range 0: 1.5Hz to 9.8kHz
Range 1: 48Hz to 100kHz
Range 2: 191Hz to 100kHz
a) If maximum speed
If initial speed < 1.5Hz, initial speed is corrected to 1.5Hz, and range 0 is selected.
If initial speed
b) If 9800Hz < maximum speed
If initial speed < 48Hz, initial speed is corrected to 48Hz, and range 0 is selected.
If 48Hz initial speed < 191Hz, range 1 is selected.
If initial speed
(*7): Number of acceleration/deceleration steps
The system automatically calculates the number of acceleration/deceleration steps in the range 0
to 60 steps.
If the operation result is 0, pulses are output for the initial speed (composite speed) as is, with no
acceleration/deceleration.
The number of acceleration/deceleration steps is found using the formula:
acceleration/deceleration time (ms) x component initial speed (Hz).
3 − 546
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(Composite speed) x (X−axis movement distance)
(( X−axis movement distance)
(Composite speed) x (Y−axis movement distance)
(( X−axis movement distance)
9800Hz
1.5Hz, range 0 is selected.
100000Hz,
191Hz, range 2 is selected.
2
+ ( Y−axis movement distance)
2
+ ( Y−axis movement distance)
FPΣ C32T2/FP−X
2
)
2
)