Panasonic FP-E Programming Manual page 813

FP0R
Table of areas used
FP0R
Pulse output Pulse output
channel No. instruction flag
ch0 ch0 R9120 R9120
ch1 ch1 R9121 R9121
ch2 ch2 R9122 R9122
ch3 ch3 R9123 R9123
Precautions during programming
Designate settings for the target value and movement distance so they are within the following range.
K−8,388,608 to +8,388,607
When using in combination with other positioning instructions like F171, designate so the target value is
within the above range, even in those instructions.
When using in application requiring precision, check with the actual machine.
If both the regular program and the inerrupt program contain code for the same channel, make sure both are
not executed simultaneously.
Setting of data table
The linear interpolation can be performed with either combination of (CH0 and CH1) or (CH2 and CH3).
The acceleration time and deceleration time can be specified individually.
S
Control code
S+1
S+2 Composite speed: Initial speed
S+3
(Hz)
S+4
Composite speed: Target speed
S+5 (Hz)
S+6
Acceleration time (ms)
S+7
S+8
Deceleration time (ms)
S+9
S+10
X−axis target value
S+11
S+12
Y−axis target value
S+13
S+14
X−axis component speed: Initial
S+15
speed (Hz)
S+16
X−axis component speed: Target
S+17
speed (Hz)
S+18
Y axis component speed: Initial Y−axis component speed: Initial
S 19 S+19
speed (Hz)
S+20
Y−axis component speed: Target
S+21
speed (Hz)
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Elapsed value area Target value area
DT90400 to DT90400 to DT90402 to DT90402 to
DT90401 DT90403
DT90410 to DT90410 to DT90412 to DT90412 to
DT90411 DT90413
DT90420 to DT90420 to DT90422 to DT90422 to
DT90421 DT90423
DT90430 to DT90430 to DT90432 to DT90432 to
DT90431 DT90433
(*1)
(*2)
Setting area
(*2)
Designated with user program D i
(*3)
(*3)
(*4)
(*4)
Operation result storage area
(*5) (*5)
Parameters for each axis component Parameters for each axis component,
calculated due to instruction execution are stored here calculated due to instruction execution, are stored here.
High−level Instructions
Target value area
for match ON/OFF
DT90404 to DT90404 to
DT90405
DT90414 to DT90414 to
DT90415
DT90424 to DT90424 to
DT90425
DT90434 to DT90434 to
DT90435
t d ith
Correction speed
of initial speed
DT90406 DT90406
DT90416 DT90416
DT90426 DT90426
DT90436 DT90436
3 − 549