Panasonic FP0H User Manual page 104

Instruction References
 Regarding the specification of acceleration/deceleration time
For specifying acceleration/deceleration time, No. of steps and initial speed, set the value to
be calculated by the formula below. Specify acceleration/deceleration time in 30 ms
increments with 30 steps, and in 60 ms increments with 60 steps. When the time is not
specified in 30 ms nor 60 ms increments, it will be automatically corrected to the multiple
values (larger value) of 30 ms or 60 ms.
Acceleration/deceleration time t [ms] ≥ (No. of steps x 1000)/Initial speed f0 [Hz]
• When "Acceleration/deceleration time priority" is specified for the control code, the initial
speed is corrected according to the time.
The corrected speed is stored in the correction speed area of initial speed of special data
registers (from DT90400).
(Example): When the initial speed is 10 Hz, and acceleration/deceleration time is 1 msec,
the initial speed is corrected to 1000 Hz.
• When the corrected initial speed exceeds the maximum speed, the initial speed is corrected
to the maximum speed.
(Example): When the initial speed is 10 Hz, the maximum speed is 500 Hz,
acceleration/deceleration time is 1 msec, and acceleration/deceleration time priority is
specified, it takes 100 msec for outputting one pulse at the initial speed and it exceeds 1
msec of acceleration/deceleration time.
Although the initial speed is corrected to 1000 Hz as "Acceleration/deceleration time priority"
is specified, it is corrected to 500 Hz because it exceeds the maximum speed.
 Supplement to pulse output operation
When outputting pulses with the PLS+SIGN (direction output) method, pulses will be output
approx. 300µs later after the output of direction signal (SIGN). (The characteristics of a motor
driver are considered.)
 Precautions during programming
• When describing the same channel in both the normal program and the interrupt program,
be sure to program not to execute them simultaneously.
• This instruction cannot be executed when a control flag corresponding to each channel is on.
• For the FP0H mode, select "Pulse output" for the channel setting corresponding to the
system register no. 402.
• For the FPΣ mode, select "Do not use high-speed counter" for the channel setting
corresponding to the system register nos. 400 and 401.
• By performing the rewriting during RUN while outputting pulses, more pulses than the setting
may be output.
REFERENCE
• For details of the allocations of I/O and flags, refer to "12.2.2 When Using
Pulse Output Function (FPΣ Compatible Instruction Mode)".
• For details of the FPΣ mode, refer to "11. FPΣ Mode".
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