NAiS FP Series User Manual page 112

FPΣ
Pulse output instruction (F176) (Circular interpolation)
The circular interpolation controls with two axes according to the specified data table.
This instruction calculates the component speed at each scan, and corrects it while
moving along the circular. If the scan time is shorter than the specified frequency timing
by more than 10 times, the constant scan function should be used, and if the scan time
is longer than the specified frequency timing, the instruction should be written in an
interrupt program and used in period interrupts.
R12
F1 DMV, H10,
F1 DMV, K500,
F1 DMV, K8660,
F1 DMV, K - 5000, DT606
F1 DMV, K9396,
F1 DMV, K - 3420, DT610
F176 SPCH, DT600, K0
Assume that the execution conditions for this instruction always hold.
When the execution conditions are off, pulse output stops.
Pulses are output from the X axis (CH0) and the Y axis (CH2) at a composite speed of
2,000 Hz, and the two axes are controlled so that a circular path is followed to the target
position.
In the program, operation is being carried out in the mode in which absolute and pass
positions are specified. Pulses are output from the current position (θ 60°, Xs = 5000,
Ys = 8660) using circular interpolation control, and when the pass position (θ - 20°, Xp
= 9396, Yp = - 3420) has been passed, pulse output stops at the target position (θ - 30°,
Xe = 8660, Ye = - 5000).
Note
Assume that the execution conditions for this instruction always
hold. When the execution conditions are off, pulse output stops.
DT600
DT602
DT604
DT608
6.4 Pulse Output Function
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