NAiS FP Series User Manual page 113

High - speed Counter and Pulse Output Functions
When the program is run, the data table and positioning path are as shown below.
Positioning data table
Pass position setting method
DT600
Control code: H10
DT601
DT602 Composite speed:
DT603 500 Hz
DT604 Target value (X - axis)
DT605 (CH0): 8660 pulses
DT606 Target value (Y - axis)
DT607 (CH2): - 5000 pulses
DT608 Pass value (X - axis)
DT609 (CH0): 9396 pulses
DT610 Pass value (Y - axis)
DT611 (CH2): - 3420 pulses
DT612 Radius:
DT613 10000 pulses
DT614 X - axis (CH0)
Center position: 0 pulse
DT615
DT616
Y - axis (CH2)
Center position: 0 pulse
DT617
Positioning path
Counterclockwise direction
(Left rotation)
Y (CH2)
Center position O
(Xo, Yo)
Let CH0 be the X - axis, and CH2 be the Y - axis.
Fv:
Composite speed
Fx:
X - axis component speed
Fy:
Y - axis component speed
r: Radius
|Ye - Yo|
Fx= Fv sin θ = Fv
r
6 - 38
(*1)
(*2)
Setting
area
Designated
with user pro-
gram
(*3) (*3)
Operation result
storage area
Parameters for each
axis component, cal-
culated due to in-
struction execution,
are stored here.
Clockwise direction
(Right rotation)
Current position S (Xs, Ys)
Fx
θ
r
Fv
Fy
θ
X (CH0)
Pass position P (Xp, Yp)
Target position E (Xe, Ye)
O (Xo, Yo): Center point (Center position)
S (Xs, Ys): Start point (Current position)
P (Xp, Yp): Pass point (Pass position)
E (Xe, Ye): End point (Target position)
Fy= Fv cos θ = Fv
Center position setting method
DT600
Control code: H110
DT601
DT602 Composite speed:
DT603 2000 Hz
DT604 Target value (X - axis)
DT605 (CH0): 8660 pulses
DT606 Target value (Y - axis)
DT607 (CH2): - 5000 pulses
DT608 X - axis (CH0)
Center position: 0 pulse
DT609
DT610
Y - axis (CH2)
Center position: 0 pulse
DT611
DT612 Radius:
DT613 10000 pulses
|Xe - Xo|
r
FPΣ
(*1)
(*2)
(*3)
Setting
area
(*3)
Operation result
storage area