Panasonic FPG Series Technical Manual page 234

Sample Program
18.1.2 Positioning for 2 Axes (Linear Interpolation Program)
Unit configuration
An overview of a sample program
This sample program uses the absolute method.
1. The current absolute position is read into the data table reads.
2. The distance from the current position to the target position (4000, 3000) is calculated.
3. The proportions of the X component and Y component included in the distance are calculated
individually.
4. E point control is initiated simultaneously for the X and Y axes, the start up speed and target speed
are output as the respective proportions, and linear interpolation is carried out.
Because an error occurs if a startup is applied to an axis for which the target speed is 0 pps, an internal
flag is used and the startup conditions are specified.
Items to be set for the program
Data
Target position (absolute)
Current position (absolute)
Movement distance
startup speed
target speed
Acceleration/deceleration
time
For items marked with an asterisk (*), the user may specify any desired value. Other items are handled
through operation in the sample program.
Reference:
Calculation of the linear movement distance
18-6
Linear component
(X, Y)
(x, y)
VS*
Vt*
Ac*
X axis component
X*
x
Lx=X-x
Acx=Ac
FP∑ Positioning Unit
Y axis component
Y*
y
Ly=Y-y
Acy=Ac