Panasonic FP0R User Manual page 199

High-Speed Counter and Pulse Output
Absolute value control
A number of pulses equal to the difference between the set target value and the current value
are output. Values greater than the current value result in a positive rotation, values smaller
than the current value result in a negative rotation.
EXAMPLE
With a current position of 5000 and a target value of +1000, 4000 pulses are output
from CCW to reach the new position at 1000.
The following outputs are TRUE or FALSE depending on the selected pulse output method
and position control mode:
Pulse output method
CW/CCW
Forward FALSE
Pulse/direction
Forward TRUE
Count mode
Home return
After a drive system has been switched on, there is a difference between the internal position
value (elapsed value) and the mechanical position of the axis; this difference cannot be
predetermined. The internal value must be synchronized with the actual position value of the
axis. This is done by means of a home return, during which a position value is registered at a
known reference point (home).
During execution of a home return instruction, pulses are continuously output until the home
input is enabled. The I/O allocation is determined by the channel used. See "I/O Allocation" on
page 199.
To decelerate movement when near the home position, designate a near home input and set
bit 4 of the special data register storing the pulse output control code
(sys_wHscOrPulseControlCode) to TRUE and back to FALSE again.
The deviation counter clear output can be set to TRUE when home return has been
completed.
JOG operation
Pulses are output from the specified channel while the trigger for the F172_PulseOutput_Jog
instruction is TRUE. Direction output and output frequency are specified with this instruction.
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Target value
Pulse output
Positive value/
> current value
CW TRUE
CCW FALSE
Pulse TRUE
Direction FALSE
Pulse TRUE
Direction TRUE
Incremental counting
Negative value/
< current value
FALSE
TRUE
TRUE
TRUE
TRUE
FALSE
Decremental counting