Panasonic GM1 Series Reference Manual page 78

7.1 Sample Program
■
Parameter settings
Parameters for the pulse output unit (Pulse_4Axes parameters)
Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device
pane.
Parameter
StartupSpeed (Startup
speed [u/s])
PG_MoveAbsolute parameter
Parameter
Target speed: Velocity
[u/s]
Acceleration /
Deceleration: AccDec
2
[u/s ]
Target position:
Position [u]
(Note 1) Set each acceleration / deceleration time to 32767 ms or less.
■
Program (ST)
Declaration section
PROGRAM sample
VAR
Process :UDINT := 0;
PG_Power_0: PG_Power;
PG_MoveAbsolute_0: PG_MoveAbsolute;
END_VAR
Implementation section
CASE Process OF
0://Servo On
PG_Power_0(
IF PG_Power_0.Status = TRUE THEN
END_IF
1://Execute the 1st PG_MoveAbsolute
PG_MoveAbsolute_0(
7-6
Set value
500
Set value
1st speed 2nd speed
5000 20000
10000 10000
15000 30000
UnitID:=1,
AxisNo:=1,
Enable:=TRUE,
bRegulatorOn:=TRUE);
Process := 1;
UnitID:=1,
AxisNo:=1,
Execute:=TRUE,
Position:= 15000,
Velocity:=5000,
Setting range
0 to 4294967295
Setting range
3rd speed
500 0 to 4000000
10000
(Note 1)
1 or more
36000 -2147483648 to 2147483647
WUME-GM1PG-01