FPΣ
High-speed Counter and Pulse Output Functions
6-36
(*5): Component speed (Initial speed and maximum speed of each axis)
This is stored as 2 words in real numbers type.
X-axis component speed =
Y-axis component speed =
(( X-axis movement distance)
2
+( Y-axis movement distance)
2
)
(Composite speed) x (Y-axis movement distance)
(( X-axis movement distance)
2
+( Y-axis movement distance)
2
)
(Composite speed) x (X-axis movement distance)
Example:
Even if the initial speed is corrected (See *6), the calculation value will be stored as is in the
operation result storage area.
(*6): Frequency range
The system automatically selects the frequency range for each component of each axis.
Range 0: 1.5Hz to 9.8kHz
Range 1: 48Hz to 100kHz
Range 2: 191Hz to 100kHz
a) If maximum speed
9800Hz
If initial speed < 1.5Hz, initial speed is corrected to 1.5Hz, and range 0 is selected.
If initial speed 1.5Hz, range 0 is selected.
b) If 9800Hz < maximum speed
100000Hz,
If initial speed < 48Hz, initial speed is corrected to 48Hz, and range 0 is selected.
If 48Hz
initial speed < 191Hz, range 1 is selected.
If initial speed
191Hz, range 2 is selected.
(*7): Number of acceleration/deceleration steps
The system automatically calculates the number of acceleration/deceleration steps in the range 0
to 60 steps.
If the operation result is 0, pulses are output for the initial speed (composite speed) as is, with no
acceleration/deceleration.
The number of acceleration/deceleration steps is found using the formula:
acceleration/deceleration time (ms) x component initial speed (Hz).
Example:
With incremental, initial speed 300Hz, maximum speed 5kHz, acceleration/deceleration time 0.5s,
CH0 target value 1000, CH2 target value 50
CH0 component initial speed =
CH2 component initial speed =
(1000
2
+50
2
)
300 × 1000
= 299.626Hz
= 14.981Hz
(1000
2
+50
2
)
300 × 50
CH0 number of acceleration/deceleration steps = 500 × 10
-3
× 299.626 147.8 ⇒ 60 steps
CH2 number of acceleration/deceleration steps = 500 × 10
-3
× 14.981 7.4 ⇒ 7 steps
Note
The linear interpolation control instruction can be used with the
C32T2 control unit only.
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