Panasonic AFPX-C30T - Page 313

Restrictions on positioning data setting
• Designate settings for the target position and moving amount so they are within the following range.
Allowable range: -8,388,608 to +8,388,608
• When using in combination with other positioning instructions like F171, designate so the target value
is within the above range, even in those instructions.
Sample program
Continuous interpolation control
• Using the linear interpolation function, perform positioning control that draws trajectory like the one
shown below.
Relay allocation
Relay No.
Description
Relay No.
Description
X1
Positioning start
R9010
Always ON
X2
Emergency stop switch
R911C
Pulse output flag (CH0)
R20
From P1 to P2 start
R911D
Pulse output flag (CH1)
R21
From P2 to P3 start
R22
From P3 to P4 start
R23
From P4 to P1 start
R2F
Positioning done
Data register allocation
Item
Data register
No.
Details On this program details
User setting
area for
linear
interpolation
DT0 to DT1 Control code
Control code when executing linear interpolation,
absolute
DT2 to DT3
Startup speed
2000 Hz
DT4 to DT5
Target speed
2000 Hz
DT6
Acceleration/de-
celeration time
0 ms
DT8 to DT9
Target position
(X-axis)
Specify the target position of X-axis when moving
from P1
→
P2
→
P3
→
P4
→
P1.
DT10 to DT11
Target position
(Y-axis)
Specify the target position of Y-axis when moving
from P1 → P2 → P3 → P4 → P1.
Work area DT12 to DT23
Operation result
storage area
Parameters calculated due to instruction
execution are stored.
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