High−level Instructions
3 − 507
Change of speed during pulse output
(1)With the type 0, if a value larger than the target speed at start−up is specified, it will be corrected to the
target speed at start−up. With the type 1, if the target value is set to a value larger than 50kHz, it will be
corrected to 50kHz.
(2)If the elapsed value crosses over the acceleration forbidden area starting position during accelerating,
acceleration cannot be performed. For information on the acceleration forbidden area starting position, refer
to the special registers.
(3)For deceleration, the speed cannot be lower than the deceleration minimum speed.
For information on the deceleration minimum speed, refer to the special registers.
Assignment of control code (Specify with H constant)
H
10: Fixed
Control assignment
0: Trapezoidal
Control assignment type
0: Type 0 1: Type 1
Output assignment
0: Pulse output
1: Calculation only
Operation mode assignment
0: Incremental
1: Absolute
*As for the output assignment
When starting the instruction with th setting of “1: Calcula-
tion only”, the pulse output is not performed.
When starting the instruction with the assignment of the
same channel and the same parameter after executing
this instruction once for a channel, it can be started at
high speed. (It is the same for the both cases of “Pulse
output” and “Calculation only”.)
However, if a parameter othern than the parameter used
for the previous execution is specified, the high−speed
startup cannot be performed.
Note) The same parameter means that all the parameters
other than the output assignment are the same.
Output type assignment
0: CW/CCW
1: PLS+SIGN (Forward OFF/Reverse ON)
2: PLS+SIGN (Forward ON/Reverse OFF)
Interrupt execution assignment
0: Execute in main program.
1: Execute in interrupt program.
(The trigger is the level type.)
Output type
Incremental <Relative control>
The pulses specified for the target value are output.
Mode selection
Target value
CW/CCW
PLS+SIGN
Forward OFF
Reverse ON
PLS+SIGN
Forward ON
Reverse OFF
Elapsed value
When positive Output from CW
Pulse output when
direction output is off
Pulse output when
direction output is on
Addition
When negative Output from CCW
Pulse output when
direction output is on
Pulse output when
direction output is off
Subtraction
Absolute
<Absolute
value
control>
The pulse that is the difference between the specified target value and the current value is output.
Mode selection
Target value
CW/CCW
PLS+SIGN
Forward OFF
Reverse ON
PLS+SIGN
Forward ON
Reverse OFF
Elapsed value
When target value is
larger than current
value
Output from CW
Pulse output when
direction output is off
Pulse output when
direction output is on
Addition
When target value is
smaller than current
value
Output from CCW
Pulse output when
direction output is on
Pulse output when
direction output is off
Subtraction
FP0R
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