High−level Instructions
3 − 526
Precautions during programming
When the same channel is described in a normal program and interrupt program both, do not execute them at
the same time.
This instruction cannot be executed when the corresponding pulse output instruction flag to the channel
started is on.
If rewriting during RUN is perofrmed during the pulse output, the pulse output stops during the program is
being rewritten.
It is not effecitve if the control code is changed after starting the instruction. It has no effect on the operation.
Pules output channels and areas used
Channel No. Output Output type
Pulse
output
instruction
flag
Elapsed
value area
Target
value area
Correction
speed of
initial
speed
Deceleration
minimum
speed
Acceleration
forbidden
area starting
position
1Hz to 50kHz [K1 to K50000 (Unit: Hz)]
S+4
S+5
Target speed 1
(Hz)
Acceleration time up to the max. speed 50kHz.
Acceleration time range (ms) K1 to K32760 (Unit: ms)
S+6
S+7
Acceleration time
(ms)
Deceleration time from the max. speed 50kHz.
Deceleration time range (ms) K1 to K32760 (Unit: ms)
S+8
S+9
Deceleration time
(ms)
Target value range
Note: Available for JOG type 1 (with target values) only.
K−2,147,483,648 to K2,147,483,647
Target value Available for JOG type 1 only
Note the following characteristics according to the specified initial speed.
(1) When the initial speed is 1 or higher, and lower than 46Hz, the control up to the maximum frequency to the
degree of 10kHz can be performed.
If the frequency is higher than that, the speed error will be larger.
(2) When the initial speed is 46 or higher, and lower than 184Hz, the control up to 50kHz can be performed.
(3) When the initial speed is 184 or higher, the control up to 50kHz can be performed.
The speed error around 50kHz will be smallest.
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.
FP0R
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