Pulse output instructions
1049
Part III FP Instructions
Changing the target speed during pulse output
t
f
4
5
9
6
7
8
1
2
3
Type 1: The speed can be changed within the range of the maximum speed (50kHz).
1
Target speed
6
Deceleration
2
1st change of target speed
7
Deceleration time
3
2nd change of target speed
8
Pulse output control flag
4
Acceleration time
9
Execution condition
5
Acceleration
To change the speed, keep the execution condition TRUE.
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.
Type 1: If the target speed is set to a value larger than 50kHz, it will be corrected to 50kHz.
If the elapsed value crosses over the acceleration forbidden area starting position (e.g.
sys_diPulseChannel0AccelerationForbiddenAreaStartingPosition) during acceleration, acceleration
cannot be performed.
The deceleration speed cannot be lower than the corrected final speed.
General programming information
!
Warning!
As soon as you begin editing a program online (i.e., in
RUN mode) using this instruction, pulse output will
stop.
If both the main program and the interrupt program contain code for the same
channel, make sure both are not executed simultaneously.
When a pulse output instruction is executed and pulses are being output, the
pulse output control flag (e.g. sys_bIsPulseChannel0Active) of the corresponding
channel is TRUE. No other pulse output instruction can be executed as long as
this flag is TRUE.
The instruction cannot be started when a decelerated stop has been requested.
To restart after stopping the operation, turn the execution condition to FALSE
and then to TRUE again.
The execution of the instruction is faster the second time it is started if the
positioning parameters remain unchanged. Changing the setting of the output
operation (pulse output or calculation only) does not effect this behavior.
We strongly recommend that you incorporate a forced stop (see page 1021)
option in you
r positioning p
rogram.
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