Panasonic FP Series

Pulse output instructions
1078
Part III FP Instructions
F176_PulseOutput_
Center
Circular interpolation (center position)
See also:
PulseOutput_Center_FB (see page 1173)
Use the following predefined DUT: F176_PulseOutput_Center_DUT
The following parameters can be specified in the DUT:
 Control code
 Composite speed
 X-axis target value
 Y-axis target value
 X-axis center value
 Y-axis center value
The following parameters for each axis are calculated upon execution of the instruction and stored
in the operation result area of the DUT.
 Radius
Pulse output characteristics
X
Fy
Fv
Fx
r
Y
S(Xs, Ys)
O (Xo, Yo)
P (Xp, Yp)
E (Xe, Ye)


θ
θ
1
Rotation direction: Reverse
2
Rotation direction: Forward
F
v
:
Composite speed O (Xo,Yo): Center position
F
x
:
X-axis speed S (Xs,Ys): Current position (Start)
F
y
:
Y-axis speed P (Xp,Yp) Pass position
r: Radius E (Xe,Ye) Target position (End)
Description
Pulses are output from two channels in accordance with the parameters in the specified DUT, so
that the path to the target position forms an arc. The radius of the circle is calculated by specifying
the center position and the end position. Pulses are output from the specified channel when the
control flag for this channel is FALSE and the execution condition is TRUE.