FPΣ User's Manual
7.4 Pulse Output Function
129
7.4.3.3 F171_PulseOutput_Trapezoidal, Trapezoidal Control
This instruction automatically performs trapezoidal control according to the parameters in the
specified DUT. Pulses are output from the specified channel when the control flag for this
channel is FALSE and the execution condition is TRUE.
Pulse output characteristics
t
f
6
1
2
3
4
5
3
1
Initial and final speed
4
Target value
2
Target speed
5
Pulse output control flag
3
Acceleration/deceleration time
6
Execution condition
REFERENCE
Please refer to the FPWIN Pro online help for details and a programming
example.
7.4.3.4 F171_PulseOutput_Home, Home Return
Pulses are output from the specified channel when the control flag for this channel is FALSE
and the execution condition is TRUE.
After a drive system has been switched on, there is a difference between the internal position
value (elapsed value) and the mechanical position of the axis; this difference cannot be
predetermined. The internal value must be synchronized with the actual position value of the
axis. This is done by means of a home return, during which a position value is registered at a
known reference point (home).
During execution of a home return instruction, pulses are continuously output until the home
input is enabled. The I/O allocation is determined by the channel used.
To decelerate movement when near the home position, designate a near home input and set
bit 4 of the special data register storing the pulse output control code
(sys_wHscOrPulseControlCode) to TRUE and back to FALSE again.
Select one of two different operation modes:
• Type 1: The home input is effective regardless of whether or not there is a near home
input, whether deceleration is taking place, or whether deceleration has been
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