Panasonic GM1 Series - Page 67

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Parameter setting
Parameters for the pulse output unit (Pulse_4Axes parameters)
Set from the GM Programmer. Double-click "Slot*_Pulse_4Axes (AGM1PG)" in the device
pane.
Parameter Set value Setting range
StartupSpeed (Startup
speed [u/s])
500 0 to 4000000
PG_MoveRelative parameter
Parameter Set value Setting range
Target speed: Velocity
[u/s]
10000 0 to 4000000
Acceleration /
Deceleration: AccDec
[u/s
2
]
10000
1 or more
(Note 1)
Relative distance:
Distance [u]
10000 -2147483648 to 2147483647
(Note 1) Set each acceleration / deceleration time to 32767 ms or less.
■
Program (ST)
Declaration section
PROGRAM sample
VAR
Process :UDINT := 0;
PG_Power_0: PG_Power;
PG_MoveRelative_0: PG_MoveRelative;
END_VAR
Implementation section
CASE Process OF
0://Servo On
PG_Power_0(
UnitID:=1,
AxisNo:=1,
Enable:=TRUE,
bRegulatorOn:=TRUE);
IF PG_Power_0.Status = TRUE THEN
Process := 1;
END_IF
1://Execute the PG_MoveRelative
PG_MoveRelative_0(
UnitID:=1,
AxisNo:=1,
Execute:=TRUE,
Distance:= 10000,
Velocity:=10000,
6.1 Sample Program
WUME-GM1PG-01 6-3