Panasonic GM1 Series - Page 78

■
Parameter settings
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 4294967295
PG_MoveAbsolute parameter
Parameter
Set value
Setting range
1st speed 2nd speed 3rd speed
Target speed: Velocity
[u/s]
5000 20000 500 0 to 4000000
Acceleration /
Deceleration: AccDec
[u/s
2
]
10000 10000 10000
1 or more
(Note 1)
Target position:
Position [u]
15000 30000 36000 -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_MoveAbsolute_0: PG_MoveAbsolute;
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 1st PG_MoveAbsolute
PG_MoveAbsolute_0(
UnitID:=1,
AxisNo:=1,
Execute:=TRUE,
Position:= 15000,
Velocity:=5000,
7.1 Sample Program
7-6 WUME-GM1PG-01