F168_PulseOutput_Trapezoidal_DUT

This DUT can be used with the following instruction(s): F168_PulseOutput_Trapezoidal

Elements of the DUT (identifiers):

wControlCode (WORD)

Control code [hex constant]

Specify the control code using a hexadecimal constant. Example: 16#1025. 1, 0, 2, and 5 are the values corresponding to digits 3, 2, 1, and 0 of the hexadecimal constant. Digit 0 is the digit on the far right.Additional digits specific for the selected control method are set automatically by the compiler shortly before the instruction is called.

Digit	Value	Setting
2	Duty ratio (for pulse duration and period) The ratio between the pulse duration and the period of a rectangular waveform. For a pulse train in which the pulse duration is 1ms and the pulse period is 4ms, the duty ratio is 0.25 or 25%.
	0	½ (50%) The pulse output will start after the direction output has been set. The delay is (initial speed / 2), e.g. for an initial speed of 500Hz the delay is approx. 1ms.
	1	Fixed pulse width (approx. 80ms) The pulse output will start after the direction output has been set. The delay is (initial speed - 25ms), e.g. for an initial speed of 500Hz, the delay is approx. 1.98ms.
	If the specified value is out of range, 0 is set. Pulses are output from the IC. The pulse width varies due to the response delay of the optocoupler.
1	Position control mode
	0	Relative value control
	1	Absolute value control
0	Pulse output method
	0	No direction output
	2	Pulse/direction Control is carried out using one pulse output to specify the speed and another to specify the direction of rotation with TRUE/FALSE signals. (Forward FALSE: In this mode, forward rotation is carried out when the rotation direction signal is FALSE.)
	3	Pulse/direction Control is carried out using one pulse output to specify the speed and another to specify the direction of rotation with TRUE/FALSE signals. (Forward TRUE: In this mode, forward rotation is carried out when the rotation direction signal is TRUE.)

iInitialAndFinalSpeed (INT)

Initial and final speed [Hz]: 40–5000

iTargetSpeed (INT)

Target speed [Hz]

40–9500 (40–6000 for a duty ratio of 50%, 40–9500 for a fixed pulse width (approx. 80ms))

(The values do not apply to the FP-e. Please see the FP-e Hardware Manual for more details.)

iAccelerationAndDecelerationTime (INT)

Acceleration/deceleration time [ms]

30–32760 (specify in steps of 30)

The difference between target speed and initial speed determines the slope of the acceleration ramp.

1.  (1) Target value: 10000 pulses

   Df = (5000-500) ÷ 30 steps = 150Hz

   Dt = 300ms ÷ 30 steps = 10ms

diTargetValue (DINT)

Target value [pulses]

-8 388 608 to +8 388 607

The following outputs are TRUE or FALSE depending on the selected pulse output method and position control mode:

Pulse output method	Pulse output	Target value
		Positive value/> current value	Negative value/< current value
CW/CCW	CW	TRUE	FALSE
	CCW	FALSE	TRUE
Pulse/direction Forward FALSE	Pulse	TRUE	TRUE
	Direction	FALSE	TRUE
Pulse/direction Forward TRUE	Pulse	TRUE	TRUE
	Direction	TRUE	FALSE
Count mode		Incremental counting	Decremental counting

iEnd (INT)

Pulse stop

Set to 0.