F171_PulseOutput_Trapezoidal_DUT

This DUT can be used with the following instruction(s): F171_PulseOutput_Trapezoidal

Elements of the DUT (identifiers):

dwControlCode (DWORD)

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
4	Number of acceleration/deceleration steps
	0	30 steps
	1	60 steps
3	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%)
	1	¼ (25%)
	Specify a duty of ¼ (25%) if the frequency is set to 50kHz or more. FP-XC14T, C30/C60T: Specify a duty of ¼ (25%) if the frequency for channel 2 or 3 is set to 10kHz or more.
2	Frequency range for initial and target speed
	0	1.5Hz–9.8kHz
	1	48Hz–100kHz
	2	191Hz–100kHz
	The maximum error near 9.8kHz is approximately -0.9kHz. Set 1 to specify a target speed from 48 to 100000 (48Hz–100kHz) in the DUT. The maximum error near 100kHz is approximately -3kHz. Set 2 to specify a target speed from 191 to 100000 (191–100kHz) in the DUT. The maximum error near 100kHz is approximately -0.8kHz.
1	Position control mode
	0	Relative value control
	1	Absolute value control
0	Pulse output method
	0	CW/CCW Control is carried out using two pulses: a positive or clockwise rotation pulse (CW) and a negative or counterclockwise rotation pulse (CCW pulse).
	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.)

diInitialAndFinalSpeed (DINT)

Initial and final speed [Hz]

• Set the initial speed according to the frequency range specified in the control code.
• Set the initial speed to 30kHz or less.

iTargetSpeed (DINT)

Target speed [Hz]

• Set the target speed according to the frequency range specified in the control code.

• FP-X: For the medium speed channels 2 and 3, the maximum speed is 20kHz.

diAccelerationAndDecelerationTime (DINT)

Acceleration/deceleration time [Hz]

• With 30 steps: 30-32760 (specify in steps of 30)

• With 60 steps: 60-32760 (specify in steps of 60)

The difference between target speed and initial speed determines the slope of the acceleration ramp.If the acceleration/deceleration time is not specified in steps of 30, the values will be automatically corrected to the next larger multiple values of 30.

(1)

Total movement amount: 10000 pulses

• With 30 steps:

  Df = (5000-500) ÷ 30 = 150HzDt = 300ms ÷ 30 = 10ms

• With 60 steps:

  Df = (5000-500) ÷ 60 = 75HzDt = 300ms ÷ 60 = 5ms

Set the acceleration/deceleration time t according to the following formula:t (ms) ³ (30 steps × 1000) ÷ initial speed [Hz]

diTargetValue (DINT)

Target value [pulses]

-2147483648–2147483647

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

diEnd (DINT)

Pulse stop

Set to 0.