F171_PulseOutput_Trapezoidal_Type0_DUT

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

Elements of the DUT (identifiers):

dwControlCode: 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	Output operation
	0	Pulse output
	1	Calculation only
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).
	1	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.)
	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 TRUE: In this mode, forward rotation is carried out when the rotation direction signal is TRUE.)

diInitialAndFinalSpeed: Initial and final speed [Hz]

1–50000 (1Hz–50kHz)

Initial speed = Fmin

• For 1Hz £ Fmin < 46Hz: a maximum speed of 10kHz is possible (speed error larger with higher frequencies)
• For 46Hz £ Fmin < 184Hz: a maximum speed of 50kHz is possible
• For 184Hz £ Fmin: a maximum speed of 50kHz is possible (smallest speed error around 50kHz)

Acceleration time and deceleration time have priority over initial speed and final speed. This means that the values for acceleration time and deceleration time will not be changed whereas the values for initial speed and final speed may be corrected by the pulse output instruction to enable acceleration and deceleration within the specified time. The modified values are written to data registers which can be accessed using the system variables sys_iPulseChannelxCorrectedInitialSpeed and sys_iPulseChannelxCorrectedFinalSpeed (where x=channel number

diTargetSpeed: Target speed [Hz]

1–50000 (1Hz–50kHz)

diAccelerationTime: Acceleration time [ms]

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

1–32760

diDecelerationTime: Deceleration time [ms]

The difference between target speed and final speed determines the slope of the deceleration ramp.

1–32760

diTargetValue: 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
	Forward TRUE	Pulse	TRUE	TRUE
		Direction	TRUE	FALSE
Count mode			Incremental counting	Decremental counting