F175_PulseOutput_Linear_DUT

This DUT can be used with the following instruction(s): F175_PulseOutput_Linear

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
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 40kHz 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	0	Fixed
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: Initial and final speed (Fmin), diMaximumSpeed: Target speed (Fmax) [Hz]

1–100000 (1.5Hz–100kHz)

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

Specify 1 to set 1.5Hz
1.5Hz is for an angle of 0° or 90° only.
The frequency range set by the system is determined by the specified speeds. However, if the speed of one axis drops below the minimum speed of a frequency range, the speed may be corrected.
When simultaneously using a high-speed counter, periodic interrupt or PLC Link, keep Fmax < 60kHz.
If Fmin = Fmax, pulses will be output with no acceleration/deceleration.
Select the composite speeds so that the speed of each axis is 1.5Hz or greater.
Set the composite initial speed to 30kHz or less.
When specifying the composite initial speed Fmin, take into consideration that the path may not be linear if the speed f for each axis (calculated using the formula below) is less than 1.5Hz.

f	X-axis initial speed Fmin_x or y-axis initial speed Fmin_y
Dx	Channel of short distance between target value and current value
Dy	Channel of long distance between target value and current value

diAccelerationDecelerationTime: Acceleration/deceleration time (T) [ms]

0–32767

If the value is 0, pulses will be output at Fmin with no acceleration/deceleration.

diTargetValue_X: X-axis target value, diTargetValue_Y: Y-axis target value [pulses]

-8388608–8388607

Infinite feeding is not available (this is not a ring counter).
When operating only one axis:

Relative value control	Set the target value for the axis which will not be operated to 0.
Absolute value control	Set the target value for the axis which will not be operated to the current value.

Operation result area

The following parameters for each axis are calculated upon execution of the instruction and stored in the operation result area of the DUT.

rInitialAndFinalSpeed_X: X-axis initial and final speed (Fmin_x), rMaximumSpeed_X: X-axis target speed (Fmax_x) [Hz], rInitialAndFinalSpeed_Y: Y-axis initial and final speed (Fmin_y), rMaximumSpeed_Y: Y-axis target speed (Fmax_y) [Hz]

The initial speed or target speed of one axis is stored as 2 words in real number type.

f_x	X-axis speed
f_y	Y-axis speed
f_x+y	Composite speed of both axes
d_x	X-axis movement distance
d_y	Y-axis movement distance

The calculated value will be stored in the operation result storage area. However, the actual speed may be corrected.

iFrequencyRange_X: X-axis frequency range, iFrequencyRange_Y: Y-axis frequency range [constant]

The system automatically selects the frequency range for each axis.

Range 0: 1.5Hz–9.8kHz
Range 1: 48Hz–100kHz
Range 2: 191Hz–100kHz

Speed correction:

Fmax £ 9.8kHz:	If Fmin < 1.5Hz, the initial speed Fmin is corrected to 1.5Hz and frequency range 0 is selected.
Fmax £ 9.8kHz:	If Fmin ³ 1.5Hz, frequency range 0 is selected.
9.8kHz < Fmax £ 100kHz:	If Fmin < 48Hz, the initial speed Fmin is corrected to 48Hz and frequency range 0 is selected.
	If 48Hz £ Fmin < 191Hz, frequency range 1 is selected.
	If Fmin ³ 191Hz, frequency range 2 is selected.

iAccelerationAndDecelerationStepsX: X-axis number of acceleration/deceleration steps (n_x) [constant], iAccelerationAndDecelerationStepsY: Y-axis number of acceleration/deceleration steps (n_y) [constant]

The system automatically calculates n in the range of 0 to 60 steps.
If n = 0, pulses are output at Fmin with no acceleration/deceleration.
The number n is found for each axis using the following formulas:

n_x	X-axis number of acceleration/deceleration steps	n_x= T [ms] × Fmin_x [Hz] n_y= T [ms] × Fmin_y [Hz]
n_y	Y-axis number of acceleration/deceleration steps
T	Acceleration/deceleration time
Fmin_x	X-axis initial and final speed
Fmin_y	Y-axis initial and final speed

Example for relative value control:

Initial and final speedFmin:	300Hz	n_x= 500 × 10^-3× 299.626 = 147.8Þ 60 steps n_y = 500 × 10^-3× 14.981 = 7.4Þ 7 steps
Target speedFmax:	5kHz
Acceleration/deceleration timeT:	0.5s
X-axis target value:	1000
Y-axis target value:	50

F175_PulseOutput_Linear_DUT_0