F175_PulseOutput_Linear_DUT

This DUT can be used with the following instruction(s): F175_PulseOutput_Linear for FP0R

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 (Fmin), diMaximumSpeed: Target speed (Fmax) [Hz]

6–50000 (6Hz–50kHz)

Specify 6 (or 1–5) to set 6Hz
6Hz is for an angle of 0° or 90° only
If Fmin = Fmax, pulses will be output with no acceleration/deceleration.
Select the composite speeds so that the speed of each axis is 6Hz 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 6Hz.

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

diAccelerationTime: Acceleration time, diDecelerationTime: Deceleration time [ms]

0–32767

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

Specify the same value for acceleration time and deceleration time.

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), 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, even though the actual speed may be corrected.

Correction of speed

The following applies to the calculated initial speed of one axis:

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

F175_PulseOutput_Linear_DUT_1