PULSE_ARC_CENTER

It specifies the control code, composite speed, target position and center position.

Elements of the DUT (identifiers):

Setting area

ControlCode: Control code

Offset 01

Specify with a hex. constant:

1.  (1) Upper word
   • 0: Fixed
2.  (2) Duty (ON width)
   • 0: Duty 1/2 (50%)
   • 1: Duty 1/4 (25%)
3.  (3) Frequency range
   • 0: 1.5Hz to 9.8kHz
   • 1: 48Hz to 100kHz
   • 2: 191Hz to 100kHz
4.  (4) Control mode
   • 0: Incremental. Specifies the amount of travel (number of pulses)
   • 1: Absolute. Specifies the target value (absolute value)
5.  (5) Output method
   • 0: CW (incremental counting)
   • 1: CCW (decremental counting)
   • 2: Pulse and direction (forward FALSE, incremental counting)
   • 3: Pulse and direction (reverse TRUE, decremental counting)
   • 4: Pulse and direction (forward TRUE, incremental counting)
   • 5: Pulse and direction (reverse FALSE, decremental counting)

• Bit 16: FALSE=Stop, TRUE=Continue

  Stop: When stop (0) is specified, pulse output will stop when the target position is reached.

  Continue: When continue (1) is specified after arc interpolation action begins, the arc interpolation data table is overwritten. The following arc interpolation begins when the first arc interpolation that was started up finishes (target position reached). To finish, specify stop (0) for this flag (operation connection mode) after the last arc interpolation action has started.

• Bit 12: FALSE=CW (right), TRUE=CCW (left)

  Pulses are output according to the designated direction. Operation differs, as indicated below, depending on the pass position and rotation direction setting.

  

  1.  (1) Counterclockwise rotation (left rotation)
  2.  (2) Clockwise rotation (right rotation)
  3.  (3) Current position
  4.  (4) Pass position
  5.  (5) Target position

• Bit 8: FALSE=Pass, TRUE=Center

  • Pass position setting method:

    The center position and the radius of the arc are calculated by specifying the pass and target positions for the current position.

  • Center position setting method:

    The radius of the arc is calculated by specifying the center and target positions for the current position.

    

    1.  (1) Counterclockwise rotation (left rotation)
    2.  (2) Clockwise rotation (right rotation)
    3.  (3) Current position S (Xs, Ys)
    4.  (4) Center position 0 (Xo, Yo)
    5.  (5) Pass position P (Xp, Yp)
    6.  (6) Target position E (Xe, Ye)
    7.  (7) Let CH0 be the X-axis, and CH2 be the Y-axis.
       • Fv: Composite speed
       • Fx: X-axis component speed
       • Fy: Y-axis component speed
       • r: Radius
       • O (Xo, Yo): Center point (Center position)
       • S (Xs, Ys): Start point (Start position)
       • P (Xp, Yp): Pass point (Pass position)
       • E (Xe, Ye): End point (Target position)

• Bit 4: FALSE=Relative, TRUE=Absolute

• Bits 0, 1: 0=CW/CCW, 2= pulse + direction (forward FALSE), 3= pulse + direction (forward TRUE)

Speed: Composite initial speed Fmin (Hz)

Offset 23

100 Hz–20 kHz

[100–20000]

TargetPos_X: X-axis (CH0), Target position

Offset 45

-8388608–+8388607

TargetPos_Y: Y-axis (CH2), Target position

Offset 67

-8388608–+8388607

CenterPos_X: X-axis (CH0), Center position

Offset 89

-8388608–+8388607

CenterPos_Y: Y-axis (CH2), Center position

Offset 1011

-8388608–+8388607

Operation result storage area

Radius: Radius

Offset 1213

Pulses