Panasonic FP? Positioning Unit RTEX, Technical Manual

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Auxiliary output code, auxiliary output contact
They are used to check the operation of a position control.
The auxiliary output code is a 16-bit code that can be specified for each positioning table, and enables to
monitor which positioning table is being executed.
The execution of the position control can be confirmed by turning an exclusive auxiliary output contact on
for a constant time.
Software limit
Limits in software can be set for the absolute coordinate managed within the positioning unit RTEX.
When exceeding the setting range of the software limit, an error occurs, and the system decelerates and
stops. The deceleration time can be set individually.
Torque limit
The output torque of the AMP can be limited arbitrary.
Servo lock/Servo free
According the command from the positioning unit, the state that the motor is controllable is called a servo
lock state, and the state that the motor is uncontrollable is called a servo free state. The servo on
operation is necessary to make it to the servo lock state.
Servo ON/Servo OFF
The operation that changes the servo free state to the servo lock state is called a servo on, and the
operation that changes the servo lock state to the servo free state is called a servo off.
Linear interpolation
This is the interpolation control that controls positions as the locus of the operations of the 2-axis motor
with the grouped X axis and Y axis or 3-axis motor with the grouped X axis, Y axis and Z axis becomes a
straight line. There are two setting methods, which are a composition speed specification and long axis
speed specification.
Circular interpolation
This is the interpolation control that controls positions as the locus of the operation of the 2-axis motor
with the grouped X axis and Y axis becomes a circular arc. There are two setting methods, which are a
center point specification and pass point specification.
Spiral interpolation
This is the interpolation control that controls positions as the locus of the operation of the 3-axis motor
with the grouped X axis, Y axis and Z axis becomes a spiral. Arbitrary 2 axes describe an arc, and the
remaining one axis moves to achieve a spiral. There are two setting methods, which are a center point
specification and pass point specification.
Edge type
This is one of the methods to detect the request signals allocated to this unit. It executes each requested
process by detecting a trigger that is the leading edge when the request signal turns on.
Therefore, the next request cannot be accepted until the request signal turns off.
Level type
This is one of the methods to detect the request signals allocated to this unit. It executes each requested
process by detecting a trigger that the request signal is on, and continues the requested process while
the request signal is on.