Panasonic FPS Series, User Manual

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FP Σ User's Manual
7.4 Pulse Output Function
135
7.4.3.9 F176_PulseOutput_Pass, Circular Interpolation (Pass Position)
Pulses are output from two channels in accordance with the parameters in the specified DUT,
so that the path to the target position forms an arc. The center position and radius of the arc
are calculated by specifying the pass position and the end position. Pulses are output from the
specified channel when the control flag for this channel is FALSE and the execution condition
is TRUE.
Pulse output characteristics
X
Fy
Fv
Fx
r
Y
S(Xs, Ys)
P (Xp, Yp)
E (Xe, Ye)
θ
θ
1
Rotation direction: Reverse (from
channel 0 to channel 2 CW axis)
2
Rotation direction: Forward (from channel 2 to
channel 0 CW axis)
F
v
:
Composite speed
S (Xs,Ys):
Current position (Start)
F
x
: X-axis speed P (Xp,Yp) Pass position
F
y
: Y-axis speed E (Xe,Ye) Target position (End)
r: Radius
| Ye - Yo|
r
| Xe- Xo|
r
Fx= Fvsin
θ
= Fv Fy= Fvcos
θ
= Fv
Example: Let channel 0 be the X-axis and channel 2 be the Y-axis. The position control mode
is absolute value control.
The current position is (
θ
=60°, Xs=5000, Ys=8660). Pulses are output from the X-axis
(channel 0) and the Y-axis (channel 2) at a speed of Fv=2000Hz. When the pass position (
θ
=-
20°, Xp=9396, Yp=3420) has been passed and the target position has been reached, pulse
output stops (
θ
=-30°, Xe=8660, Ye=-5000).
REFERENCE
Please refer to the FPWIN Pro online help for details and a programming
example.