NAiS FP Series, Руководство пользователя

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FP
Σ
High-speed Counter and Pulse Output Functions
6 - 38
When the program is run, the data table and positioning path are as shown below.
Positioning data table
Pass position setting method Center position setting method
DT600
DT601
Control code: H10 (
*
1)
DT600
DT601
Control code: H110 (
*
1)
DT602
DT603
Composite speed:
500 Hz
(
*
2)
DT602
DT603
Composite speed:
2000 Hz
(
*
2)
DT604
DT605
Target value (X-axis)
(CH0): 8660 pulses
DT604
DT605
Target value (X-axis)
(CH0): 8660 pulses (
*
3)
DT606
DT607
Target value (Y-axis)
(CH2): -5000 pulses
( * 3)
DT606
DT607
Target value (Y-axis)
(CH2): -5000 pulses (
*
3)
DT608
DT609
Pass value (X-axis)
(CH0): 9396 pulses
( * 3)
DT608
DT609
X-axis (CH0)
Center position: 0 pulse
DT610
DT611
Pass value (Y-axis)
(CH2): -3420 pulses
DT610
DT611
Y-axis (CH2)
Center position: 0 pulse
DT612
DT613
Radius:
10000 pulses
DT612
DT613
Radius:
10000 pulses
DT614
DT615
X-axis (CH0)
Center position: 0 pulse
DT616
DT617
Y-axis (CH2)
Center position: 0 pulse
Positioning path
Let CH0 be the X-axis, and CH2 be the Y-axis.
Counterclockwise direction
(Left rotation)
Clockwise direction
(Right rotation)
Pass position P (Xp, Yp)
Target position
E (Xe, Ye)
X (CH0)
|
Ye - Yo
|
r
|
Xe - Xo
|
r
O (Xo, Yo):
Center point (Center position)
S (Xs, Ys): Start point (Current position)
P (Xp, Yp): Pass point (Pass position)
E (Xe, Ye):
End point (Target position)
Fx= Fv sin
θ
= Fv Fy= Fv cos
θ
= Fv
Fv:
Composite speed
Fx: X-axis component speed
Fy: Y-axis component speed
r:
Radius
Current position S (Xs, Ys)
Fy
Fv
Center position
O
(Xo, Yo)
θ
θ
Fx
r
Y (CH2)
Setting
area
Designated
with user pro-
gram
Setting
area
Operation result
storage area
Parameters for each
axis component, cal-
culated due to in-
struction execution,
are stored here.
Operation result
storage area