FC6A SERIES MICROS MART L ADDER PROGRAMMING M ANUAL FC9Y-B172618-2718: PULSE O UTPUT INSTRUCTIONSRAMPL (Linear Interpolation Control)The RAMPL instruction outputs pulses with a frequency change function that operates simultaneously from two outputs, so thatthe trajectory of movement is linear.This instruction can be used with the Plus CPU module transistor output type and CAN J1939 All-in-One CPU module transistoroutput type.Ladder DiagramOperationWhen the input is on, the initial pulse frequency and steady pulse frequency are calculated from the preset value specified by S1(target position), the combined initial pulse frequency, and the combined steady pulse frequency, so that the trajectory ofmovement is linear. Then the pulses are simultaneously output from the two specified outputs, and the pulse frequency increasesat a constant rate until the frequency reaches the steady pulse frequency of the axes. After pulses of a constant speed are outputat the steady pulse frequency, the pulses frequency decreases before reaching the preset value specified by S1, and then the pulseoutput stops when it reaches the preset value.When the initialization input specified by S2 is turned on, the initial values configured in the WindLDR RAMPL (Ramp PulseOutput with Liner Interpolation) dialog box, on the Common Settings tab, are stored in the control registers.The control status, including the pulse output status (output on/output direction/output complete), is stored in the operationstatus specified by D1.Notes:• If a pulse output instruction is simultaneously executed with the same output, a user program execution error will occur.Error code 48 will be stored in D8006 and instructions that are executed later will be canceled.• The RAMPL instruction cannot be used in an interrupt program. If used in an interrupt program, a user program execution error will occur.Error code 18 will be stored in D8006 and instruction execution will be canceled.• If a pulse output instruction is executed with the relay output type, a user program execution error will occur.Error code 19 will be stored in D8006 and instruction execution will be canceled.• The RAMPL instruction operates only in absolute position mode with accompanying reversible control. After starting operation of the ladderprogram, execute the ABS instructions that correspond to the specified outputs to initialize the absolute position counters. If thecorresponding absolute position counter initialized flags in D8239 (absolute position control status) are 0 (not initialized), a user programexecution error will occur when the instruction is executed.• For user program execution errors, see "User Program Execution Errors" on page 3-10.Valid Devices*1 Special data registers cannot be used.*2 Special internal relays cannot be used.D1*****S2*****RAMPL12S1*****X axis preset valueY axispreset valueY axisX axisX axis steadypulse frequency X axis preset valueY axis preset valueY axis steadypulse frequencyFrequency increase timeFrequency increase and decrease times are the sameTrapezoid area = Preset valueFrequency decrease timeDevice Function I Q M R T C D P Constant RepeatS1 (Source 1) Control registers — — — — — — X *1 — — —S2 (Source 2) Initialization input X — X — — — — — — —D1 (Destination 1) Operation status — — X*2 — — — — — — —
