Panasonic FP? Positioning Unit RTEX Technical Manual

Contents

17-48Positioning tablesData in the following formats is stored from the starting address of positioning tables of each axis.Offsetaddress Name Descriptions000H Control codeSets the position setting mode and acceleration/deceleration pattern for thepositioning operation.Bit Name Default Description0 Increment /absolutesetting0H 0: Increment mode1: Absolute mode1 Acceleration/decelerationpattern setting0H 0: Linear acceleration/deceleration1: S-shaped acceleration/deceleration15 to 2 - - -001H OperationpatternSets the independent and interpolation patterns for the positioning operation.The relation of the interpolation depends on the settings in the axis group settingarea in the common area of the shared memory. In the interpolation operation, thesetting for the axis with the smallest number in an axis group is effective.Bit Name Default Description7 to 0 Controlpattern00H 00H: E point control (End point control)01H: P point control (Pass point control)02H: C point control (Continuance point control)03H: J point control (Speed point control)Any other settings will be errors.15 to 8 Interpolationsetting00H 00H: Linear interpolation (Composite speed)01H: Linear interpolation (Long axis speed)10H: Circular interpolation (Center point/CW direction)11H: Circular interpolation (Center point/ CCW direction)20H: Circular interpolation (Pass point)50H: Spiral interpolation (Center point/CW direction/X-axis movement)51H: Spiral interpolation (Center point/CCW direction/X-axis movement)52H: Spiral interpolation (Center point/CW direction/Y-axis movement)53H: Spiral interpolation (Center point/CCW direction/Y-axis movement)54H: Spiral interpolation (Center point/CW direction/Z-axis movement)55H: Spiral interpolation (Center point/CCW direction/Z-axis movement)60H: Spiral interpolation (Pass point/X-axis movement)61H: Spiral interpolation (Pass point/Y-axis movement)62H: Spiral interpolation (Pass point/Z-axis movement)Any other settings will be errors.002H - -003H - -004HPositioningaccelerationtimeSets the acceleration and deceleration time for the positioning operation.The acceleration time and deceleration time can be set individually. In theinterpolation operation, the setting for the axis with the smallest number in an axisgroup is effective.Bit Name Default Description15 to 0 Acceleration timeDeceleration time100 Setting range: 0 to 10,000 (ms)Any other settings will be errors.005HPositioningdecelerationtime006HPositioningtarget speed(interpolationspeed)In case of the individual operation (no interpolation), it is the target speed of thecorresponding axis. In case of the interpolation operation, it is the target speed ofthe interpolation.In the interpolation operation, the target speed for the axis of the smallest numberin a group is valid.Bit Name Default Description31 to 0 Positioningtarget speed(Interpolationspeed)1,000 Setting range: 1 to 32,767,000Any other settings will be errors.The interpretation is changed by the unit setting.pulse: 1 to 32,767,000 ppsμm: 1 to 32,767,000 μm/sinch: 0.001 to 32,767.000 inch/sdegree: 0.001 to 32,767.000 rev/s007H