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Function Tables Arranged by Purpose Section 1-7
PTP positioning
using analog I/O
Simple position-
ing using invert-
ers
Stepped or
sloped analog
output corre-
sponding to the
high-speed
counter PV
• Target value
match instruc-
tion
(CTBL(882)
instruction) for
high-speed
counter
• Analog output
instruction
(SPED(885)
instruction) or
analog output
slope variation
(ACC(888)
instruction) in
interrupt tasks
7-10 Analog Outputs
Used when positioning only using speed com-
mand according to analog output.
Applicable when speed patterns have been
determined based on specified positions.
An instruction to change the output variable
every time instructions are executed
(SPED(885) instruction) and an instruction to
change analog outputs at a specified rate of
change every 2 ms (ACC(888) instruction) are
available for analog outputs.
Fine speed control loops can be included using
the FQM1 high-speed cycle time and analog
output conversion functions (approx. 40 µs).
Path control Drawing path
with linear inter-
polation
Executing elec-
tronic cam con-
trol for 2 axes
synchronized to
virtual axis
• Virtual axis
(AXIS instruc-
tion)
• Create path
tables using
ladder program
(APR instruc-
tion)
• Electronic cam
pulse output
(PULS(886)
instruction)
7-8 Virtual Pulse Output Function
Pulse output operation mode set to electronic
cam control mode (linear).
Virtual axis used as basic axis. Path can be
drawn by synchronizing 2 pulse output axes
(controlled as slave axes) with the basic axis.
Set the desired path pattern to the broken-line
approximation instruction (APR instruction) table
data, and execute pulse output control based on
the APR instruction calculation result for the
basic axis.
The maximum number of line points for one APR
instruction is 256, but multiple APR instructions
can be used in ladder programs so the number
of curve points can be increased by setting the
table data across multiple APR instructions.
Drawing path
with circular
interpolation
As above As above
Drawing ellipti-
cal and other
special locus
As above As above
Synchronous
control
Slave axis con-
trol synchro-
nized to real
axis.
Electronic cam:
Changing target
position and
speed every
cycle based on
input pulse
(position or
angle for one
rotation, etc.) to
execute posi-
tioning.
• High-speed
counter PV
•Cam curve
generation or
cam curve
table every
cycle based on
ladder pro-
gramming
(APR instruc-
tion)
• Pulse output
with specified
target position
and frequency
(PULS(886)
instruction)
• Constant cycle
time
7-6-14 Pulse Output Function Examples
Set pulse output operation mode to electronic
cam control mode (linear) or electronic cam con-
trol mode (circular).
Makes Motion Control Module cycle times con-
stant, specifies target position and speed, and
executes pulse outputs to Servo Driver for the
slave axis according to high-speed counter PV.
If cam curves are generated using ladder pro-
gramming, the cam curves can be changed dur-
ing operation.
High-precision, synchronized control with exter-
nal axes is possible with FQM1 high-speed
cycle.
Purpose Operation Main functions
used
Details