Omron CJ1M-CPU21, Operation Manual

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106
PULSE OUTPUT: PLS2(887) Section 5-7
■ Independent Mode Positioning
Note Pulse output will stop immediately if the CPU Unit is changed to PROGRAM
mode.
Opera-
tion
Purpose Application Frequency changes Description Procedure/
instruction
Start-
ing
pulse
output Complex
trapezoi-
dal con-
trol Positioning with
trapezoidal accel-
eration and
deceleration
(Separate rates
used for acceler-
ation and decel-
eration; starting
speed)
The number of
pulses can be
changed during
positioning. Accelerates and decel-
erates at a fixed rates.
The pulse output is
stopped when the
specified number of
pulses has been out-
put. (See note.)
Note The target posi-
tion (specified
number of
pulses) can be
changed during
positioning.
PLS2(887)
Chang-
ing set-
tings To
change
speed
smoothly
(with
unequal
accelera-
tion and
decelera-
tion rates) Changing the tar-
get speed (fre-
quency) during
positioning
(different acceler-
ation and decel-
eration rates) PLS2(887) can be exe-
cuted during position-
ing to change the
acceleration rate,
deceleration rate, and
target frequency.
Note To prevent the
target position
from being
changed inten-
tionally, the origi-
nal target
position must be
specified in
absolute coordi-
nates.
PLS2(887)
↓
PLS2(887)
PULS(886)
↓
ACC(888)
(Indepen-
dent)
↓
PLS2(887)
To
change
target
position Changing the tar-
get position dur-
ing positioning
(multiple start
function) PLS2(887) can be exe-
cuted during position-
ing to change the
target position (num-
ber of pulses), acceler-
ation rate, deceleration
rate, and target fre-
quency.
Note If a constant
speed cannot be
maintained after
changing the set-
tings, an error
will occur and
the original oper-
ation will con-
tinue to the
original target
position.
PLS2(887)
↓
PLS2(887)
PULS(886)
↓
ACC(888)
(Indepen-
dent)
↓
PLS2(887)
Pulse frequency
Target
frequency
Starting
frequency
Acceler-
ation
rate
Specified number
of pulses
Deceleration
rate
Execution of
PLS2(887) Target
frequency
reached.
Deceleration point
Output stops.
Stop
frequency
Time
Pulse
frequency
Changed target
frequency
Target frequency
Specified number of
pulses (Specified with
PULS(886).)
Acceleration/
deceleration
rate
Execution of
ACC(888)
(independent
mode)
PLS2(887) executed to change
the target frequency and accel-
eration/deceleration rates.
(The target position is not
changed. The original target
position is specified again.)
Time
Pulse
frequency
Target
frequency
Acceleration/
deceleration
rate
Specified
number of
pulses
Number of pulses
changed with
PLS2(887).
Execution of
PLS2(887)
PLS2(887) executed to
change the target position.
(The target frequency and
acceleration/deceleration
rates are not changed.)
Time