Omron CJ1M-CPU21, Operation Manual

Page: 143 / 267

114
ACCELERATION CONTROL: ACC(888) Section 5-8
4. The direction set in the ACC(888) operand will be ignored if the number of
pulses is set with PULS(881) as an absolute value.
Opera-
tion
Purpose Application Frequency changes Description Procedure/
instruction
Starting
pulse out-
put Simple trap-
ezoidal con-
trol Positioning with
trapezoidal accel-
eration and decel-
eration (Same
rate used for
acceleration and
deceleration; no
starting speed)
The number of
pulses cannot be
changed during
positioning. Accelerates and
decelerates at the
same fixed rate and
stops immediately
when the specified
number of pulses
has been output.
(See note.)
Note The target
position
(specified
number of
pulses) can-
not be
changed dur-
ing position-
ing.
PULS(886)
↓
ACC(888)
(Indepen-
dent)
Changing
settings To change
speed
smoothly
(with the
same accel-
eration and
decelera-
tion rates) Changing the tar-
get speed (fre-
quency) during
positioning
(acceleration rate
= deceleration
rate) ACC(888) can be
executed during
positioning to
change the acceler-
ation/deceleration
rate and target fre-
quency.
The target position
(specified number
of pulses) is not
changed. PULS(886)
↓
ACC(888) or
SPED(885)
(Indepen-
dent)
↓
ACC(888)
(Indepen-
dent)
Stopping
pulse out-
put To stop
pulse out-
put. (Num-
ber of
pulses set-
ting is not
preserved.) Immediate stop Pulse output is
stopped immedi-
ately and the
remaining number
of output pulses is
cleared. PULS(886)
↓
ACC(888)
(Indepen-
dent)
↓
INI(880)
To stop
pulse output
smoothly.
(Number of
pulses set-
ting is not
preserved.) Decelerating to a
stop Decelerates the
pulse output to a
stop.
Note If ACC(888)
started the
operation, the
original
acceleration/
deceleration
rate will
remain in
effect.
If SPED(885)
started the
operation, the
acceleration/
deceleration
rate will be
invalid and
the pulse out-
put will stop
immediately.
PULS(886)
↓
ACC(888) or
SPED(885)
(Indepen-
dent)
↓
ACC(888)
(Indepen-
dent, inde-
pendent,
target fre-
quency of 0)
PLS2(887)
↓
ACC(888)
(Indepen-
dent, target
frequency of
0)
Pulse frequency
Target
frequency
Specified number of
pulses (Specified
with PULS(886).)
Acceleration/
deceleration
rate
Execution of
ACC(888)
Outputs the specified
number of pulses and
then stops.
Time
Changed target
frequency
Target frequency
Specified
number of
pulses
(Specified with
PULS(886).)
Number of pulses
specified with
PULS(886) does
not change.
Pulse
frequency
Acceleration/
deceleration
rate
Execution of
ACC(888)
(independent
mode)
ACC(888) (independent
mode) executed again to
change the target frequency.
(The target position is not
changed, but the
acceleration/deceleration rate
is changed.)
Time
Pulse frequency
Present
frequency
Execution of
ACC(888)
Time
Execution of
INI(880)
Pulse frequency
Present
frequency
Target
frequency = 0
Execution of
ACC(888)
Deceleration rate
Time
Execution of
PLS2(887)