Omron CJ1M-CPU21, Operation Manual

Page: 181 / 267

152
Built-in Outputs Section 6-2
Change tar-
get position
and speed
smoothly Change the
target posi-
tion and tar-
get speed
(frequency)
during posi-
tioning (mul-
tiple start
function) PLS2(887) can be
executed during
positioning to
change the target
position (number of
pulses), accelera-
tion rate, decelera-
tion rate, and target
frequency.
Note When the
settings can-
not be
changed
without main-
taining the
same speed
range, an
error will
occur and the
original oper-
ation will con-
tinue to the
original tar-
get position.
PULS(886)
↓
ACC(888)
(Indepen-
dent)
↓
PLS2(887)
•Number
of pulses
•Relative
or abso-
lute pulse
specifica-
tion
•Port
•“CW/
CCW” or
“Pulse +
direction”
•Accelera-
tion rate
•Decelera-
tion rate
•Target fre-
quency
•Starting
frequency
Change the
acceleration
and deceler-
ation rates
during posi-
tioning (mul-
tiple start
function) PLS2(887) can be
executed during
positioning (accel-
eration or decelera-
tion) to change the
acceleration rate or
deceleration rate. PULS(886)
↓
ACC(888)
(Indepen-
dent)
↓
PLS2(887)
•Number
of pulses
•Accelera-
tion rate
•Decelera-
tion rate
PLS2(887)
↓
PLS2(887)
Change
direction Change the
direction dur-
ing position-
ing PLS2(887) can be
executed during
positioning with rel-
ative pulse specifi-
cation to change to
absolute pulses and
reverse direction. PULS(886)
↓
ACC(888)
(Indepen-
dent)
↓
PLS2(887)
•Number
of pulses
•Absolute
pulse
specifica-
tion
•Port
•“CW/
CCW” or
“Pulse +
direction”
•Accelera-
tion rate
•Decelera-
tion rate
•Target fre-
quency
•Starting
frequency
PLS2(887)
↓
PLS2(887)
Change
pulse out-
put method Not supported.
Operation Example
application
Frequency changes Description Procedure
Instruction Settings
Pulse
frequency
Target frequency
Acceleration/
deceleration
rate
Number of
pulses specified
with PLS2(887).
Execution of
PLS2(887)
ACC(888) executed to change the
target frequency. (The target position is
not changed, but the acceleration/
deceleration rates are changed.)
Time
Number of pulses
not change with
PLS2(887).
Changed target
frequency
Pulse
frequency
New target
frequency
Original target
frequency
Acceleration rate n
Acceleration
rate 3
Acceleration
rate 2
Acceleration
rate 1
Number of pulses
specified by
PLS2(887) #N.
Execution of
PLS2(887) #1
Execution of
PLS2(887) #2
Execution of PLS2(887) #3
Execution of PLS2(887) #N
Time
Pulse
frequency
Target
frequency
Specified
number of
pulses
Change of direction at the
specified deceleration rate
Number of pulses
(position) changed
by PLS2(887)
Execution
of PLS2
(887)
Execution of
PLS2(887)
Time