Omron CJ1M-CPU21, Operation Manual

Page: 36 / 267

7
Functions Listed by Purpose Section 1-3
1-3-2 Controlling Pulse Outputs
Purpose I/O used Function Description
Perform simple posi-
tioning by outputting
pulses to a motor driver
that accepts pulse-train
inputs. Built-in
Outputs Pulse out-
puts 0 and
1 Pulse output functions
• Single-phase pulse
output without accel-
eration/deceleration
Controlled by SPED.
• Single-phase pulse
output with accelera-
tion/deceleration
(equal acceleration
and deceleration
rates for trapezoidal
form)
Controlled by ACC.
• Single-phase pulse
output with trapezoi-
dal for (Supports a
startup frequency
and different acceler-
ation /deceleration
rates.)
Controlled by
PLS2(887).
The built-in outputs (bits 00 to 03 of
CIO 2961) can be used as pulse outputs 0
and 1.
Target frequency: 0 Hz to 100 kHz
Duty ratio: 50%
The pulse output mode can be set to
CW/CCW pulse control or Pulse plus direc-
tion control, but the same output mode must
be used for pulse outputs 0 and 1.
Note The PV for pulse output 0 is stored in
A276 and A277. The PV for pulse
output 1 is stored in A278 and A279.
Perform origin search
and origin return opera-
tions. Built-in
Outputs Pulse out-
puts 0 and
1 Origin functions (Origin
search and origin
return) Origin search and origin return operations
can be executed through pulse outputs.
• Origin search:
To start the origin search, set the PLC
Setup to enable the origin search opera-
tion, set the various origin search parame-
ters, and execute the ORIGIN SEARCH
instruction (ORG(889)). The Unit will
determine the location of the origin based
on the Origin Proximity Input Signal and
Origin Input Signal. The coordinates of the
pulse output's PV will automatically be set
as the absolute coordinates.
• Origin return:
To return to the predetermined origin, set
the various origin return parameters and
execute the ORIGIN SEARCH instruction
(ORG(889)).
Change the target posi-
tion during positioning.
(For example, perform
an emergency avoid
operation with the Multi-
ple Start feature.)
Built-in
Outputs Pulse out-
puts 0 and
1 Positioning with the
PLS2(887) instruction When a positioning operation started with
the PULSE OUTPUT (PLS2(887)) instruction
is in progress, another PLS2(887) instruction
can be executed to change the target posi-
tion, target speed, acceleration rate, and
deceleration rate.
Change speed in steps
(polyline approxima-
tion) during speed con-
trol. Built-in
Outputs Pulse out-
puts 0 and
1 Use the ACC(888)
instruction (continuous)
to change the accelera-
tion rate or decelera-
tion rate. When a speed control operation started with
the ACC(888) instruction (continuous) is in
progress, another ACC(888) instruction
(continuous) can be executed to change the
acceleration rate or deceleration rate.
Change speed in steps
(polyline approxima-
tion) during positioning. Built-in
Outputs Pulse out-
puts 0 and
1 Use the ACC(888)
instruction (indepen-
dent) or PLS2(887) to
change the acceleration
rate or deceleration
rate. When a positioning operation started with
the ACC(888) instruction (independent) or
PLS2(887) instruction is in progress, another
ACC(888) (independent) or PLS2(887)
instruction can be executed to change the
acceleration rate or deceleration rate.