Omron CP1L - 12-2007, Operation Manual

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Inverter Positioning
Section 5-3
5-3-3 Functional Overview
Operation
1. To use inverter positioning, the motor and encoder specifications, feed-
back gain, and other parameters must be set in the PLC Setup. The high-
speed counter and inverter must also be set.
2. Pulse output instructions, such as PLS2 or PULS with SPED, are used to
execute positioning. Although normally the pulse output instructions are
used to output pulses from CP1L output contacts, when inverter position-
ing 0 or inverter positioning 1 is enabled in the PLC Setup, the internal po-
sition error counter (called simply the “error counter”) is enabled and the
pulse output instruction will output internal pulses to the error counter. Both
error counters 0 and 1 can be used at the same time.
3. For the number of pulses (i.e., the amount of movement) set in the pulse
output instruction, use the number of feedback pulses from the encoder.
For the pulse frequency set in the pulse output instruction, use the motor
power supply frequency converted to the feedback pulse frequency from
the encoder. (Refer to
5-3-7 Determining the Internal Pulse Output Fre-
quency for details.)
4. Specify an inverter positioning port for the pulse output instruction (port 0:
0020, port 1: 0021). The internal pulses will be output to the error counter
for the specified port.
5. The number of pulses remaining in the error counter is converted to a pow-
er supply frequency command for the inverter according to a value set in
the PLC Setup and output to a word in the Auxiliary Area in increments of
0.01 Hz.
6. The frequency command value output to the Auxiliary Area is output to the
inverter from the ladder program according to the inverter command meth-
od (i.e., RS-485 communications or analog output). (Refer to
5-3-9 Auto-
matic Calculation of Inverter Frequency Command Value for details.)
CP1L
Feedback pulses
(See note.)
CP1W-CIF11
CP1W-DA041/MAD11
CPM1A-DA041/MAD11
Point 1.
Point 2.
Point 3.
Point 4.
Point 8.
Point 9.
Point 7.
Point 5.
Point 6.
Point 1.
PLC Setup
■
Inverter Positioning
Settings
⋅
Enable function
⋅
Calculation cycle
⋅
Motor/encoder specs
⋅
Gain
⋅
In-position width
⋅
Min./max. output
⋅
Error settings
⋅
Etc.
■
High-speed
Counter Settings
⋅
Enable counter
⋅
Mode settings
⋅
Etc.
■
Serial Port Settings
(When using serial
communications for
outputs to the inverter.)
Ladder Program
Port Setting
No. 0: #0020
No. 1: #0021
Frequency command
conversions for inverter
MOV
(automatically
calculated inverter
frequency
commands
MOV
(forward/reverse
operation)
Output to CP1W-CIF11
Analog output
settings
Output to Analog Unit
Analog output: Output bits
Serial: Serial communications
Forward/reverse commands
and other commands
Error Counter Status
(forward/reverse commands, in-position
status, etc.)
Stored in Auxiliary Area bits.
Position
feedback
Internal pulses
Error
counter
Conversion
using PLC Setup
Gain
Auxiliary
Area word
0.01 Hz
increments
Serial or
analog
output
Inverter
Power
supply
frequency
Inductive
motor
Encoder
High-speed
counter input
terminal
Output
compensation
(upper/lower
limits)
Pulse output
instruction
(PLS2, PULS +
SPED, etc.)
MOV
(operation
commands,
output values,
present values
Positioning
instructions
Modbus
communications
register settings
Note: There is no speed or current (i.e.,
torque) loop.