164
Virtual Pulse Output Function (-V1 unit with lot No. 0209__or later only)
Section 7-10
time match with each other. (Set the constant cycle time in DM 6619 of
the unit setup area.)
• When specified target position, target frequency, and acceleration/decel-
eration do not lead to the trapezoidal control, the system will operate in
the following manners to correct the conditions automatically and execute
operations:
1) Even out the acceleration and deceleration (symmetrical trapezoid).
2) Start deceleration of the same ratio as the acceleration at the point
where the half of the target pulse amount has been output (triangle con-
trol).
Note
Between the normal and virtual pulse output modes, the specifications of con-
trol operations based on the settings that do not lead to trapezoidal control
(triangle control, etc. instead) differ.
7-10-4 Application Example
Position/Speed Control for
the Virtual Axis (HCP22-
V1)
Defining internal pulse counts as a virtual axis position, the unit can execute
simplified electronic cam operations based on approximated curves corre-
sponding to the virtual axis position.
First, execute PLS2 instruction in the virtual pulse output mode to obtain an
internal pulse counts. The internal pulse count is read at every cycle. The tar-
get position or speed of PULS instruction is modified through basic math or
APR instruction based on the read counts. PULS instruction (electronic cam
mode) is similarly executed at every cycle.
Making pulse output 1 and 2 execute the electronic cam control synchro-
nously for the same virtual axis enables the simplified locus control.
Time
Constant cycle time execution
Time
Target position
Pulse counts
(virtual pulses)
Time
Internal pulse frequency
(Speed command)
Thru PLS2 instruction
: PULS instruction
execution
(changes target
position and speed)
Pulse output present value
(normal pulse output)
Executes PULS instruction
(electronic cam mode) in the
program modifying the target
position and frequency.
Target
frequency
(Hz)
Summary of Contents for CS1W-HCA12-V1
Page 2: ......
Page 6: ...vi...
Page 20: ...xx Conformance to EC Directives 7...
Page 38: ...18 Models and System Configurations Section 1 2...
Page 78: ...58 Fail safe Circuits Section 3 5...
Page 138: ...118 AR Area Section 6 4...
Page 204: ...184 Improved Instructions Section 7 14...
Page 222: ...202 Cycle Time Section 8 3...
Page 240: ...220 Troubleshooting Flowcharts Section 9 5...
Page 244: ...224 Precautions when Using the CX Programmer Appendix A...
Page 252: ......
Page 253: ......