Omron SYSMAC CP Series, User Manual

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12 Pulse Outputs
12-16
CP2E CPU Unit Software User’s Manual(W614)
12-2 Positioning Control
This section describes how to use pulse outputs with trapezoidal acceleration and deceleration when
using the PLS2 instruction.
If the target frequency, starting frequency, acceleration and deceleration rate, direction are set before-
hand, the following time chart will perform trapezoidal positioning control.
Specify the output waveform in the instruction operands.
z
Selecting Relative or Absolute Coordinates
The pulse output PV ’ s coordinate system (absolute or relative) is selected automatically, as follows:
• When the origin is undefined, the system operates in relative coordinates.
• When the origin has been defined, the system operates in absolute coordinates.
Refer to 12-6-1 Origin Searche s for details.
12-2-1 Positioning Control Configuration
Target frequency 1 Hz to 100 kHz (in increments of 1 Hz)
Starting frequency 0 Hz to 100 kHz (in increments of 1 Hz)
Acceleration rate Set in increments of 1 Hz from 1 to 65,5 3 5 Hz (every 4 ms).
Deceleration rate Set in increments of 1 Hz from 1 to 65,5 3 5 Hz (every 4 ms).
Direction specification Set to CW or CCW.
Specified number of
pulses Relative coordinates: 0000 0000 to 7FFF FFFF hex (Incre-
menting and decrementing in each direction: 2,147,4
83 ,647)
Absolute coordinates: 8 000 0000 to 7FFF FFFF hex
(-2,147,4 83 ,64 8 to 2,147,4 83 ,647)
12-2-2 Relative Positioning and Absolute Positioning
Conditions
Origin has been
defined by an origin
search
Origin has been defined by
executing the INI instruc-
tion to change the PV
Origin undefined (Origin search
has not been performed and PV
has not been changed with the
INI instruction.)
Pulse output
PV’s coordinate
system
Absolute coordinates Relative coordinates
Target fre qu ency
Starting fre qu ency
Acceleration
rate
Specified n u m b er of
p u lses
Deceleration rate