Omron SYSMAC CP Series, User Manual

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12-17
12 Pulse Outputs
CP2E CPU Unit Software User’s Manual(W614)
12-2 P
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Relationship between the Coordinate System and Pulse Specification
The following table shows the pulse output operation for the four possible combinations of the coor-
dinate systems (absolute or relative) and the pulse output (absolute or relative) specified when the
PULS or PLS2 instruction is executed.
Pulse output
specified in PULS
or PLS2
Relative coordinate system Absolute coordinate system
Origin undefined:
The No-origin Flag will be ON.
Origin defined:
The No-origin Flag will be OFF.
Relative pulse
specification Positions the system to another position relative to the present position.
Number of movement pulses = Number of pulses setting
The pulse output PV after instruction execution =
Number of movement pulses = Number of
pulses setting
The pulse output PV is reset to 0 just before
pulses are output. After that, the specified
number of pulses is output.
The following example shows the number of
pulses setting = 100 counterclockwise.
Pulse output PV range:
8 000 0000 to 7FFF FFFF hex
Number of pulses setting range:
0000 0000 to 7FFF FFFF hex
The pulse output PV after instruction
execution = PV + Number of movement
pulses.
The following example shows the num-
ber of pulses setting = 100 counterclock-
wise.
Pulse output PV range:
8 000 0000 to 7FFF FFFF hex
Number of pulses setting range:
0000 0000 to 7FFF FFFF hex
Absolute pulse
specification The absolute pulse specification cannot be
used when the origin location is undefined, i.e.,
when the system is operating in the relative
coordinate system. An instruction execution
error will occur. Positions the system to an absolute
position relative to the origin.The num-
ber of movement pulses and movement
direction are calculated automatically
from the present position (pulse output
PV) and target position.
The following example shows the num-
ber of pulses setting = +100.
Number of movement pulses = Number
of pulses setting
−
Pulse output PV
when instruction is executed. The move-
ment direction is determined automati-
cally.
Pulse output PV when instruction is exe-
cuted = Number of pulses setting
Pulse output PV range:
8 000 0000 to 7FFF FFFF hex
Number of pulses setting range:
8 000 0000 to 7FFF FFFF hex
100
=
Nu m b er of p u lses setting
Nu m b er of
mo v ement p u lses
Target position
P u lse o u tp u t PV
Present position=0
0
100
Nu m b er of p u lses setting
=
Nu m b er of mo v ement
p u lses
Target position
Origin
Present position
P u lse o u tp u t
PV
+100
0
+200
Target position=
Nu m b er of p u lses setting
Origin
Present position
P u lse o u tp u t
PV