Omron SYSMAC CP Series, User Manual

Page: 228 / 578

12 Pulse Outputs
12-28
CP2E CPU Unit Software User’s Manual(W614)
Additional Information
• The ITPL instruction can not be executed when the pulse output port specified by the axis
specifier of the ITPL instruction is already outputting pulses by the SPED, ACC, PLS2, ORG,
IFEED and ITPL instructions. P_ER flag turns ON.
• The distance and the operation time that can be moved by linear interpolation have an upper
limit. Please specify the linear distance to 100,000,000 pulses or less, and the operation time
to 1,000 seconds or less.
• Set the starting frequency
≤
target frequency. If the starting frequency > target frequency, it
operates at the target frequency.
The ITPL instruction uses pulse output 0 and pulse output 1 to perform linear interpolation positioning.
When W1.00 is turned ON, the linear interpolation will decelerate to stop.
Note
The origin must be defined before executing the ITPL instruction
.
12-5-3 Application Example
T a rget po s ition 0: 800,000
T a rget po s ition 1: 70,000
T a rget fre qu ency: 30kHz
S t a rt u p fre qu ency: 1000Hz
Acceler a tion r a te: 500Hz/4m s
Deceler a tion r a te: 400Hz/4m s D101
D102
D103
0190
7530
0000
D104
D105
D106
03E8
0000
3500
D107
D108
D109
000C
1170
0001
D100 01F4
@ITPL(893)
#0030
#0101
D100
@INI(880)
#0030
#0004
0
W0.00
W1.00
Line a r interpol a tion
Deceler a tive s topping
Line a r interpol a tion
P u l s e o u tp u t 1
70,000
800,000
P u l s e o u tp u t 0
Deceler a tion r a te
400Hz/4m s
Acceler a tion
r a te
500Hz/4m s
T a rget fre qu ency
30kHz
S t a rt u p po s ition