Omron SYSMAC CP Series, User Manual

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12-71
12 Pulse Outputs
CP2E CPU Unit Software User’s Manual(W614)
12-1
1 Pulse Outpu
t P
attern
12
12
-11-2
P
ositioning Control (Independ
ent Mode)
* The starting frequency is ignored.
Switching from Speed Control (Continuous Mode) to Positioning
(Independent Mode)
Example
application
Frequency changes Description
Procedure
Instruction Settings
Change
from speed
control to
fixed dis-
tance posi-
tioning
during
operation PLS2 can be executed
during a speed control
operation started with
ACC to change to position-
ing operation.
An error will occur if a con-
stant speed cannot be
achieved after switching
the mode. If this happens,
the instruction execution
will be ignored and the
previous operation will be
continued.
ACC
(Continuous)
↓
PLS2
• Port
• Acceleration
rate
• Deceleration
rate
• Target fre-
quency*
• Number of
pulses
Fixed dis-
tance feed
interrupt
High-speed
interrupt
feeding When an interrupt input
occurs during speed con-
trol for the IFEED instruc-
tion, operation changes to
positioning. An interrupt
task is not used.
There is no delay for the
starting time of the inter-
rupt task, improving the
feeding accuracy.
IFEED • Port
• Acceleration
rate
• Target fre-
quency
• Pulse output
set value
• Deceleration
rate
Time
Target
fre
qu ency
Exec u tion of ACC
(contin u o u s)
Exec u tion of PLS2
P u lse fre qu ency
O u tp u ts the n u m b er of p u lses
specified in PLS2 (Both relati v e and
a b sol u te p u lse specification can b e
u sed.)
P u lse fre qu ency
Time
Present
fre
qu ency
Exec u tion of ACC
(contin u o u s)
Exec u tion of PLS2 w ith the follo w ing settings
Nu m b er of p u lses = n u m b er of p u lses u ntil stop
Relati v e p u lse specification
Target fre qu ency = present fre qu ency
Acceleration rate = N ot 0
Deceleration rate = target deceleration rate
IFEED executed
Pulse frequency
Time
Target
frequency
Acceleration
rate
Interrupt input occurs.
Speed
control
Position
control
Specified number
of pulses
Deceleration
rate