Omron SYSMAC CP Series, User Manual

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12-15
12 Pulse Outputs
CP2E CPU Unit Software User’s Manual(W614)
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2-1 Over
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ecifications
12-1-3 Specifications
Item Specifications
Output mode Continuous mode (for speed control) or independent mode (for position con-
trol)
Positioning (independent mode) instruc-
tions PULS and SPED, PULS and ACC, or PLS2
Speed control (continuous mode)
instructions SPED or ACC
Origin (origin search and origin return)
instructions ORG
Interrupt feeding instructions IFEED
Linear interpolation instructions ITPL (N
††
-type CPU Unit only)
Output frequency 1 Hz to 100 kHz (1 Hz units)
S
††
-type and N14/20 CPU Unit: 2 pulse outputs
N 3 0/40/60 CPU Unit: 4 pulse outputs
Frequency acceleration and decelera-
tion rates Set in increments of 1 Hz for acceleration/deceleration rates from 1 to 65,5 3 5 Hz
(every 4 ms).
Changing SVs during instruction execu-
tion The target frequency, acceleration/deceleration rate, and target position can
be changed.
ORG, IFEED and ITPL instructions cannot be changed.
Duty factor Fixed at 50%
The duty factor is less than 50% only when the output is less than 125 Hz by
linear interpolation.
Pulse output method Pulse + direction outputs (CW/CCW outputs cannot be used.)
Number of output pulses Relative coordinates: 0000 0000 to 7FFF FFFF hex(Accelerating or decelerat-
ing in either 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)
Pulse output PV’s relative/absolute
coordinate specifications Absolute coordinates are specified automatically when the origin location has
been defined by setting the pulse output PV with the INI instruction or perform-
ing an origin search with the ORG instruction. Relative coordinates are used
when the origin location is undefined.
Relative pulse/absolute pulse specifica-
tions The pulse type can be specified with an operand in the PULS or PLS2 instruc-
tion.
Only absolute pulse can be specified with linear interpolation (ITPL) instruc-
tion.
Note The absolute pulse specification can be used when absolute coordi-
nates are specified for the pulse output PV, i.e. the origin location has
been defined.The absolute pulse specification cannot be used when rel-
ative coordinates are specified, i.e. the origin location is undefined. An
instruction error will occur.
Pulse output PV’s storage location The following Auxiliary Area words contain the pulse output PVs
Pulse output 0: A277 (leftmost 4 digits) and A276 (rightmost 4 digits)
Pulse output 1: A279 (leftmost 4 digits) and A27 8 (rightmost 4 digits)
Pulse output 2: A5 3 (leftmost 4 digits) and A52 (rightmost 4 digits)
Pulse output 3 : A55 (leftmost 4 digits) and A54 (rightmost 4 digits)
The PVs are refreshed during regular I/O refreshing.