Omron Sysmac CP1H, Operation Manual

Page: 315 / 810

281
Pulse Outputs Section 5-3
SET PULSES: PULS(886) PULS(886) is used to set the pulse output amount (number of output pulses)
for pulse outputs that are started later in the program using SPED(885) or
ACC(888) in independent mode.
SPEED OUTPUT:
SPED(885) SPED(885) can be used to perform pulse output without acceleration or
deceleration. Either independent mode positioning or continuous mode speed
control is possible. For independent mode positioning, the number of pulses is
set using PULS(886).
SPED(885) can also be executed during pulse output to change the output
frequency, creating stepwise changes in the speed.
Operand Contents
P Port specifier #0000: Pulse output 0
#0001: Pulse output 1
#0002: Pulse output 2
#0003: Pulse output 3
T Pulse type #0000: Relative pulse output
#0001: Absolute pulse output
N First number
of pulses word N and N+1 contain the number of pulses setting. (N contains
the rightmost 4 digits and N+1 contains the leftmost 4 digits.)
Relative pulse output:
00000000 to 7FFFFFFF hex (0 to 2,147,483,647)
Absolute pulse output:
80000000 to 7FFFFFFF hex (-2,147,483,648 to 2,147,483,647)
PULS(886)
P
T
N
P: Port specifier
T: Pulse type
N: Number of pulses
Operand Contents
P Port specifier #0000: Pulse output 0
#0001: Pulse output 1
#0002: Pulse output 2
#0003: Pulse output 3
T Output
mode Bits 0 to 3 Mode
0 hex: Continuous
1 hex: Independent
Bits 4 to 7 Direction
0 hex: CW
1 hex: CCW
Bits 8 to 11 Pulse output method (See note.)
0 hex: CW/CCW
1 hex: Pulse + direction
Bits 12 to 15 Not used. (Always 0 hex.)
SPED(885)
P
T
F
P: Port specifier
T: Output mode
F: First pulse frequency word