Omron Sysmac CP1H, Operation Manual

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Pulse Outputs Section 5-3
Combinations of
Pulse Control
Instructions
The following tables show when a second pulse control instruction can be
started if a pulse control operation is already being executed.
Generally, a second independent-mode positioning instruction can be started
if an independent-mode positioning instruction is being execute, and a second
continuous-mode speed control instruction can be started if a continuous-
mode speed control instruction is being executed. Operation cannot be
switched between the independent and continuous modes, although
PLS2(887) can be started while ACC(888) (continuous mode) is being exe-
cuted.
It is possible to start another operation during acceleration/deceleration and
start another positioning instruction during positioning.
Note (1) SPED(885) (Independent) to SPED(885) (Independent)
• The number of pulses cannot be changed.
• The frequency can be changed.
• The output mode and direction cannot be switched.
(2) SPED(885) (Continuous) to SPED(885) (Continuous)
• The frequency can be changed.
• The output mode and direction cannot be switched.
(3) SPED(885) (Independent) to ACC(888) (Independent)
• The number of pulses cannot be changed.
• The frequency can be changed.
• The acceleration/deceleration rate can be changed.
• The output mode and direction cannot be switched.
(4) ACC(888) (Independent) to ACC(888) (Independent)
or PLS2(887) to ACC(888) (Independent)
• The number of pulses cannot be changed.
• The frequency can be changed.
• The acceleration/deceleration rate can be changed. (The rate can
even be changed during acceleration or deceleration.)
• The output mode and direction cannot be switched.
(5) SPED(885) (Continuous) to ACC(888) (Continuous)
or ACC(888) (Continuous) to ACC(888) (Continuous)
Instruction being
executed
Starting instruction
(
❍
: Can be executed., ×: Instruction Error occurs and Error Flag goes ON)
INI(880) SPED(885)
(Independent)
SPED(885)
(Continuous)
ACC(888)
(Independent)
ACC(888)
(Continuous)
PLS2(887) ORG(889)
SPED(885) (Independent)
❍ ❍
(note 1)
× ❍
(note 3)
× × ×
SPED(885) (Continuous)
❍ × ❍
(note 2)
× ❍
(note 5)
× ×
ACC(888)
(Independent) Steady speed
❍ × × ❍
(note 4)
× ❍
(note 6)
×
Accelerating or
decelerating
❍ × × ❍
(note 4)
× ❍
(note 6)
×
ACC(888)
(Continuous) Steady speed
❍ × × × ❍
(note 5)
❍
(note 7)
×
Accelerating or
decelerating
❍ × × × ❍
(note 5)
❍
(note 7)
×
PLS2(887) Steady speed
❍ × × ❍
(note 4)
× ❍
(note 8)
×
Accelerating or
decelerating
❍ × × ❍
(note 4)
× ❍
(note 8)
×
ORG(889) Steady speed
❍ × × × × × ×
Accelerating or
decelerating
❍ × × × × × ×