Omron Sysmac CP1H, Operation Manual

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248
Pulse Outputs Section 5-3
Switching from Continuous Mode (Speed Control) to Independent Mode (Positioning)
Relative Pulse Outputs and Absolute Pulse Outputs
Selecting Relative or
Absolute Coordinates The pulse output PV's coordinate system (absolute or relative) is selected
automatically, as follows:
• When the origin is undetermined, the system operates in relative coordi-
nates.
• When the origin has been determined, the system operates in absolute
coordinates.
Example applica-
tion
Frequency changes Description Procedure
Instruction Settings
Change from speed
control to fixed dis-
tance positioning
during operation PLS2(887) can be
executed during a
speed control oper-
ation started with
ACC(888) to
change to position-
ing operation.
Note An error will
occur if a
constant
speed can-
not be
achieved
after switch-
ing the mode.
If this hap-
pens, the
instruction
execution will
be ignored
and the previ-
ous opera-
tion will be
continued.
ACC(888)
(Continu-
ous)
↓
PLS2(887)
•Port
•Acceleration rate
•Deceleration rate
•Target frequency
•Number of pulses
Note The starting fre-
quency is ignored.
Fixed distance feed
interrupt
Pulse frequency
Target
frequency
Outputs the number of
pulses specified in
PLS2(887) (Both relative
and absolute pulse
specification can be used.)
Execution of
ACC(888)
(continuous) Execution of
PLS2(887)
Time
Pulse
frequency
Present
frequency
Execution of
ACC(888)
(continuous) Execution of
PLS2(887) with the
following settings
•
Number of pulses = number
of pulses until stop
•
Relative pulse specification
•
Target frequency = present
frequency
•
Acceleration rate = Not 0
•
Deceleration rate = target
deceleration rate
Time
Conditions Origin has been
determined by an ori-
gin search Origin has been
determined by exe-
cuting INI(880) to
change the PV Origin not estab-
lished (Origin search
has not been per-
formed and PV has
not been changed
with INI(880).)
Pulse output
PV's coordi-
nate system Absolute coordinates Relative coordinates