Omron CS1W-HCA12-V1, Руководство по эксплуатации

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Virtual Pulse Output Function (-V1 unit with lot No. 0209__or later only)
Section 7-10
Ex 3) Position Control in
Semi-closed Loop on
Servo Motor Driver of
Analog Input Type Arranging a ladder program that creates an error counter, based on the inter-
nal pulse counts and feed back signals from the servo driver, enables the
position control in semi-closed loop method on the servo motor driver of ana-
log input type.
7-10-3 PLS2 Instruction (Use in Virtual Pulse Output Function)
Overview Virtual pulse output with trapezoidal acceleration/deceleration can be exe-
cuted with PLS2. A target position is specified with the amount of pulses or an
absolute position while a target speed with the number of pulses per second
(kHz), both in PLS2's operand. PLS2 instruction internally creates the amount
of pulse output while the input condition is ON, and integrates (counts) the
pulse amount (an area) for the trapezoid.
Explanation of Operation
Content of P (Port Specification)
Setting does not affect operations. (000, 001, or 002 can be set.)
Content of D (Output Specification)
Setting does not affect operations. (Either of 000 or 001 can be set.)
T (First Word of the Table to Be Set)
PLS2
P P: Port specification
D D: Output specification (Set this to 000)
T T: First word of the table to be set
Address Name Description Setting range Setting/
monitor
T Internal pulse counts
(8-digit hexadecimal) The present value of internal pulse
counts is stored here. Relative mode:
0000 0000 to FFFF FFFF
Absolute mode:
8000 0000 to 7FFF FFFF
Monitor
T+1
T+2 Bit 15 Virtual pulse output
status Whether virtual pulse is being out-
put or not is stored here. OFF: Pulse output stopped
ON: Pulse being output
Bit 08 Direction of virtual pulse currently
being output is stored here. OFF: CW
ON: CCW
Bit 07 Whether virtual pulse output is
internally being counted or not is
stored here. OFF: Pulse being counted
ON: Target position
reached (Counting stopped)
Bit 06 When the target position was
reached is stored here. OFF: Target value was
reached after ending decel-
eration
ON: Target value was
reached before ending
deceleration
Bit 00 Speed status of virtual pulse out-
put is stored here. OFF: Constant speed
ON: Accelerating/decelerat-
ing
T+3 Present speed (4-
digit hexadecimal) Frequency of virtual pulse outputs
is stored here. 0000 to 00C8
(0 to 200 kHz)