Omron Sysmac CP1H, Руководство по эксплуатации

Страница: 264 / 810

230
Pulse Outputs Section 5-3
5-3 Pulse Outputs
5-3-1 Overview
Fixed duty factor pulses can be output from the CPU Unit's built-in outputs to
perform positioning or speed control with a servo driver that accepts pulse
inputs.
■
CW/CCW Pulse Outputs or Pulse + Direction Outputs
The pulse output mode can be set to match the motor driver's pulse input
specifications.
■
Various Output Frequency Ranges Available
Several output frequency ranges are available in different CPU Units and
pulse output ports.
• X/XA CPU Units
Unit version 1.1 and later
Pulse outputs 0, 1, 2, 3: 1 Hz to 100 kHz
(Unit version 1.0 and earlier: Pulse outputs 0 and 1: 1 Hz to 100 kHz; pulse
outputs 2 and 3: 1 Hz to 30 kHz)
• Y CPU Units
Pulse outputs 0 and 1: 1 Hz to 1 MHz (line driver outputs)
Pulse outputs 2 and 3: 1 Hz to 100 kHz
■
Automatic Direction Selection for Easy Positioning with Absolute
Coordinates
When operating in absolute coordinates (origin defined or PV changed with
the INI(880) instruction), the CW/CCW direction will be selected automatically
when the pulse output instruction is executed. (The CW/CCW direction is
selected by determining whether the number of pulses specified in the
instruction is greater than or less than the pulse output PV.)
■
Triangular Control
Triangular control (trapezoidal control without a constant-speed plateau) will
be performed during positioning executed by an ACC(888) instruction (inde-
pendent) or PLS2(887) instruction if the number of output pulses required for
acceleration/deceleration exceeds the specified target pulse Output Amount.
■
Change Target Position during Positioning (Multiple Start)
When positioning was started with a PULSE OUTPUT (PLS2(887)) instruc-
tion and the positioning operation is still in progress, another PLS2(887)
instruction can be executed to change the target position, target speed, accel-
eration rate, and deceleration rate.
■
Switch from Speed Control to Positioning (Fixed Distance Feed Interrupt)
A PLS2(887) instruction can be executed during a speed control (continuous
mode) operation to change to positioning mode (independent mode). This
feature allows a fixed distance feed interrupt (moving a specified amount) to
be executed when specific conditions occur.