Positioning (Trapezoidal Control) - Omron CJ1M-CPU21 Operation Manual

Built-in Outputs
7-1-3

Positioning (Trapezoidal Control)

Specifications and Operation
Instructions Used
Built-in Input 3 Interrupt Task (Interrupt Task 143)
A280.04
Pulse Output 0
Output In-progress
Flag
Scheduled Interrupt Task 0 (Interrupt Task 2)
P_On
Always ON
Flag
When the start input (2960.06) goes ON, this example program outputs
600,000 pulses from pulse output 1 and turns the motor.
50,000 Hz
Acceleration rate
Target frequency
300 Hz/4 ms
Starting frequency
100 Hz
Start input (2960.06)
PLS2(887)
MSKS(690)
Scheduled interrupt 0
14
(Reset start)
Scheduled interrupt time
#0005
(5 x 0.1 ms = 0.5 ms)
PULS(886)
Pulse output 0
#0
Relative pulse
#0000
specification
&100000
Number of output pulses
(100,000 pulses)
SPED(885)
#0
Pulse output 0
Specifies CW/CCW outputs,
#0001
CW direction, and
independent mode.
&100000
Target frequency
(100,000 Hz)
MSKS(690)
4 Pulse output 0
Scheduled interrupt 0;
#0000
Stop scheduled interrupt
Deceleration rate
200 Hz/4 ms
Number of
output pulses
600,000 pulses
Section 7-1
195