Omron CS1G/H-CPUxxH Instructions Manual page 813

High-speed Counter/Pulse Output Instructions
Opera- Purpose Application
tion
Start- Complex Positioning with
ing trapezoi- trapezoidal accel-
pulse dal con- eration and
output trol deceleration
(Separate rates
used for acceler-
ation and decel-
eration; starting
speed)
The number of
pulses can be
changed during
positioning.
Chang- To Changing the tar-
ing set- change get speed (fre-
tings speed quency) during
smoothly positioning
(with
(different acceler-
unequal
ation and decel-
accelera-
eration rates)
tion and
decelera-
tion rates)
To Changing the tar-
change get position dur-
target ing positioning
position (multiple start
function)
792
Independent Mode Positioning
Note Pulse output will stop immediately if the CPU Unit is changed to PROGRAM
mode.
Frequency changes
Pulse frequency
Target
frequency Acceler-
ation
rate
Starting
frequency
Execution of
PLS2(887) Target
frequency
reached.
Pulse
frequency
Changed target
frequency
Target frequency
Acceleration/
deceleration
rate
Execution of
ACC(888)
(independent
mode)
Specified
Pulse
number of
frequency
pulses
Target
frequency
Acceleration/
deceleration
rate
Execution of
PLS2(887)
PLS2(887) executed to
change the target position.
(The target frequency and
acceleration/deceleration
rates are not changed.)
Specified number
of pulses
Deceleration
rate
Stop
frequency
Time
Output stops.
Deceleration point
Specified number of
pulses (Specified with
PULS(886).)
Time
PLS2(887) executed to change
the target frequency and accel-
eration/deceleration rates.
(The target position is not
changed. The original target
position is specified again.)
Number of pulses
changed with
PLS2(887).
Time
Section 3-21
Description Procedure/
instruction
Accelerates and decel- PLS2(887)
erates at a fixed rates.
The pulse output is
stopped when the
specified number of
pulses has been out-
put. (See note.)
Note The target posi-
tion (specified
number of
pulses) can be
changed during
positioning.
PLS2(887) can be exe- PLS2(887)
↓
cuted during position-
ing to change the
PLS2(887)
acceleration rate,
deceleration rate, and
target frequency.
PULS(886)
↓
Note To prevent the
target position
ACC(888)
from being
(Indepen-
changed inten-
dent)
tionally, the origi-
↓
nal target
PLS2(887)
position must be
specified in
absolute coordi-
nates.
PLS2(887) can be exe- PLS2(887)
↓
cuted during position-
ing to change the
PLS2(887)
target position (num-
ber of pulses), acceler- PULS(886)
ation rate, deceleration ↓
rate, and target fre-
ACC(888)
quency.
(Indepen-
dent)
Note If a constant
↓
speed cannot be
maintained after
PLS2(887)
changing the set-
tings, an error
will occur and
the original oper-
ation will con-
tinue to the
original target
position.