Omron SYSMAC CS Series Operation Manual page 157

Pulse Outputs
Pulse Output Direction
Priority Mode
Absolute Position
Designation Priority Mode
Switching the Priority Mode between Pulse Output Direction and Absolute Position
Designation
Pulse Output Direction
Priority Mode
direction designated by the absolute position (pulse output direction was the
only priority mode).
In this mode, the user determines the pulse output direction using an oper-
and. Pulses are output only if the output direction designated by PLS2 instruc-
tion is the same as the output direction designated by the absolute position.
In this mode, the pulse output direction is determined automatically from the
absolute position. Designating pulse output direction using an operand is dis-
abled here. This means that positioning is based strictly on the absolute posi-
tion and no direction setting is supported.
The priority mode can be switched between pulse output direction and abso-
lute position designation by turning ON or OFF AR 1914 before executing the
PLS2 instruction.
Note Pulse outputs are halved in both cases when the priority mode is switched.
Execute the PLS2 instruction with AR 1914 turned OFF.
CW output
DM 0000 8000
DM 0001 0000
DM 0002 0000
DM 0003 0005
DM 0004 0000
DM 0005 0000
DM 0006 1000
DM 0007 1000
@PLS2
001 Pulse output 1
CW
000
DM 0000 Setting table: DM 0000
Target position: 8000
Target speed: 50 kHz
Startup speed 0 Hz
Acceleration: 1000 Hz
Deceleration: 1000 Hz
Section 7-6
137