Position Control; Position Control Configuration - Omron SYSMAC CJ Series User Manual

8-2

Position Control

This section describes how to use pulse outputs with the PLS2(887) instruction.
8-2-1

Position Control Configuration

If the target frequency, starting frequency, acceleration and deceleration rates, and direction are set
beforehand, trapezoidal and S-curve position control will be performed according to the following time
charts.
The target frequency is set in an operand of the PLS2 instruction.
Whether to use trapezoidal or S-curve acceleration/deceleration is set in the PLC Setup.
Trapezoidal Acceleration/Deceleration
Target
Acceleration
frequency
rate
Starting
frequency
Target frequency
Starting frequency
Acceleration rate
Deceleration rate
Direction specification
Specified number of
pulses
* If S-curve acceleration/deceleration is specified, the starting frequency will be 100 pps.
Specify with the Acceleration/Deceleration
Curve Specifications in the PLC Setup.
CJ2M CPU Unit Pulse I/O Module User's Manual
Deceleration
rate
Specified number
of pulses
1 pps to 100 kpps (in increments of 1 pps)
0 pps to 100 kpps (in increments of 1 pps)
Set in increments of 1 pps from 1 to 65,535 pps (every 4 ms).
Set in increments of 1 pps from 1 to 65,535 pps (every 4 ms).
Set to CW or CCW.
Relative coordinates: 0000 0000 to 7FFF FFFF hex (Accelerating or decel-
erating in either direction: 2,147,483,647)
Absolute coordinates: 8000 0000 to 7FFF FFFF hex (−2,147,483,648 to
2,147,483,647)
S-curve Acceleration/Deceleration
Pulse frequency
S-curve
acceleration/deceleration
Target
frequency
Deceleration
rate
Specified number
Starting
of pulses
frequency
100 pps
*
8 Pulse Outputs
Deceleration
rate
Time
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