Omron SYSMAC CS Series Instruction & Reference Manual page 715

 Switching from Continuous Mode Speed Control to Independent Mode Positioning
Example application
Change from speed control to fixed
distance positioning during operation
Fixed distance feed interrupt
 Stopping Operation for Reversal Specifications
The stop method can be set to a deceleration stop or
an immediate stop when changing the specified
number of output pulses and reversing operation.
• When the stop operation for reversal specification
(bit 15 of M) is set to 0 to set a deceleration stop,
the direction will be changed using the specified
deceleration rate. (This is indicated by the dotted
line in the figure.)
• When the stop operation for reversal specification
(bit 15 of M) is set to 1 to set an immediate stop,
the direction will be changed after an immediate
stop. (This is indicated by the solid line in the
figure.)
• If the specified number of output pulses is less than
the number of pulses that has been moved,
reverse operation is performed.
Note On the CJ1M-CPU2@, only a deceleration stop can
be specified.
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Frequency changes
Outputs the number of
pulses specified in
PLS2(887) (Both relative
and absolute pulse
specification can be used.)
Pulse frequency
Target
frequency
Execution of
ACC(888)
(continuous Execution of
mode) PLS2(887)
Pulse
frequency
Present
frequency
Execution of
ACC(888)
(continuous
Execution of PLS2(887)
mode)
with the following settings
• Number of pulses =
number of pulses until stop
• Relative pulse specification
• Target frequency = present
frequency
Description
PLS2(887) can be executed during a
speed control operation started with
ACC(888) to change to positioning
operation.
Note If a constant speed cannot be
maintained after changing the
settings, an error will occur and the
original operation will continue to
the original target position.
Time
Time
Pulse frequency
Specified number
of pulses
Target
frequency
PLS2(887)
executed.
PLS2(887) executed.
Reverse operation is
performed when then
number of output pulses
is changed.
3. Instructions
Procedure/
instruction
ACC(888)
(Continuous)
↓
PLS2(887)
Changes direction after
decelerating to a stop.
Changes direction after
an immediate stop.
Time
681
3