Omron SYSMAC CS Series Instruction & Reference Manual page 716

3. Instructions
 Operation Compensation When Parameters Are Changed
If a constant speed cannot be achieved or the
target position is exceeded after parameters are
changed, operation can be compensated and
continued.
Note On the CJ1M-CPU2@, operation compensation
cannot be used.
• Target Frequency Not Reached
If operation compensation for parameter
changes is enabled by setting bit 14 of M to 1,
triangular control will be performed to approach
the target frequency as much as possible. (The
acceleration and deceleration rates will not be
changed.)
If operation compensation for parameter
changes is disabled by setting bit 14 of M to 0,
an instruction error will occur and PLS2(887)
will not be executed.
• Exceeding Target Position with Specified
Deceleration Rate
If operation compensation for parameter
changes is enabled by setting bit 14 of M to 1,
the deceleration rate will be changed to enable
stopping at the target position.
If operation compensation for parameter
changes is disabled by setting bit 14 of M to 0,
an instruction error will occur and PLS2(887)
will not be executed.
Note 1 If the corrected deceleration rate would exceed
65,535, an immediate stop is performed.
2 If the corrected number of output pulses is
smaller than the number of pulses that has
been moved, reverse operation is performed
instead of deceleration rate compensation. In
this case, movement will stop and then move-
ment to the target position will start again.
3 If the corrected deceleration rate is not an inte-
ger, it will be rounded up. The error that would
occur from the decimal portion is compensated
for at a constant speed and then deceleration
is started.
Precautions for Correct Use
If PLS2(887) is executed within one cycle where pulse output stops (Output In-progress Flag would be
ON), the system waits for pulse output to stop and then pulse output is restarted in the next cycle. If
pulse output is stopped with INI(880), however, pulse output instructions executed within one cycle of
stopped will not be executed. Wait for the Output In-progress Flag to turn OFF before executing the
next instruction.
682
Specified number
Pulse frequency
of pulses
Target frequency
after change
Acceleration/
deceleration
rate
Target frequency
PLS2(887)
executed.
PLS2(887) executed.
Target frequency
changed. (Target
position not changed.)
Pulse frequency
Number of pulses
specified with PLS2(887)
Specified number
of pulses
Target
frequency
PLS2(887)
PLS2(887) executed.
executed.
Target position and deceleration
rate changed. (Target frequency
not changed.)
Pulse frequency
Target
frequency
PLS2(887)
PLS2(887) executed.
executed.
Target position and deceleration
rate changed. (Target frequency
not changed.)
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Time
Deceleration rate
changed by PLS2
(887).
Corrected
deceleration rate
Time
Actual
deceleration rate
Ideal deceleration rate
Time