Omron SYSMAC CS Series Instruction & Reference Manual page 722

3. Instructions
 Independent Mode Positioning
When independent mode operation is started, pulse output will be continued until the specified number
of pulses has been output.
The deceleration point is calculated from the number of output pulses and deceleration rate set in S
and when that point is reached, the frequency is decreased every pulse control period at the
deceleration rate specified in S until the specified number of points has been output, at which point
pulse output is stopped.
Note 1 Pulse output will stop immediately if the CPU Unit is changed to PROGRAM mode.
2 The number of output pulses must be set each time output is restarted.
3 The number of output pulses must be set in advance with PULS(881). Pulses will not be output for
ACC(888) if PULS(881) is not executed first.
4 The direction set in the ACC(888) operand will be ignored if the number of pulses is set with PULS(881) as
an absolute value.
Opera-
Purpose Application
tion
Starting Simple Positioning with
and trapezoidal trapezoidal
stopping control acceleration and
pulse deceleration
output (Same rate used
for acceleration
and deceleration;
no starting speed)
The number of
pulses cannot be
changed during
positioning.
Changing To change Changing the
settings speed target speed
smoothly (frequency) during
(with the positioning
same (acceleration rate
acceleration = deceleration
and rate)
deceleration
rates)
Stopping To stop Immediate stop
pulse pulse
output output.
(Number of
pulses
setting is not
preserved.)
688
Frequency changes
Specified number of
Pulse frequency
pulses (Specified
with PULS(886).)
Target
Acceleration/
frequency
deceleration
rate
Execution of
Outputs the specified
ACC(888)
number of pulses and
then stops.
Specified
number of
pulses
Pulse
(Specified with
frequency
PULS(886).)
Changed target
frequency
Target frequency
Acceleration/
deceleration
rate
Execution of
ACC(888)
ACC(888) (independent
(independent
mode) executed again to
mode)
change the target frequency.
(The target position is not
changed, but the
acceleration/deceleration rate
is changed.)
Pulse frequency
Present
frequency
Execution of
Execution of
ACC(888)
INI(880)
Description
Accelerates and
decelerates at the same
fixed rate and
decelerates to a stop
when the specified
number of pulses has
been output. (See note.)
Time
Note The target position
(specified number
of pulses) cannot
be changed during
positioning.
ACC(888) can be
executed during
positioning to change the
Number of pulses
acceleration/deceleration
specified with
rate and target
PULS(886) does
frequency.
not change.
The target position
(specified number of
pulses) is not changed.
Time
Pulse output is stopped
immediately and the
remaining number of
output pulses is cleared.
Time
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Procedure/
instruction
PULS(886)
↓
ACC(888)
(Independent)
PULS(886)
↓
ACC(888)
↓
ACC(888)
(Independent)
PLS2(887)
↓
ACC(888)
(Independent)
PULS(886)
↓
ACC(888)
(Independent)
↓
INI(880)