Omron SYSMAC CS Series Instruction & Reference Manual page 733

S: First word of settings table
Acceleration Rate
S
Deceleration Rate
S+1
Lower word of target frequency
S+2
Upper word of target frequency
S+3
Lower word with number of pulses
S+4
Upper word with number of pulses
S+5
 Operand Specifications
Word addresses
Area
CIO WR HR
P, C --- --- ---
S OK OK OK
Flags
Name Label
Error Flag P_ER
Function
IFEED(892) starts pulse output from the port specified in P using the method specified in C. Movement
accelerates at the acceleration rate specified in S to the target frequency specified in S and speed
control is performed in continuous mode. Then, when the input interrupt specified in C occurs (see
note), the system switches to position control, outputs the number of pulses specified by S and
decelerates at the deceleration rate specified by S.
Note Direct mode interrupts for the interrupt inputs are enabled by IFEED(892). It is not necessary to execute
MSKS(690). Even if an interrupt task exists, it will not be executed. However, to create an input interrupt
when the interrupt input turns OFF, execute MSKS(690) before IFEED(892) to specify downward differentia-
tion. Unless MSKS(690) is used to specify downward differentiation, an input interrupt will be generated for
IFEED(892) when the interrupt input turns ON.
IFEED(892) performs control by combining a specific pulse output with an input interrupt. It does not
use an interrupt task. Rather, interrupt feeding is set and executed separately for each IFEED(892)
instruction.
This achieves faster interrupt response than starting an interrupt task and executing PLS2(887) in the
interrupt task. The input interrupt and pulse output combinations given above must be used. They
cannot be changed. Once pulse output has been started with IFEED(892), no other pulse output
instructions except for INI(880) can be executed, and INI(880) can be used only to stop pulse output. If
INI(880) is executed to stop pulse output, pulse output will be stopped and the input interrupt will be
masked. If IFEED(892) is executed again, pulse output will be started from the beginning.
To use other combinations of pulse outputs and input interrupts or to change settings during pulse
output, use ACC(888) and PLS2(887).
CS/CJ/NSJ Series Instructions Reference Manual (W474)
1 to 65,535 pps/4 ms (0001 to FFFF hex)
1 to 65,535 pps/4 ms (0001 to FFFF hex)
0 to 100 kpps (0000 0000 to 0001 86A0 hex)
Number of output pulses: 0 to 2,147,483,647
(0000 0000 to 7FFF FFFF hex)
AR T C DM EM
--- --- --- --- ---
OK OK OK OK OK
• ON if the specified range for P, C, or S is exceeded.
• ON if an input that is being used for an input interrupt is not set as an input interrupt in the PLC Setup.
• ON if IFEED(892) is executed in an interrupt task when an instruction controlling pulse output is being executed in
a cyclic task.
• ON if pulse output is already being performed for the pulse output port.
• ON if using interrupts is enabled for the specified input interrupt.
• ON if the number of output pulses specified in S is less than the number of pulses required to decelerate to a stop
for the specified operation.
• For a CJ2M CPU Unit, ON for any function that uses I/O on the Pulse I/O Module even if a Pulse I/O Module is not
mounted.
• OFF in all other cases.
Indirect DM/EM
addresses
Con-
stants
@DM *DM
DR
@EM *EM
--- --- OK ---
OK OK --- OK
Operation
3. Instructions
Registers Flags
Pulse
bits
Indirect
IR TK CF
using IR
---
--- --- ---
OK
TR
bits
--- ---
3
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