Specifications - Omron SYSMAC CP Series User Manual

12-1-3 Specifications

Item
Output mode
Positioning (independent mode) instruc-
tions
Speed control (continuous mode)
instructions
Origin (origin search and origin return)
instructions
Interrupt feeding instructions
Linear interpolation instructions
Output frequency
Frequency acceleration and decelera-
tion rates
Changing SVs during instruction execu-
tion
Duty factor
Pulse output method
Number of output pulses
Pulse output PV's relative/absolute
coordinate specifications
Relative pulse/absolute pulse specifica-
tions
Pulse output PV's storage location
CP2E CPU Unit Software User's Manual(W614)
Continuous mode (for speed control) or independent mode (for position con-
trol)
PULS and SPED, PULS and ACC, or PLS2
SPED or ACC
ORG
IFEED
ITPL (N -type CPU Unit only)
1 Hz to 100 kHz (1 Hz units)
S -type and N14/20 CPU Unit: 2 pulse outputs
N30/40/60 CPU Unit: 4 pulse outputs
Set in increments of 1 Hz for acceleration/deceleration rates from 1 to 65,535 Hz
(every 4 ms).
The target frequency, acceleration/deceleration rate, and target position can
be changed.
ORG, IFEED and ITPL instructions cannot be changed.
Fixed at 50%
The duty factor is less than 50% only when the output is less than 125 Hz by
linear interpolation.
Pulse + direction outputs (CW/CCW outputs cannot be used.)
Relative coordinates: 0000 0000 to 7FFF FFFF hex(Accelerating or decelerat-
ing in either direction: 2,147,483,647)
Absolute coordinates: 8000 0000 to 7FFF FFFF hex(-2,147,483,648 to
2,147,483,647)
Absolute coordinates are specified automatically when the origin location has
been defined by setting the pulse output PV with the INI instruction or perform-
ing an origin search with the ORG instruction. Relative coordinates are used
when the origin location is undefined.
The pulse type can be specified with an operand in the PULS or PLS2 instruc-
tion.
Only absolute pulse can be specified with linear interpolation (ITPL) instruc-
tion.
Note The absolute pulse specification can be used when absolute coordi-
nates are specified for the pulse output PV, i.e. the origin location has
been defined.The absolute pulse specification cannot be used when rel-
ative coordinates are specified, i.e. the origin location is undefined. An
instruction error will occur.
The following Auxiliary Area words contain the pulse output PVs
Pulse output 0: A277 (leftmost 4 digits) and A276 (rightmost 4 digits)
Pulse output 1: A279 (leftmost 4 digits) and A278 (rightmost 4 digits)
Pulse output 2: A53 (leftmost 4 digits) and A52 (rightmost 4 digits)
Pulse output 3: A55 (leftmost 4 digits) and A54 (rightmost 4 digits)
The PVs are refreshed during regular I/O refreshing.
12 Pulse Outputs
Specifications
12
12-15