Omron CJ - REFERENCE MANUAL 02-2010 Reference Manual page 787

Independent Mode Positioning
Note Pulse output will stop immediately if the CPU Unit is changed to PROGRAM mode.
Opera-
Purpose Application
tion
Starting Complex Positioning with
pulse trapezoidal trapezoidal
output control acceleration and
deceleration
(Separate rates
used for
acceleration and
deceleration;
starting speed)
The number of
pulses can be
changed during
positioning.
Changing To change Changing the
settings speed target speed
smoothly (frequency) during
(with positioning
unequal (different
acceleration acceleration and
and deceleration rates)
deceleration
rates)
To change Changing the
target target position
position during positioning
(multiple start
function)
To change Changing the
target target position and
position and target speed
speed (frequency) during
smoothly positioning
(multiple start
function)
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Frequency changes
Pulse frequency Specified number
of pulses
Target
Accel-
frequency
eration
rate
Starting
frequency
Execution of
PLS2(887) Target
Deceleration point
frequency
reached.
Specified number of
Pulse
pulses (Specified with
frequency
PULS(886).)
Changed target
frequency
Target frequency
Acceleration/
deceleration
rate
Execution of
ACC(888)
PLS2(887) executed to change
(independent
the target frequency and
mode)
acceleration/deceleration rates.
(The target position is not
changed. The original target
position is specified again.)
Specified
Pulse
number of
frequency
pulses
Target
frequency
Acceleration/
deceleration
rate
Execution of
PLS2(887)
PLS2(887) executed to
change the target position.
(The target frequency and
acceleration/deceleration
rates are not changed.)
Number of
Pulse
pulses specified
frequency
with PLS2(887).
Changed target
frequency
Target frequency
Acceleration/
deceleration
rate
Execution of
PLS2(887)
PLS2(887) executed to
change the target frequency,
acceleration rate and
deceleration rate.
Description
Accelerates and
decelerates at a fixed
rates. The pulse output is
stopped when the
Deceleration
specified number of
rate
pulses has been output.
Stop
(See note.)
frequency
Note The target position
Time
(specified number
Output stops.
of pulses) can be
changed during
positioning.
PLS2(887) can be
executed during
positioning to change the
acceleration rate,
deceleration rate, and
target frequency.
Note To prevent the
Time
target position from
being changed
intentionally, the
original target
position must be
specified in
absolute
coordinates.
PLS2(887) can be
Number of pulses
executed during
changed with
positioning to change the
PLS2(887).
target position (number
of pulses), acceleration
rate, deceleration rate,
and target frequency.
Note If a constant speed
Time
cannot be
maintained after
changing the
settings, an error
will occur and the
original operation
will continue to the
original target
position.
PLS2(887) can be
Number of pulses
executed during
changed with
positioning to change the
PLS2(887).
target position (number
of pulses), acceleration
rate, deceleration rate,
and target frequency.
Note If a constant speed
cannot be
Time
maintained after
changing the
settings, an error
will occur and the
original operation
will continue to the
original target
position.
3. Instructions
Procedure/
instruction
PLS2(887)
PLS2(887)
3
PLS2(887)
PULS(886)
ACC(888)
(Independent)
PLS2(887)
PLS2(887)
PLS2(887)
PULS(886)
ACC(888)
(Independent)
PLS2(887)
PULS(886)
ACC(888)
(Independent)
PLS2(887)
PLS2(887)
PLS2(887)
751