Omron CJ - REFERENCE MANUAL 02-2010 Reference Manual page 788

3. Instructions
Opera-
Purpose Application
tion
Changing To change Changing the
target posi-
settings, acceleration and
tion and
continued deceleration rates
speed
during positioning
smoothly,
(multiple start
continued
function)
To change Changing the
direction direction during
positioning
Stopping Stop pulse Immediate stop
pulse output
output (Number of
pulses
setting is not
preserved.)
Stop pulse Decelerate to a
output stop
smoothly.
(Number of
pulses
setting is not
preserved.)
Note Triangular Control
If the specified number of pulses is less than the number required to reach the target frequency and return to zero, the
function will automatically reduce the acceleration/deceleration time and perform triangular control (acceleration and
deceleration only.) An error will not occur.
Specified number
of pulses
Pulse frequency
(Specified with
PLS2(887).)
Target
frequency
Execution of
PLS2(887)
752
Frequency changes
Pulse
frequency
Acceleration rate n
New target
Acceleration
frequency
rate 3
Original target
Acceleration
rate 2
frequency
Acceleration
rate 1
Execution of
PLS2(887) #1
Execution of
PLS2(887) #2
Specified
Pulse
number of
frequency
pulses
Change of direction at the
Target specified deceleration rate
frequency
Execution
of PLS2
Execution of
(887)
PLS2(887)
Pulse frequency
Present
frequency
Execution of
SPED(885)
Pulse frequency
Present
frequency
Target
frequency = 0
Execution of
PLS2(887)
Time
Number of pulses
specified by
PLS2(887) #N.
Time
Execution of PLS2(887) #N
Execution of PLS2(887) #3
Number of pulses
(position) changed
by PLS2(887)
Time
Time
Execution
of INI(880)
Deceleration
rate
Time
Execution of
ACC(888)
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Procedure/
Description
instruction
PLS2(887) can be PULS(886)
executed during
positioning (acceleration ACC(888)
or deceleration) to (Independent)
change the acceleration
rate or deceleration rate. PLS2(887)
PLS2(887)
PLS2(887)
PLS2(887) can be PLS2(887)
executed during
positioning with absolute PLS2(887)
pulse specification to
PULS(886)
change to absolute
pulses and reverse
ACC(888)
direction.
(Independent)
PLS2(887)
Stops the pulse output PLS2(887)
immediately and clears
the number of output INI(880)
pulses.
Decelerates the pulse PLS2(887)
output to a stop.
ACC(888)
(Independent,
target
frequency of
0 Hz)