Positioning Control; Positioning Control Configuration; Relative Positioning And Absolute Positioning - Omron CP1E CPU UNIT SOFTWARE User Manual

12-2 Positioning Control

This section describes how to use pulse outputs with trapezoidal acceleration and deceleration when
using the PLS2 instruction.

12-2-1 Positioning Control Configuration

If the target frequency, starting frequency, acceleration and deceleration rate, direction are set before-
hand, the following time chart will perform trapezoidal positioning control.
Specify the output waveform in the instruction operands.
Target frequency
Starting frequency
Target frequency
Starting frequency
Acceleration rate
Deceleration rate
Direction specification
Specified number of
pulses

12-2-2 Relative Positioning and Absolute Positioning

Selecting Relative or Absolute Coordinates
The pulse output PV's coordinate system (absolute or relative) is selected automatically, as follows:
• When the origin is undefined, the system operates in relative coordinates.
• When the origin has been defined, the system operates in absolute coordinates.
Conditions
Pulse output
PV's coordinate
system
Refer to 12-4-1 Origin Searches for details.
CP1E CPU Unit Software User's Manual(W480)
Acceleration
rate
Specified number of
pulses
1 Hz to 100 kHz (in increments of 1 Hz)
0 Hz to 100 kHz (in increments of 1 Hz)
Set in increments of 1 Hz from 1 to 65,535 Hz (every 4 ms).
Set in increments of 1 Hz from 1 to 65,535 Hz (every 4 ms).
Set to CW or CCW.
Relative coordinates: 0000 0000 to 7FFF FFFF hex (Incre-
menting and decrementing in each direction: 2,147,483,647)
Absolute coordinates: 8000 0000 to 7FFF FFFF hex
(-2,147,483,648 to 2,147,483,647)
Origin has been Origin has been defined by
defined by an origin executing the INI instruc-
search tion to change the PV
Absolute coordinates
12 Pulse Outputs
Deceleration rate
Origin undefined (Origin search
has not been performed and PV
has not been changed with the
INI instruction.)
Relative coordinates
12
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