Positioning Control (Independent Mode) - Omron CP1E CPU UNIT SOFTWARE User Manual

12-9-2 Positioning Control (Independent Mode)

The following operations can be performed in Independent Mode by combining instructions.
Starting a Pulse Output
Example
Operation
application
Output with Positioning
specified without accel-
speed eration or
deceleration
Simple trape- Positioning
zoidal control with trapezoi-
dal accelera-
tion and
deceleration
(Same rate
used for accel-
eration and
deceleration;
no starting
speed).
The number of
pulses cannot
be changed
during posi-
tioning.
Complex Positioning
trapezoidal with trapezoi-
control dal accelera-
tion and
deceleration
(Separate
rates used for
acceleration
and decelera-
tion; starting
speed)
The number of
pulses can be
changed dur-
ing position-
ing.
CP1E CPU Unit Software User's Manual(W480)
Frequency changes
Pulse frequency
Specified number of pulses
(Specified with PULS)
Target
frequency
Execution of SPED Outputs the specified number
of pulses and then stops.
Pulse frequency
Specified number of pulses
(Specified with PULS)
Target
Acceleration/
frequency
deceleration rate
Execution of ACC Outputs the specified
number of pulses and
then stops.
Pulse
Specified number of pulses
frequency
Target
Acceleration
frequency
Deceleration rate
rate
Starting
frequency
Execution Output stops
of PLS2
Deceleration point
Target
frequency reached
Description
Starts outputting
pulses at the speci-
fied frequency and
stops immediately
when the specified
Time
number of pulses
has been output.
The target position
(specified number of
pulses) cannot be
changed during
positioning.
Accelerates and
decelerates at the
same fixed rate and
stops immediately
when the specified
Time
number of pulses
has been output.*
Accelerates and
decelerates at a
fixed rates. The
pulse output is
stopped when the
Stop frequency
specified number of
Time
pulses has been
output.*
The target position
(specified number of
pulses) can be
changed during
positioning.
12 Pulse Outputs
Procedure
Instruc-
Settings
tion
PULS • Number of
pulses
↓
• Relative or
SPED
absolute
(Indepen-
pulse speci-
dent)
fication
• Port
• Pulse +
Direction
• Independent
• Target fre-
quency
PULS • Number of
pulses
↓
• Relative or
ACC
absolute
(Indepen-
pulse speci-
dent)
fication
• Port
• Pulse +
Direction
• Independent
• Accelera-
tion and
decelera-
tion rate
• Target fre-
quency
PLS2 • Number of
pulses
• Relative or
absolute
pulse speci-
fication
• Port
• Pulse +
Direction
• Accelera-
tion rate
• Decelera-
tion rate
• Target fre-
quency
• Starting fre-
quency
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