Omron SYSMAC CP Series Instruction & Reference Manual page 370

2 Instructions
Independent Mode Positioning
When independent mode operation is started, pulse output will be continued until the specified number
of pulses has been output.
The deceleration point is calculated from the number of output pulses and deceleration rate set in S and
when that point is reached, the frequency is decreased every pulse control period (4 ms) at the deceler-
ation rate specified in S until the specified number of points has been output, at which point pulse out-
put is stopped.
Note 1 Pulse output will stop immediately if the CPU Unit is changed to PROGRAM mode.
2 The number of output pulses must be set each time output is restarted.
3 The number of output pulses must be set in advance with PULS(881). Pulses will not be output for
ACC(888) if PULS(881) is not executed first.
4 The direction set in the ACC(888) operand will be ignored if the number of pulses is set with PULS(881) as
an absolute value.
Opera-
Purpose Application
tion
Starting Simple trap- Positioning with
pulse out- ezoidal con- trapezoidal accel-
put trol eration and decel-
eration (Same rate
used for accelera-
tion and decelera-
tion; no starting
speed)
The number of
pulses cannot be
changed during
positioning.
Chang- To change Changing the tar-
ing set- speed get speed (fre-
tings smoothly quency) during
(with the positioning
same accel- (acceleration rate
eration and = deceleration
decelera- rate)
tion rates)
Stopping To stop Immediate stop
pulse out- pulse out-
put put. (Num-
ber of
pulses set-
ting is not
preserved.)
2-334
Frequency changes
Specified number of
Pulse frequency
pulses (Specified
with PULS(886).)
Target
Acceleration/
frequency
deceleration
rate
Execution of Outputs the specified
ACC(888) number of pulses and
then stops.
Specified
number of
Pulse
pulses
frequency
(Specified with
PULS(886).)
Changed target
frequency
Target frequency
Acceleration/
deceleration
rate
Execution of
ACC(888)
ACC(888) (independent
(independent
mode) executed again to
mode)
change the target frequency.
(The target position is not
changed, but the
acceleration/deceleration rate
is changed.)
Pulse frequency
Present
frequency
Execution of
Execution of
ACC(888)
INI(880)
Description
Accelerates and deceler-
ates at the same fixed
rate and stops immedi-
ately when the specified
number of pulses has
been output. (See note.)
Note The target position
Time
(specified number
of pulses) cannot
be changed during
positioning.
ACC(888) can be exe-
cuted during positioning
to change the accelera-
Number of pulses
tion/deceleration rate
specified with
and target frequency.
PULS(886) does
The target position
not change.
(specified number of
pulses) is not changed.
Time
Pulse output is stopped
immediately and the
remaining number of out-
put pulses is cleared.
Time
CP1E CPU Unit Instructions Reference Manual(W483)
Procedure/
instruction
PULS(886)
↓
ACC(888)
(Independent)
PULS(886)
↓
ACC(888) or
SPED(885)
(Independent)
↓
ACC(888)
(Independent)
PLS2(887)
↓
ACC(888)
(Independent)
PULS(886)
↓
ACC(888)
(Independent)
↓
INI(880)