Omron SYSMAC CJ Series User Manual page 251

Example
Operation
application
Change Changing
speed the target
smoothly speed (fre-
(with quency)
unequal during posi-
accelera- tioning (dif-
tion and ferent
decelera- accelera-
tion rates) tion and
decelera-
tion rates)
Change Change the
target target posi-
position tion during
positioning
(multiple
start func-
tion)
CJ2M CPU Unit Pulse I/O Module User's Manual
Frequency changes
Pulse frequency
Specified number of pulses
(Specified with PULS.)
New target frequency
Target frequency
Acceleration/
deceleration
rate
ACC (independent
mode) executed
PLS2 executed to change the target frequency
and acceleration/deceleration rates.(The target
position is not changed. The original target
position is specified again.)
Pulse frequency
Number of pulses specified
with PULS changed.
Specified
number of pulses
Target frequency
Acceleration/
deceleration
rate
PLS2 instruction executed.
PLS2 executed to change the target position.
(The target frequency and
acceleration/deceleration rates are not changed.)
Function
PLS2(887) can be
executed during
positioning to
change the accel-
eration rate, decel-
eration rate, and
Time
target frequency.
To prevent the tar-
get position from
being changed
intentionally, either
operation must be
continued with
compensation val-
ues specified with
the ACC(888) or
PLS2(887) param-
eter change opera-
tion or the original
target position must
be specified as a
PLS2(887) operand
in absolute coordi-
nates.
The PLS2(887)
instruction can be
executed during
positioning to
change the target
position (number of
Time
pulses).
8 Pulse Outputs
Procedure
Instructions Settings
PULS • Number of
pulses
↓
• Relative or
ACC (Inde-
absolute
pendent)
pulse speci-
↓
fication
PLS2
• Port
PLS2
• Pulse +
↓ direction
• Accelera-
PLS2
tion rate
• Decelera-
tion rate
• Target fre-
quency
• Starting fre-
quency
PULS • Number of
pulses
↓
• Relative or
ACC (Inde-
absolute
pendent)
pulse speci-
↓
fication
PLS2
• Port
PLS2
• Pulse +
↓ direction
• Accelera-
PLS2
tion rate
• Decelera-
tion rate
• Target fre-
quency
• Starting fre-
quency
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