Omron SYSMAC CJ Series User Manual page 252

8 Pulse Outputs
Example
Operation applica-
tion
Change Change
target posi- the target
tion and position
speed and target
smoothly speed (fre-
quency)
during
positioning
(multiple
start func-
tion)
Change
the accel-
eration and
decelera-
tion rates
during
positioning
(multiple
start func-
tion)
Change Change Perform one of the following operations
direction the direc- by setting the stop operation for reversal
tion during in operand M of PLS2(887).
positioning
• Stopping Operation for Reversal
• Stopping Operation for Reversal
8-92
Frequency changes
Number of pulses specified
Pulse frequency
with PULS changed.
Specified number
of pulses
New target frequency
Target frequency
Acceleration/
deceleration
rate
ACC (independent
mode) executed
PLS2 executed
The target position, target frequency, and
acceleration/deceleration rates are changed.
Pulse frequency
Number of pulses specified
Acceleration/
with PLS2 changed.
deceleration rate n
New target frequency
Acceleration rate 3
Target frequency
Acceleration rate 2
Acceleration
rate 1
PLS2 instruction
PLS2 instruction executed.
executed.
PLS2 instruction executed.
PLS2 instruction executed.
Specification: Deceleration Stop
Pulse frequency
Specified number of
pulses
Change of direction at the
Target
specified deceleration rate
frequency
Number of pulses specified
with PLS2 changed.
PLS2 instruction
executed.
PLS2 instruction executed.
Specification: Immediate Stop
Pulse frequency
Specified number of
pulses
Target
frequency
Immediate stop
Number of pulses spec
with PLS2 changed.
PLS2 instruction
executed.
PLS2 instruction executed.
Function
The PLS2(887) instruc-
tion can be executed dur-
ing positioning to change
the target position (num-
ber of pulses), accelera-
tion rate, deceleration
Time
rate, and target fre-
quency.
The PLS2(887) instruc-
tion can be executed dur-
ing positioning
(acceleration or decelera-
tion) to change the accel-
eration rate or
Time
deceleration rate.
The PLS2(887) instruc-
tion can be executed dur-
ing positioning with
absolute pulse specifica-
tion to change to absolute
pulses and reverse direc-
tion.
Use Stopping Operation
for Reversal Specification
in operand M of the
PLS2(887) instruction to
Time
specify how to stop
(decelerate and stop or
immediate stop) the cur-
rent movement.
Time
CJ2M CPU Unit Pulse I/O Module User's Manual
Procedure
Instruc-
Settings
tions
PULS • Number of
pulses
↓
• Relative or
ACC
absolute
(Indepen-
pulse spec-
dent)
ification
↓
• Port
PLS2
• Pulse +
direction
• Accelera-
tion rate
• Decelera-
tion rate
• Target fre-
quency
• Starting
frequency
PLS2 • Number of
pulses
↓
• Accelera-
PLS2
tion rate
• Decelera-
tion rate
PULS • Number of
pulses
↓
• Absolute
ACC
pulse spec-
(Indepen-
ification
dent)
• Port
↓
• CW/CCW
PLS2
or Pulse +
direction
• Accelera-
tion rate
• Decelera-
PLS2
tion rate
↓
• Target fre-
PLS2
quency
• Starting
frequency