3. Instructions
782
CS/CJ/NSJ Series Instructions Reference Manual (W474)
Precautions for Correct Use
An instruction error will occur if a constant speed cannot be achieved for the number of pulses specified
by S. If that occurs, set the number of output pulses so that it is greater than the number of pulses found
from the target frequency and deceleration rate using the following formula.
Number of output pulses for no error = Number of pulses in 1 pulse control cycle at the target
frequency* × 4 + Number of pulses required to decelerate from the target frequency*
* Round up below the decimal point.
Example Programming
When CIO 0.00 turns ON, pulse output from pulse output 0 is started. The system accelerates at 50
pps/4 ms to a target frequency of 500 pps and then performs speed control in continuous mode. When
input interrupt 0 occurs, the system switches to position control and then decelerates at 20 pps/4 ms to
stop after outputting the specified number of pulses.
Pulse frequency
Time
Target
frequency
Acceleration rate
Input interrupt occurs
Speed control Position control
Execution of IFEED(892)
Number of output pulses
Deceleration rate
Example: Target frequency: 99,900 pps
Deceleration rate: 2,000 pps/4 ms
Pulse control cycle: 1 ms
Interrupt input
A = 99,900 pps × 0.001 s = 99.9 pulses --> 100 pulses
B = 99,900 pps × (99,900 pps/2,000 pps × 0.004 s)/2
= 9,980.01 pulses --> 9,981 pulses
Number of output pulses for no error = A × 4 + B
= 100 × 4 + 9,981
= 10,381 pulses
Time
0.00
@IFEED
#0000
#0000
D0
#0032
#0014
#01F4
#0000
#0064
#0000
Input interrupt 0 − Pulse output 0
CW/CCW, CW
First word of settings
table
Acceleration rate: 50 pps/4 ms
Deceleration rate: 20 pps/4 ms
Target frequency: 500 pps
Number of output
pulses: 100 pulses
S: D0
S+1: D1
S+2: D2
S+3: D3
S+4: D4
S+5: D5
Pulse frequency
Time
500 pps
Input interrupt 0 occurs
Speed control
Position control
Execution of IFEED(892)
100 pulses
20 pps/4 ms
50 pps/4 ms
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