Omron CJ1M-CPU21 - Positioning (Trapezoidal Control)

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Built-in Outputs Section 7-1
Built-in Input 3 Interrupt Task (Interrupt Task 143)
Scheduled Interrupt Task 0 (Interrupt Task 2)
7-1-3 Positioning (Trapezoidal Control)
Specifications and Operation
When the start input (2960.06) goes ON, this example program outputs
600,000 pulses from pulse output 1 and turns the motor.
Instructions Used
PLS2(887)
14
MSKS(690)
#0005
A280.04
Pulse Output 0
Output In-progress
Flag
Scheduled interrupt 0
(Reset start)
Scheduled interrupt time
(5 x 0.1 ms = 0.5 ms)
#0
4
#0
#0000
&100000
SPED(885)
MSKS(690)
#0001
&100000
#0000
PULS(886)
P_On
Always ON
Flag
Pulse output 0
Relative pulse
specification
Number of output pulses
(100,000 pulses)
Pulse output 0
Specifies CW/CCW outputs,
CW direction, and
independent mode.
Target frequency
(100,000 Hz)
Pulse output 0
Scheduled interrupt 0;
Stop scheduled interrupt
100 Hz
Target frequency
50,000 Hz
Starting frequency
Start input (2960.06)
Acceleration rate
300 Hz/4 ms
Number of
output pulses
600,000 pulses
Deceleration rate
200 Hz/4 ms