8-27
8 Pulse Outputs
CJ2M CPU Unit Pulse I/O Module User’s Manual
8-2 Position Control
8
8-2-1 Position Control Configuration
8-2 Position Control
This section describes how to use pulse outputs with the PLS2(887) instruction.
If the target frequency, starting frequency, acceleration and deceleration rates, and direction are set
beforehand, trapezoidal and S-curve position control will be performed according to the following time
charts.
The target frequency is set in an operand of the PLS2 instruction.
Whether to use trapezoidal or S-curve acceleration/deceleration is set in the PLC Setup.
* If S-curve acceleration/deceleration is specified, the starting frequency will be 100 pps.
8-2-1 Position Control Configuration
Target frequency 1 pps to 100 kpps (in increments of 1 pps)
Starting frequency
0 pps to 100 kpps (in increments of 1 pps)
*
Acceleration rate Set in increments of 1 pps from 1 to 65,535 pps (every 4 ms).
Deceleration rate Set in increments of 1 pps from 1 to 65,535 pps (every 4 ms).
Direction specification Set to CW or CCW.
Specified number of
pulses
Relative coordinates: 0000 0000 to 7FFF FFFF hex (Accelerating or decel-
erating in either direction: 2,147,483,647)
Absolute coordinates: 8000 0000 to 7FFF FFFF hex (−2,147,483,648 to
2,147,483,647)
Target
frequency
Starting
frequency
Acceleration
rate
Specified number
of pulses
Deceleration
rate
Pulse frequency
Deceleration
rate
Specified number
of pulses
Deceleration
rate
Target
frequency
Starting
frequency
100 pps
S-curve
acceleration/deceleration
Time
Trapezoidal Acceleration/Deceleration S-curve Acceleration/Deceleration
Specify with the Acceleration/Deceleration
Curve Specifications in the PLC Setup.
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