Omron SYSMAC CP2E-E D Series

12-69
12 Pulse Outputs
CP2E CPU Unit Software User’s Manual(W614)
12-11 Pulse Output Pattern
12
12-11-2 Positioning Control (Independent Mode)
Operation
Example
applica-
tion
Frequency changes Description
Procedure
Instruc-
tion
Settings
Change
target posi-
tion and
speed
smoothly
Change
the target
position
and target
speed (fre-
quency)
during
positioning
(multiple
start func-
tion)
PLS2 can be executed
during positioning to
change the target position
(number of pulses),
acceleration rate, decel-
eration rate, and target
frequency.
When the settings cannot
be changed without main-
taining the same speed
range, an error will occur
and the original opera-
tion will continue to the
original target position.
PULS
↓
ACC
(Indepen-
dent)
↓
PLS2
• Number of
pulses
• Relative or
absolute
pulse spec-
ification
• Port
• Pulse +
Direction
• Accelera-
tion rate
• Decelera-
tion rate
• Target fre-
quency
• Starting
frequency
Change
the accel-
eration and
decelera-
tion rates
during
positioning
(multiple
start func-
tion)
PLS2 can be executed
during positioning (accel-
eration or deceleration) to
change the acceleration
rate or deceleration rate.
PLS2
↓
PLS2
• Number of
pulses
• Accelera-
tion rate
• Decelera-
tion rate
Change
direction
Change
the direc-
tion during
positioning
PLS2 can be executed
during positioning with
absolute pulse specifica-
tion to change to absolute
pulses and reverse direc-
tion.
PULS
↓
ACC
(Indepen-
dent)
↓
PLS2
• Number of
pulses
• Absolute
pulse spec-
ification
• Port
• Pulse +
D
irection
• Accelera-
tion rate
• Decelera-
tion rate
• Target fre-
quency
• Starting
frequency
PLS2
↓
PLS2
Pulse frequency
New target frequency
Target frequency
Execution of ACC
(Independent mode)
PLS2 executed to change the target
position, target frequency, and
acceleration/deceleration rates
Time
Acceleration/
deceleration
rate
Specified number
of pulses
Number of pulses
changed with PLS2.
Pulse frequency
New target frequency
Target frequency
Execution of PLS2
Execution of PLS2
Execution of PLS2
Execution of PLS2
Time
Acceleration/
deceleration rate 3
Acceleration/
deceleration rate 2
Acceleration/
deceleration
rate 1
Acceleration/
deceleration rate n
Number of pulses specified
by PLS2.
Pulse frequency
Target
frequency
Execution of PLS2
Execution
of PLS2
Time
Secified number
of pulses
Change of direction at the
specified deceleration rate
Number of pulses (position)
changed by PLS2