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Pulse Outputs Section 7-6
PULS(886) Absolute Pulse Output in Progress
Pulse Output Operation
Mode (Absolute Linear)
Limitations
PLS2(887)
Startup Conditions when other Instructions are being Executed
Note (1) Cancel the number of output pulses set with PULS(886) and then execute
PLS2(887).
(2) Execution is OK when the number of output pulses has been set.
Allowed Startup Conditions for Pulse Output Operations (with Output in Progress)
Startup conditions and status Startup mode and conditions
Relative
CW
Relative
CCW
Pulse output direction
priority mode (A628.14 = 0)
Absolute position priority
mode (A628.14 = 1)
Absolute
linear CW
Absolute
linear CCW
Absolute
linear CW
Absolute
linear CCW
Relative OK OK --- --- --- ---
Absolute
linear
Target position >
Present position
--- --- OK
No OK OK
Target position =
Present position
--- --- No No No No
Target position <
Present position
--- ---
No OK OK OK
Operating instruction Starting instruction
SPED(8
85) inde-
pendent
SPED(8
85) con-
tinuous
PULS(8
86) rela-
tive,
without
output
PULS(88
6) abso-
lute
without
output
PULS(88
6) abso-
lute with
output
ACC(888
) acceler-
ation,
continu-
ous
ACC(888
) decel-
eration,
continu-
ous
ACC(888
) acceler-
ation,
indepen-
dent
ACC(888
) decel-
eration,
indepen-
dent
PLS2(88
7)
SPED
(885)
Independent OK
No No No No No No OK OK No
SPED
(885)
Continuous OK (See
note 2.)
OK OK OK
No OK OK OK (See
note 2)
OK (See
note 2)
No
PULS
(886)
No relative output OK OK OK ---
No OK OK OK OK (See
note 1)
PULS
(886)
No absolute output OK OK --- OK
No OK OK OK OK (See
note 1)
PULS
(886)
Relative output
No No No No OK No No No No No
ACC(
888)
Acceleration +
continuous
Accelerating
No No OK OK No No No No No No
Steady speed OK (See
note 2)
OK OK OK
No OK OK OK (See
note 2)
OK (See
note 2)
No
ACC(
888)
Deceleration +
continuous
Decelerating
No No OK OK No No No No No No
Steady speed OK (See
note 2)
OK OK OK
No OK OK OK (See
note 2)
OK (See
note 2)
No
ACC(
888)
Acceleration +
independent
Accelerating
No No No No No No No No No No
Steady speed OK
No No No No No No OK OK No
ACC(
888)
Deceleration +
independent
Decelerating
No No No No No No No No No
Steady speed OK
No No No No No No OK OK No
PLS2
(887)
No No No No No No No No No No
Operating instruction Starting instruction
SPED(8
85) inde-
pendent
SPED(8
85) con-
tinuous
PULS(8
86) rela-
tive,
without
output
PULS(88
6) abso-
lute
without
output
PULS(88
6) abso-
lute with
output
ACC(888
) acceler-
ation,
continu-
ous
ACC(888
) decel-
eration,
continu-
ous
ACC(888
) acceler-
ation,
indepen-
dent
ACC(888
) decel-
eration,
indepen-
dent
PLS2(88
7)
SPED
(885)
Independent Case (1)
No No No No No No Case (8) Case (11) No
SPED
(885)
Continuous Case (2) Case (4) Yes Yes
No Case (6) Case (7) Case (9) Case (12) No
PULS
(886)
No relative output Yes Yes Yes ---
N o Ye s Ye s Yes Ye s (S e e
note.)