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Function Tables Arranged by Purpose Section 1-7
1-7-2 Position and Speed Control
Purpose Operation Main functions
used
Details
PTP positioning
using pulse I/O
Using Servo
Driver compati-
ble with an
incremental
encoder or step-
ping Servomo-
tor/Servo Driver
Controlling posi-
tioning speed
• Relative pulse
output func-
tions
• Pulse output
instructions
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
7-6-6 Pulse Output Function Details
Set operating mode to Relative Pulse Output.
The number of pulses is determined from the
current position. Instructions to control pulses
and speed can be used, depending on what is to
be controlled. Speed can be controlled between
20 Hz and 1 MHz.
• Basic I/O can be used for origin signal and
other I/O, and pulse inputs can be used for
encoder inputs, for Servomotors/Servo Drivers
• For stepping motors, combination with basic
I/O and pulse (CW) + direction control is possi-
ble.
Controlling trap-
ezoidal position-
ing speed
control
• PLS2(887)
instruction
7-6-12 PLS2(887) Pulse Output Direction Prior-
ity Mode
Trapezoidal positioning at any accelera-
tion/deceleration ratio.
The system will automatically switch to triangle
control (trapezoidal control without constant
speed interval) when acceleration/deceleration
conditions with specified total output pulses do
not lead to trapezoidal control.
Speed Change
Cycle Selection
(2 ms/1 ms)
7-6-11 Acceleration/Deceleration Rates in
ACC(888) and PLS2(887) Instructions
The speed change cycle of ACC(888) and
PLS2(887) instructions can be selected.
This is useful for fine control of time taken to
reach target speed or to reduce positioning time.
Defining the ori-
gin
Pulse Output PV
Reset
7-5-8 Pulse Input Function Description
Turn ON the Pulse Output PV Reset Bit at the
origin.
A626.00 (pulse output 1)/A627.00 (pulse output
2) turn ON.
Using Servo
Drivers compati-
ble with an
Absolute
Encoder
Controlling posi-
tioning speed
• Absolute Pulse
Output
• Pulse output
instructions
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
7-6-6 Pulse Output Function Details
Change operating mode to Absolute Pulse Out-
put.
The number of pulses in the command is han-
dled as an absolute position. Everything else is
the same as relative pulse output.
Controlling trap-
ezoidal position-
ing speed
PLS2(887)
instruction
Same as for Servo Drivers compatible with an
incremental encoder, outlined above.
Pulse Output
Direction/Abso-
lute Position Pri-
ority Mode
Setting
7-6-12 PLS2(887) Pulse Output Direction Prior-
ity Mode
Can switch between giving priority to CW/CCW
output direction specification for PLS2(887)
instructions or absolute position specification to
determine output direction.