Omron FQM1-MMA21 User Manual
21
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 pulse I/O
Using Servo
Driver compati-
ble with an
incremental
encoder or step-
ping Servomo-
tor/Servo Driver
Driver compati-
ble with an
incremental
encoder or step-
ping Servomo-
tor/Servo Driver
Controlling posi-
tioning speed
tioning speed
• Relative pulse
output func-
tions
tions
• Pulse output
instructions
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
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.
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
encoder inputs, for Servomotors/Servo Drivers
• For stepping motors, combination with basic
I/O and pulse (CW) + direction control is possi-
ble.
ble.
Controlling trap-
ezoidal position-
ing speed
control
ezoidal position-
ing speed
control
• PLS2(887)
instruction
Trapezoidal positioning at any accelera-
tion/deceleration ratio.
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.
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)
Cycle Selection
(2 ms/1 ms)
The speed change cycle of ACC(888) and
PLS2(887) instructions can be selected.
PLS2(887) instructions can be selected.
This is useful for fine control of time taken to
reach target speed or to reduce positioning time.
reach target speed or to reduce positioning time.
Defining the ori-
gin
gin
Pulse Output PV
Reset
Reset
Turn ON the Pulse Output PV Reset Bit at the
origin.
origin.
A626.00 (pulse output 1)/A627.00 (pulse output
2) turn ON.
2) turn ON.
Using Servo
Drivers compati-
ble with an
Absolute
Encoder
Drivers compati-
ble with an
Absolute
Encoder
Controlling posi-
tioning speed
tioning speed
• Absolute Pulse
Output
• Pulse output
instructions
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
Change operating mode to Absolute Pulse Out-
put.
put.
The number of pulses in the command is han-
dled as an absolute position. Everything else is
the same as relative pulse output.
dled as an absolute position. Everything else is
the same as relative pulse output.
Controlling trap-
ezoidal position-
ing speed
ezoidal position-
ing speed
PLS2(887)
instruction
instruction
Same as for Servo Drivers compatible with an
incremental encoder, outlined above.
incremental encoder, outlined above.
Pulse Output
Direction/Abso-
lute Position Pri-
ority Mode
Setting
Direction/Abso-
lute Position Pri-
ority Mode
Setting
Can switch between giving priority to CW/CCW
output direction specification for PLS2(887)
instructions or absolute position specification to
determine output direction.
output direction specification for PLS2(887)
instructions or absolute position specification to
determine output direction.