Omron FQM1-CM001 ユーザーズマニュアル
212
Virtual Pulse Output Function
Section 7-8
7-8
Virtual Pulse Output Function
7-8-1
Applicable Models
7-8-2
Overview
The AXIS instruction allows the execution of virtual pulse output with trapezoi-
dal acceleration/deceleration.
dal acceleration/deceleration.
The AXIS instruction executes the pulse output with trapezoidal acceleration/
deceleration internally. At the same time, AXIS internally integrates (counts)
the number of pulses (area) in the trapezoid.
deceleration internally. At the same time, AXIS internally integrates (counts)
the number of pulses (area) in the trapezoid.
With this function, the internal pulse count can be used in various applications
as a virtual axis position.
as a virtual axis position.
Example 1: Position/Speed Control Using a Virtual Axis (Electronic Cam
Operation)
Operation)
The internal pulse count can be treated as a virtual axis in order to perform
electronic cam operation (position and speed control based on the virtual axis
angle) with curve approximation on the real axis operation using the positions
of the virtual axis as reference.
electronic cam operation (position and speed control based on the virtual axis
angle) with curve approximation on the real axis operation using the positions
of the virtual axis as reference.
Example 2: Locus Control Using a Virtual Axis (2-axis Synchronous
Control)
Control)
If internal pulse counts are treated as virtual reference axes, a synchronous
control operation such as elliptical locus control can be performed by execut-
ing synchronous output control (electronic cam operation) simultaneously on
two pulse outputs using the position and speed of the virtual axis.
control operation such as elliptical locus control can be performed by execut-
ing synchronous output control (electronic cam operation) simultaneously on
two pulse outputs using the position and speed of the virtual axis.
Example 3: Semi-closed Loop Position Control with an Analog-input
Servo Driver
Servo Driver
Semi-closed loop positioning can be performed with an analog-input Servo
Driver by creating a ladder program routine that controls an error counter
based on the internal pulse count and the feedback signal from the Servo
Driver.
Driver by creating a ladder program routine that controls an error counter
based on the internal pulse count and the feedback signal from the Servo
Driver.
Model
Functions
FQM1-MMP21
Motion Control Module for Pulse I/O
FQM1-MMA21
Motion Control Module for Analog I/O
FQM1-CM001
Coordinator Module
AXIS
M
C
T
T
=
Ladder program
Motion Control Module
Internal pulse frequency
(Speed command)
(Speed command)
Specified number of pulses =
Target position
Target position
Target frequency
(Hz)
Time
Virtual axis
Target position and
Target frequency
Target frequency
Pulse count
(Internal PV)
(Internal PV)
Electronic cam operation by PULS
based on pulse count PV
based on pulse count PV