Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 7-8Virtual Pulse Output Function, 7-8-1, 7-8-2, Operation

Virtual Pulse Output FunctionSection 7-8

7-8 Virtual Pulse Output Function

7-8-1	Applicable Models
		Model	Functions
		FQM1-MMP21	Motion Control Module for Pulse I/O
		FQM1-MMA21	Motion Control Module for Analog I/O
		FQM1-CM001	Coordinator Module
7-8-2	Overview

The AXIS instruction allows the execution of virtual pulse output with trapezoi- 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.

With this function, the internal pulse count can be used in various applications as a virtual axis position.

Example 1: Position/Speed Control Using a Virtual Axis (Electronic Cam

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.

Motion Control Module

Ladder program	Internal pulse frequency
	(Speed command)

AXIS

MTarget frequency

C		(Hz)
T
Target position and
Target frequency
Pulse count	=	Virtual axis
(Internal PV)

Specified number of pulses =

Target position

Time

Electronic cam operation by PULS based on pulse count PV

Example 2: Locus Control Using a Virtual Axis (2-axis Synchronous 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.

Example 3: Semi-closed Loop Position Control with an Analog-input 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.

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