Omron FQM1-MMP21, FQM1-CM001 1-7-2, Function Tables Arranged by PurposeSection, ity Mode

Function Tables Arranged by PurposeSection 1-7

1-7-2	Position and Speed Control
	Purpose		Operation	Main functions	Details
				used
PTP positioning		Using Servo	Controlling posi-	• Relative pulse	7-6-6 Pulse Output Function Details
using pulse I/O		Driver compati-	tioning speed	output func-	Set operating mode to Relative Pulse Output.
		ble with an		tions
					The number of pulses is determined from the
		incremental		• Pulse output
					current position. Instructions to control pulses
		encoder or step-		instructions
					and speed can be used, depending on what is to
		ping Servomo-		(SPED(885)(8
					be controlled. Speed can be controlled between
		tor/Servo Driver		85), ACC(888),
					20 Hz and 1 MHz.
				PULS(886),	• Basic I/O can be used for origin signal and
				and
					other I/O, and pulse inputs can be used for
				PLS2(887))
					encoder inputs, for Servomotors/Servo Drivers
					• For stepping motors, combination with basic
					I/O and pulse (CW) + direction control is possi-
					ble.
			Controlling trap-	• PLS2(887)	7-6-12 PLS2(887) Pulse Output Direction Prior-
			ezoidal position-	instruction	ity Mode
			ing speed		Trapezoidal positioning at any accelera-
			control
					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	7-6-11 Acceleration/Deceleration Rates in
				Cycle Selection	ACC(888) and PLS2(887) Instructions
				(2 ms/1 ms)	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-	Pulse Output PV	7-5-8 Pulse Input Function Description
			gin	Reset	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	Controlling posi-	• Absolute Pulse	7-6-6 Pulse Output Function Details
		Drivers compati-	tioning speed	Output	Change operating mode to Absolute Pulse Out-
		ble with an		• Pulse output
					put.
		Absolute		instructions	The number of pulses in the command is han-
		Encoder		(SPED(885)(8
					dled as an absolute position. Everything else is
				85), ACC(888),
					the same as relative pulse output.
				PULS(886),
				and
				PLS2(887))
			Controlling trap-	PLS2(887)	Same as for Servo Drivers compatible with an
			ezoidal position-	instruction	incremental encoder, outlined above.
			ing speed
				Pulse Output	7-6-12 PLS2(887) Pulse Output Direction Prior-
				Direction/Abso-	ity Mode
				lute Position Pri-	Can switch between giving priority to CW/CCW
				ority Mode	output direction specification for PLS2(887)
				Setting
					instructions or absolute position specification to
					determine output direction.

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