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Built-in Outputs Section 6-2
Bit Allocations
Pulse Output Specifications
Code Word
address
Bit CW/CCW inputs Pulse + direction inputs
OUT0 CIO 2961 00 Pulse output 0 (CW) Pulse output 0 (pulse)
OUT1 01 Pulse output 0 (CCW) Pulse output 1 (pulse)
OUT2 02 Pulse output 1 (CW) Pulse output 0 (direction)
OUT3 03 Pulse output 1 (CCW) Pulse output 1 (direction)
Item Specifications
Output mode Continuous mode (for speed control) or independent
mode (for position control)
Positioning (independent
mode) instructions
PULS(886) and SPED(885), PULS(886) and
ACC(888), or PLS2(887)
Speed control (continuous
mode) instructions
SPED(885) or ACC(888)
Origin (origin search and ori-
gin return) instructions
ORG(889)
Output frequency 1 Hz to 100 kHz (1 Hz units)
Acceleration and deceleration
rates
Set in 1 Hz units for acceleration/deceleration rates
from 1 Hz to 2 kHz (every 4 ms). The acceleration
and deceleration rates can be set independently only
with PLS2(887).
Changing SVs during instruc-
tion execution
The target frequency, acceleration/deceleration rate,
and target position can be changed.
Duty ratio Fixed at 50%
Pulse output method CW/CCW inputs or Pulse + direction inputs
The method is selected with an instruction operand.
The same method must be used for pulse outputs 0
and 1.
Number of output pulses Relative coordinates: 00000000 to 7FFFFFFF hex
(Each direction accelerating or decelerating:
2,147,483,647)
Absolute coordinates: 80000000 to 7FFFFFFF hex
(−2147483648 to 2147483647)
Pulse output PV's relative/
absolute coordinate specifica-
tion
Absolute coordinates are specified automatically
when the origin location has been determined by set-
ting the pulse output PV with INI(880) or performing
an origin search with ORG(889). Relative coordi-
nates are used when the origin location is undeter-
mined.
Relative pulse specification/
Absolute pulse specification
The pulse type can be specified with an operand in
PULS(886) or PLS2(887).
Note The absolute pulse specification can be used when
absolute coordinates are specified for the pulse out-
put PV, i.e. the origin location has been determined.
The absolute pulse specification cannot be used
when relative coordinates are specified, i.e. the origin
location is undetermined. An instruction error will
occur.
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