Table Of Contents - Omron CJ1M-CPU21 Operation Manual

Table of Contents

Unit Versions5
Confirming Unit Versions With Support Software5
Unit Manufacturing Information6
Using The Unit Version Labels7
Unit Version Notation8
Unit Versions And Lot Numbers9
Function Support By Unit Version10
Unit Versions And Programming Devices12
Device Type Setting12
Troubleshooting Problems With Unit Versions On The Cx-Programmer13
Table Of Contents14
About This Manual16
Precautions20
Intended Audience21
Safety Precautions21
General Precautions21
Operating Environment Precautions23
Application Precautions24
Conformance To Ec Directives27
Applicable Directives27
Concepts27
Relay Output Noise Reduction Methods28
Countermeasure Examples (Noise Reduction)29
Features30
Built-In I/O Functions31
General-Purpose I/O31
Interrupt Inputs31
High-Speed Counters/Pulse Outputs31
Origin Search32
Quick-Response Inputs32
Triangular Control32
Change Target Position During Positioning (Multiple Start)32
Configuration Of The Built-In I/O Functions33
Version Upgrades For Cj1M Cpu Units34
Improved Functionality Of Cj1M Cpu Units With Unit Version 3.034
Improved Functionality Of Cj1M Cpu Units With Unit Version 2.034
Pulse Inputs/High-Speed Counters34
High-Speed Processing35
Continued Comparisons When Resetting Counters35
Functions Listed By Purpose35
Controlling Pulse Outputs36
Receiving Pulse Inputs38
Comparison With Cj1W-Nc Pulse Outputs39
Overview40
Allocations For Built-In Cpu Unit Inputs41
Allocations For Built-In Cpu Unit Outputs44
Allocations For Origin Search Function45
Inputs46
Outputs46
Functions47
I/O Specifications And Wiring48
I/O Specifications49
General Purpose Input Specifications49
Interrupt Input And Quick-Response Input Specifications (In0 To In3)49
High-Speed Counter Input Specifications (In6 To In9)50
Output Specification51
Transistor Outputs (Sinking)51
General-Purpose Output Specifications51
Pulse Output Specifications (Out0 To Out3)51
Wiring52
Connector Pin Allocations52
Pwm(891) Output Specifications (Out4 And Out5)52
Connector Pins Used By Each Function53
Built-In Inputs53
High-Speed Counters54
Encoder With Phases A, B, And Z54
Encoder With Line Driver Outputs54
High-Speed Counters Using Pulse + Direction Inputs54
Built-In Outputs55
High-Speed Counters Using Up/Down Pulse Inputs55
High-Speed Counters Using Increment Pulse Inputs55
Pulse Outputs Using Cw/Ccw Outputs56
Pulse Outputs Using Pulse + Direction Outputs56
Pwm (891) Outputs56
Wiring Methods57
I/O Used In The Origin Search Function57
Connector Models58
Compatible Terminal Blocks58
Compatible Connector Specifications58
Mil Flat/Loose Cable Connectors (40-Pin Pressure-Fitted Connectors)58
Standard Connection Method (Not For Omron Servo Drivers)59
Connecting To An Omron Servo Driver59
One-Axis Servo Driver Connection (Connecting Pulse Output 0)59
Two-Axis Servo Driver Connection (Connecting Pulse Outputs 0 And 1)60
Wiring Examples61
General-Purpose I/O Connection Examples61
Dc Input Devices61
Omron Omnuc W-Series, Up-Series, Or Ut-Series Servo Drivers61
Precautions When Connecting Two-Wire Dc Sensors62
Output Wiring Precautions63
Output Short Protection63
Ttl Connections63
Inrush Current Considerations63
Pulse Input Connection Examples64
Encoders With 24-V Dc Open-Collector Outputs64
Power Supply Input Connection Example65
Encoders With Line Driver Outputs (Conforming To Am26Ls31)65
Pulse Output Connection Examples66
Origin Input Signal (24 V Dc)66
Origin Input Signal (Line Driver Input)66
Cw/Ccw Pulse Output And Pulse Plus Direction Output67
Using A Motor Driver With 24-V Dc Photocoupler Inputs67
Using A Motor Driver With 5-V Dc Photocoupler Inputs67
Error Counter Reset Output Connection Examples69
Motor Driver Connection Examples69
Connection Example For Operating Mode 070
Operating Mode 1 Connection Example71
Origin Search Operation71
Example Plc Setup Settings71
Connecting An Omron W-Series Servo Driver72
Connecting A Smartstep A-Series Servo Driver73
Operating Mode 2 Connection Example74
Connecting An Omron W-Series Or U-Series (Up Or Ut) Servo Driver75
Connecting An Omron U-Series (Ue) Or Smart Step A-Series Servo Driver76
Variable Duty Ratio Pulse Output (Pwm(891) Output) Connection Example78
Data Area Allocation And Plc Setup Settings80
Data Area Allocation For Built-In I/O81
Plc Setup Settings81
High-Speed Counter 0 Operation Settings81
High-Speed Counter 0 Enable/Disable81
High-Speed Counter 0 Counting Mode82
High-Speed Counter 0 Circular Max. Count (Ring Counter Maximum Value)82
High-Speed Counter 0 Reset Method82
High-Speed Counter 1 Operation Settings83
High-Speed Counter 0 Pulse Input Setting (Pulse Input Mode)83
High-Speed Counter 1 Enable/Disable83
High-Speed Counter 1 Counting Mode83
High-Speed Counter 1 Circular Max. Count (Ring Counter Maximum Value)84
High-Speed Counter 1 Reset Method84
High-Speed Counter 1 Pulse Input Setting (Pulse Input Mode)84
Input Operation Settings For Built-In Inputs In0 To In385
Origin Search Function86
Input Time Constant Setting For The General-Purpose Inputs86
Pulse Output 0 Settings87
Pulse Output 0 Use Origin Operation Settings87
Pulse Output 0 Limit Input Signal Operation/Pulse Output 0 Speed Curve87
Pulse Output 0 Origin Search Direction Setting87
Pulse Output 0 Origin Detection Method88
Pulse Output 0 Origin Search Operation Setting88
Pulse Output 0 Origin Search Operating Mode88
Pulse Output 0 Undefine Origin Setting88
Pulse Output 0 Origin Proximity Input Signal Type89
Pulse Output 0 Limit Input Signal Type89
Pulse Output 0 Origin Search/Return Initial Speed89
Pulse Output 0 Origin Search High Speed89
Pulse Output 0 Search Compensation Value (Origin Compensation)90
Pulse Output 0 Origin Search Acceleration Rate90
Pulse Output 0 Origin Search Deceleration Rate90
Pulse Output 0 Positioning Monitor Time90
Pulse Output 1 Settings91
Pulse Output 1 Use Origin Operation Settings91
Pulse Output 1 Limit Input Signal Operation91
Pulse Output 1 Origin Search Direction Setting91
Pulse Output 1 Origin Detection Method92
Pulse Output 1 Origin Search Operation Setting92
Pulse Output 1 Origin Search Operating Mode92
Pulse Output 1 Origin Input Signal Type92
Pulse Output 1 Origin Proximity Input Signal Type93
Pulse Output 1 Limit Input Signal Type93
Pulse Output 1 Origin Search/Return Initial Speed93
Pulse Output 1 Origin Search High Speed93
Pulse Output 1 Search Compensation Value 1 (Origin Compensation)94
Pulse Output 1 Origin Search Acceleration Rate94
Pulse Output 1 Origin Search Deceleration Rate94
Pulse Output 1 Positioning Monitor Time94
Origin Return Function95
Speed (Target Speed For Pulse Output 0 Origin Return)95
Deceleration Rate (Pulse Output 0 Origin Return Deceleration Rate)95
Acceleration Rate (Pulse Output 0 Origin Return Acceleration Rate)95
Speed (Target Speed For Pulse Output 1 Origin Return)96
Acceleration Rate (Pulse Output 1 Origin Return Acceleration Rate)96
Deceleration (Pulse Output 1 Origin Return Deceleration Rate)96
Auxiliary Area Data Allocation97
Auxiliary Area Flags And Bits For Built-In Inputs97
Auxiliary Area Flags And Bits For Built-In Outputs101
Flag Operations During Pulse Output105
High-Speed Counter/Pulse Output Instructions106
Mode Control: Ini(880)107
Operand Specifications108
High-Speed Counter Pv Read: Prv(881)110
Frequency Ranges115
Pulse Frequency Calculation Methods115
Applicable Program Areas116
Flags116
Counter Frequency Convert: Prv2(883)117
Converting Frequency To Rotation Speed118
Range Of Conversion Results118
Converting Counter Pv To Total Number Of Revolutions (C1 = 0001 Hex)119
Register Comparison Table: Ctbl(882)120
P: Port Specifier121
C: Control Data121
Tb: First Table Comparison Word121
Speed Output: Sped(885)125
Cio 0000 To Cio 6142 W000 To W510126
H000 To H510126
Independent Mode Positioning127
Set Pulses: Puls(886)129
A448 To A958130
Pulse Output: Pls2(887)131
Acceleration Control: Acc(888)138
Ir0 To ,Ir15140
2048 To +2047 ,Ir0 To140
2048 To +2047 ,Ir15140
Dr0 To Dr15, Ir0 To Ir15140
Origin Search: Org(889)145
Origin Return148
Pulse With Variable Duty Factor: Pwm(891)149
Built-In I/O Function Descriptions152
Built-In Inputs Overview153
General-Purpose Inputs153
Bit Allocations153
Restrictions On General-Purpose Inputs154
Interrupt Inputs (Direct Mode)155
Interrupt Inputs (Counter Mode)156
High-Speed Counter Inputs158
Restrictions On High-Speed Counter Inputs161
Pulse Input Modes162
Differential Phase Mode162
Pulse + Direction Mode162
Up/Down Mode163
Increment Mode163
Counting Modes164
Linear Mode164
Ring Mode164
Starting Interrupt Tasks At Desired Counter Pvs165
Reset Methods165
Phase-Z Signal + Software Reset165
Software Reset165
Target Value Comparison166
Range Comparison166
Temporarily Stopping Input Signal Counting (Gate Function)167
High-Speed Counter Frequency Measurement167
Pulse Frequency Conversion168
Frequency − Rotational Speed Conversion168
Counter Pv − Total Number Of Rotations Conversion168
Quick-Response Inputs Overview/Procedure169
Converting The Frequency To A Rotational Speed169
Converting The Counter Pv To The Total Number Of Rotations169
Hardware Specifications170
Input Characteristics170
Restrictions On Quick-Response Inputs170
Built-In Outputs - General-Purpose Outputs171
Pulse Outputs172
Pulse Output Specifications173
Instructions Used For Pulse Outputs174
Pulse Output Modes175
Pulse Output Patterns176
Starting A Pulse Output178
Stopping A Pulse Output182
Switching From Continuous Mode (Speed Control) To Independent Mode183
Conditions Required To Execute An Instruction During Operation183
Relative Pulse Outputs And Absolute Pulse Outputs185
Selecting Relative Or Absolute Coordinates185
Relationship Between The Coordinate System And Pulse Specification186
Operations Affecting The Origin Status187
Movement Direction When Using Absolute Pulse Specification188
Single-Phase Pulse Output Without Acceleration/Deceleration188
Single-Phase Pulse Output With Acceleration/Deceleration189
Pulse Output With Trapezoidal Acceleration/Deceleration190
Pulse Output 0 Limit Input Signal Operation190
S-Curve Acceleration/Deceleration191
Pulse Output 1 Undefine Origin Setting191
Pulse Output 0 Speed Curve192
Pulse Output 1 Speed Curve192
Variable Duty Ratio Pulse Outputs (Pwm(891) Outputs)193
Restrictions On The Pwm(891) Outputs194
Origin Search And Origin Return Functions195
Origin Search For Pulse Output 0196
Origin Search For Pulse Output 1197
Limit Input Signal Settings199
Origin Search Function Enable/Disable Settings For Pulse Outputs 0/1199
Origin Search Parameters201
Origin Search Operation Setting205
Origin Detection Method205
Origin Search Operating Mode And Origin Detection Method Settings206
Using Reversal Mode 1207
Using Reversal Mode 2208
Specifying The Origin Search Direction (Cw Or Ccw Direction)209
Origin Search Speed209
Origin Compensation209
Executing An Origin Search210
I/O Settings210
Positioning Monitor Time210
Origin Search Error Processing211
Related Auxiliary Area Flags211
Pulse Output Stop Error Codes211
Origin Search Examples213
Origin Return Overview215
Origin Return Procedure216
Explanation Of The Origin Return Parameters216
Executing An Origin Return216
Programming Examples218
Built-In Outputs Examples219
Using Interrupts To Read Input Pulses (Length Measurement)219
Ladder Program221
Outputting Pulses After A Preset Delay222
Positioning (Trapezoidal Control)224
Jog Operation226
Cutting Long Material Using Fixed Feeding228
Vertically Conveying Pcbs (Multiple Progressive Positioning)231
Palletize: Two-Axis Multipoint Positioning236
Feeding Wrapping Material: Interrupt Feeding244
Combinations Of Pulse Control Instructions248
Starting Instructions: Sped(885) And Acc(888), Independent248
Starting Instructions: Acc(888), Continuous, Pls2(887), And Org(889)250
Using Pulse Instructions In Other Cpu Units252
Plc Compatibility Table252
Interrupt Response Times256
Built-In Interrupt Input Response Time256
Pulse Output Startup Time257
Pulse Output Change Response Time257
Index258
Revision History264