Omron trajexia CJ1W-MCH72 Operation Manual page 306

How-to's
5-1-4 Mapping Servo Driver inputs and outputs
5-1-4-1 MECHATROLINK-II Servo Drivers inputs in the CJ1W-MCH72 I/O space
The CJ1W-MCH72 has got a digital I/O space that consists of 256 digital
inputs and 256 digital outputs.
The digital outputs range has four parts:
• Digital outputs 0 - 7.
These outputs do not physically exist on the CJ1W-MCH72. If you write
these outputs, nothing happens. If you read these outputs, they return 0.
• Digital outputs 8 - 15.
These outputs physically exist on the CJ1W-MCH72. You can physically
access them on the 28-pin screwless connector on the front side of the
CJ1W-MCH72. If you write these outputs, they become active and give a
24 VDC signal. If you read these outputs, they return their current status.
Use the command OP to write and read these outputs.
• Digital outputs 16 - 255.
These outputs can be mapped to the PLC memory. If they are not mapped,
they are software outputs only. They do not physically exist on the CJ1W-
MCH72, but you can write them and read their correct status. You use
these outputs mostly in BASIC programs to accomplish some control
sequences that require outputs which do not need to be physical. Use the
command OP to write and read these outputs.
All outputs are unique to the controller. They are not accessed per axis.
The digital input range has three parts:
• Digital inputs 0 - 15.
These inputs physically exist on the CJ1W-MCH72. You can physically
access them on the 28-pin screwless connector on the front side of the
CJ1W-MCH72. These inputs are active (ON) when a 24 VDC signal is
applied to them. When you read them, they return their current status. Use
the command IN to read these inputs.
• Digital inputs 16 - 255.
These inputs can be mapped to the PLC memory. If they are not mapped,
they are software inputs only. They do not physically exist on the CJ1W-
MCH72, but you can read them. You use them mostly in BASIC programs
to accomplish some control sequences that require inputs which do not
need to be physical. Use the command IN to read these inputs.
All inputs are unique to the controller. They are not accessed per axis.
With the BASIC command IN you can access the physical controller inputs
only. To read the inputs in the Servo Driver the BASIC command
DRIVE_INPUTS must be used.
Servo Drivers can have additional inputs that are located on their I/O
connectors. These inputs can be used as forward and/or reverse limit switches
or origin switches. They are mapped into the CJ1W-MCH72 I/O space. Thus,
they can be accessed from BASIC programs. The CJ1W-MCH72 only
supports this for Servo Drivers connected to the CJ1W-MCH72 system via the
MECHATROLINK-II bus. It is not supported for Flexible Axis Servo Drivers.
/i
CJ1W- Servo Driver input signal
MCH72
Sigma-II Sigma-V
input
16 P_OT P_OT
17 N_OT N_OT
Description
Junma G-Series
P_OT P_OT Forward limit switch
N_OT N_OT Reverse limit switch
Section 5-1
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