Synchronous Unit Operation; Easier Programming - Omron CJ2 CPU UNIT User Manual

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Synchronous Unit Operation (CJ2H CPU Units with Unit Version 1.1
or Later)
A CJ2 CPU Unit can synchronize the start of the processing performed by
CPU Bus Units and Special I/O Units to a specified cycle.
Synchronous data refreshing can be used between the CJ2H CPU Unit and Synchronous Units,*
and the refreshed data can be used in operations in a synchronous interrupt task. This enables mul-
tiaxis control with minimal fluctuations in the timing from inputs and processing to outputs. This pro-
vides support for motion applications that require precise timing, such as electronic cam control.
* Synchronous Units are CPU Bus Units and Special I/O Units that support the synchronous unit operation func-
tion. The following Synchronous Units are available as of July 2010: CJ1W-NC214/234/414/434 Position Control
Units.
CJ2H CPU Units (with
unit version 1.1 or later)
Example:
Electronic cam control

Easier Programming

Address offsets can be specified.
When an address is specified for an instruction operand, an offset can be specified in brackets after
the address to offset it. For example, by setting a word address in brackets to specify the offset, the
address can be dynamically specified according to the contents of that word.
Example
W0.00[D0]: W0.00 is the starting address and the contents of D0 is the offset. If D0 is &3, then
W0.03 is specified.
Symbols can be specified for array variable subscripts.
By specifying symbols for array variable subscripts, elements can be dynamically specified accord-
ing to the values of the symbols.
Example
a[b]: The value of symbol b specifies the element for array variable a[ ].
CJ2 CPU Unit Hardware User's Manual
Synchronous Units
Several servomotors are controlled synchronously
based on the operation of the encoder.
Example:
Position Control Units
Synchronous data
refreshing
1 Overview
Motor drive
Servomotor
1-7
1

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