Page 1 Cat. No. W486-E1-01 SYSMAC CJ Series CJ2M-CPU@@ CJ2M-MD21@ (Pulse I/O Module) CJ2M CPU Unit Pulse I/O Module USER’S MANUAL...
Page 3 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
Page 5 SYSMAC CJ Series CJ2M-CPU@@ CJ2M-CPU@@ (Pulse I/O Module) CJ2M CPU Unit Pulse I/O Module User’s Manual Produced July 2010...
Page 7: Introduction
Introduction Thank you for purchasing a CJ2M-CPU@@ CPU Unit for a CJ-series Programmable Controller. This manual provides information that is necessary to use a CJ2M-MD211 or CJ2M-MD212 Pulse I/O Module connected to a CJ2M CPU Unit. Read this manual completely and be sure you understand the contents before attempting to use a Pulse I/O Module.
Page 8: Cj2 Cpu Unit Manuals
CJ2 CPU Unit Manuals Information on the CJ2 CPU Units is provided in the following manuals. Refer to the appropriate manual for the information that is required. This Manual Mounting CJ-series CJ2 CPU Unit CJ-series CJ2 CPU Unit CS/CJ/NSJ Series CJ2M CPU Unit Pulse and Setting Hardware User’s Manual...
Page 9 Manual Configuration The CJ2 CPU manuals are organized in the sections listed in the following tables. Refer to the appropri- ate section in the manuals as required. Hardware User’s Manual (Cat. No. W472) Section Content This section gives an overview of the CJ2 CPU Units and describes the features and Section 1 Overview specifications.
Page 10 Instructions Reference Manual (Cat. No. W474) Section Content Section 1 Basic Understanding This section provides basic information on designing ladder programs for a CS/CJ/NSJ- of Instructions series CPU Unit. Section 2 Summary of Instruc- This section provides a summary of instructions used with a CS/CJ/NSJ-series CPU tions Unit.
Page 11: Manual Structure
Manual Structure Page Structure The following page structure is used in this manual. Level 1 heading 5 Installation Level 2 heading Level 3 heading Installation Level 2 heading Gives the current headings. Level 3 heading 5-2-1 Connecting PLC Components The Units that make up a CJ-series PLC can be connected simply by pressing the Units together and locking the sliders by moving them toward the back of the Units.
Page 12 CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 13: Sections In This Manual
Sections in this Manual Overview I/O Application Procedures and Function Allocations I/O Specifications and Wiring for Pulse I/O Modules Normal I/O Quick-response Inputs Interrupts High-speed Counters Pulse Outputs PWM Outputs Appendices CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 14 CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 15: Table Of Contents
CONTENTS Introduction....................... 1 CJ2 CPU Unit Manuals ..................... 2 Manual Structure ...................... 5 Sections in this Manual.................... 7 Safety Precautions ....................17 Application Precautions..................21 Operating Environment Precautions ..............26 Regulations and Standards ................... 27 Unit Versions of CJ2 CPU Units ................30 Related Manuals .....................
Page 16 Section 4 Normal I/O Normal Inputs .......................... 4-2 4-1-1 Overview ............................. 4-2 4-1-2 Application Procedure ......................... 4-2 Normal Outputs ........................4-5 4-2-1 Overview ............................. 4-5 4-2-2 Flow of Operation........................4-5 Wiring ............................4-7 4-3-1 Connector Pin Assignments......................4-7 4-3-2 Wiring Examples ......................... 4-9 Section 5 Quick-response Inputs Overview...........................
Page 17 High-speed Counter Interrupts .................... 7-21 7-3-1 Overview........................... 7-21 7-3-2 Present Value Comparison ....................... 7-25 7-3-3 High-speed Counter Interrupt Instructions................7-28 Related Auxiliary Area Words and Bits ................7-35 Application Examples ......................7-43 Section 8 Pulse Outputs Overview........................... 8-3 8-1-1 Overview............................. 8-3 8-1-2 Application Procedure.........................
Page 18 Section 9 PWM Outputs PWM Outputs (Variable Duty Ratio Pulse Outputs).............. 9-2 9-1-1 Overview ............................. 9-2 9-1-2 Application Procedure ......................... 9-3 9-1-3 Wiring............................9-4 9-1-4 Ladder Program Example ......................9-5 Appendices A-1 Flag Operations during Pulse Output..................A-2 A-2 Combinations of Pulse Control Instructions ...............A-3 A-3 Comparison to CJ1M Built-in I/O Functions .................A-7 A-4 Performance Information ......................A-10 A-4-1...
Page 19 WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS...
Page 20 Application Considerations SUITABILITY FOR USE OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products.
Page 21 Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability.
Page 22 CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 23: Safety Precautions
Safety Precautions Definition of Precautionary Information The following notation is used in this manual to provide precautions required to ensure safe usage of a CJ-series PLC. The safety precautions that are provided are extremely important to safety. Always read and heed the information provided in all safety precautions. Indicates a potentially hazardous situation which, if not avoided, WARNING could result in death or serious injury.
Page 24 Symbols The triangle symbol indicates precautions (including warnings). The specific operation is shown in the triangle and explained in text. This example indicates a precaution for electric shock. The circle and slash symbol indicates operations that you must not do. The specific operation is shown in the circle and explained in text.
Page 25 WARNING Do not attempt to take any Unit apart or touch the inside of any Unit while the power is being supplied. Doing so may result in electric shock. Do not touch any of the terminals or terminal blocks while the power is being supplied.
Page 26 Caution Execute online edit only after confirming that no adverse effects will be caused by extending the cycle time. Otherwise, the input signals may not be readable. Confirm safety at the destination node before transferring a program, PLC Setup, I/O tables, I/O memory contents, or parameters to another node or changing contents of the any of these items.
Page 27: Application Precautions
Application Precautions Observe the following precautions when using a CJ-series PLC. Power Supply • Always use the power supply voltages specified in the user’s manuals. An incorrect voltage may result in malfunction or burning. • Exceeding the capacity of the Power Supply Unit may prevent the CPU Unit or other Units from starting.
Page 28 • Be sure that the terminal blocks, connectors, Memory Cards, Option Boards, Pulse I/O Modules, expansion cables, and other items with locking devices are properly locked into place. • The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O Units, CPU Bus Units, and Pulse I/O Modules must be completely locked (until they click into place) after connecting to adjacent Units.
Page 29 • Changing the present value of any word or any set value in memory. • Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in mal- function, fire, or electric shock. • Do not drop the PLC or subject abnormal vibration or shock to it. •...
Page 30 • When creating an AUTOEXEC.IOM file from a Programming Device (a Programming Console or the CX-Programmer) to automatically transfer data at startup, set the first write address to D20000 and be sure that the size of data written does not exceed the size of the DM Area. When the data file is read from the Memory Card at startup, data will be written in the CPU Unit starting at D20000 even if another address was set when the AUTOEXEC.IOM file was created.
Page 31 External Circuits • Always turn ON power to the PLC before turning ON power to the control system. If the PLC power supply is turned ON after the control power supply, temporary errors may result in control system signals because the output terminals on DC Output Units and other Units will momentarily turn ON when power is turned ON to the PLC.
Page 32: Operating Environment Precautions
Operating Environment Precautions Follow the instructions in this manual to correctly perform installation. Do not operate the control system in the following locations: • Locations subject to direct sunlight. • Locations subject to temperatures or humidity outside the range specified in the specifications. •...
Page 33: Regulations And Standards
Concepts EMC Directives OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards (see the following note). Whether the products con- form to the standards in the system used by the customer, however, must be checked by the cus- tomer.
Page 34 It may not be possible to use the product in some loca- tions. Contact your OMRON representative before attempting to use a PLC on a ship. Usage Conditions for NK and LR Shipbuilding Standards Usage Conditions for Applications Other Than on the Bridge or Deck •...
Page 35 Trademarks SYSMAC is a registered trademark for Programmable Controllers made by OMRON Corporation. CX-One is a registered trademark for Programming Software made by OMRON Corporation. Windows is a registered trademark of Microsoft Corporation. Other system names and product names in this document are the trademarks or registered trademarks of their respective companies.
Page 36: Unit Versions Of Cj2 Cpu Units
Unit Versions of CJ2 CPU Units Unit Versions and Programming Devices When using a Pulse I/O Module, use the following unit version of a CJ2M CPU Unit and the following version of the CX-Programmer. CJ2M CPU Unit Unit version 2.0 (Built-in Ether- Net/IP section: Unit version 2.0) CX-Programmer Ver.
Page 37: Related Manuals
Related Manuals Manuals related to a PLC built using a CJ-series CJ2 CPU Unit are listed in the following table. Use these manuals for reference. Manual Cat. No. Model Application Description CJ-series CJ2M W486 CJ2M-CPU@@ Information on using pulse Provides the following information on the CJ2M CPU Unit Pulse I/O I/O on CJ2M CPU Units CPU Units:...
Page 38 Manual Cat. No. Model Application Description CS/CJ/CP/NSJ- W342 CJ2H-CPU6@-EIP Information on communi- Describes C-mode commands and FINS com- series Communica- CJ2H-CPU6@ cations for CS/CJ/CP- mands tions Command Ref- CJ2M-CPU@@ series CPU Units and NSJ- Refer to this manual for a detailed description of erence Manual CS1G/H-CPU@@H series Controllers...
Page 39: Overview
Overview This section gives an overview of the Pulse I/O Modules for CJ2M CPU Units and the functions of the pulse I/O of the CJ2M CPU Units. 1-1 Pulse I/O Modules ..........1-2 1-2 Overview of the Functions of CJ2M Pulse I/O .
Page 40: Pulse I/O Modules
1 Overview Pulse I/O Modules A Pulse I/O Module is required as the interface between the CJ2M and external devices when using CJ2M pulse I/O. Up to two Pulse I/O Modules can be connected to the left side of a CJ2M CPU Unit. Connecting One Pulse I/O Module Connecting Two Pulse I/O Modules CJ2M Simple or...
Page 41 1 Overview Detection of Pulse I/O Modules • The CJ2M CPU Unit detects the configuration of mounted Pulse I/O Modules each time the power supply is turned ON. An error will not occur even if the number or models of the mounted Pulse I/O Modules are different from the last time the PLC was operated.
Page 42: Overview Of The Functions Of Cj2M Pulse I/O
1 Overview Overview of the Functions of CJ2M Pulse I/O The following functions of the pulse I/O of the CJ2M can be used by installing a Pulse I/O Module. Select which function to use for each input and output in the PLC Setup. Functions of Normal I/O The inputs and outputs on the Pulse I/O Module can be used as normal inputs and normal outputs.
Page 43: Pulse Outputs
1 Overview Maintain or Refresh (Selectable) High-speed Counter PVs The High-speed Counter Gate Bit can be turned ON/OFF from the ladder program to select whether the high-speed counter PVs will be maintained or refreshed. Pulse Outputs Fixed duty ratio pulse outputs can be output from the Pulse I/O Module outputs and used to perform position or speed control with a Servo Drive or a stepping motor that accepts pulse inputs.
Page 44: Functions Of Cj2M Pulse I/O
1 Overview Functions of CJ2M Pulse I/O The following functions of the CJ2M can be used by installing a Pulse I/O Module. Additional Information For information on installing Pulse I/O Modules, the number of Blocks and their positions, indica- tors, part names, part functions, and the external dimensions, refer to the CJ2 CPU Unit Hard- ware User's Manual (Cat.
Page 45: I/O Application Procedures And Function Allocations
I/O Application Procedures and Function Allocations This section describes the procedures for using the I/O functions of the Pulse I/O Mod- ule and how to allocate functions to the I/O. 2-1 Pulse I/O Module Application Procedure ......2-2 2-2 Allocating I/O Functions .
Page 46: Pulse I/O Module Application Procedure
@@@K Connecting Cable to the XW2D/B- ing. Modules. 40@G Connector-Terminal Block Conver- sion Unit. • Connecting with OMRON Servo Drives: Connect with the special Connecting Cable via a special Servo Relay Unit. Set the port numbers for functions using the Refer to 2-2 Allocat- Make the settings CX-Programmer.
Page 47 2 I/O Application Procedures and Function Allocations Write ladder programs using the CX-Pro- Create Ladder grammer. Programming. Example: Enable interrupts with the MSKS(690) instruction and program high- Special Instructions speed counters with the CTBL(882) instruc- tion. Write related Example: Resetting a high-speed counter. Auxiliary Area bits.
Page 48: Allocating I/O Functions
2 I/O Application Procedures and Function Allocations Allocating I/O Functions 2-2-1 Specifying the Functions to Use Each of the Pulse I/O Module inputs and outputs are used for one of the I/O functions. Some I/O terminals may support more than one function. However, only one function can be assigned to each terminal.
Page 49: Allocating Functions To Input Terminals
2 I/O Application Procedures and Function Allocations 2-2-3 Allocating Functions to Input Terminals Allocating Functions to Input Terminals Input terminals are allocated functions by setting parameters in the PLC Setup. Do not allocate more than one function to the same input terminal. Interrupt Pulse I/O Input...
Page 50 2 I/O Application Procedures and Function Allocations Interrupt Pulse I/O Input inputs* Quick- Pulse output Normal High-speed Module terminal (Direct response origin search address inputs counter inputs symbol Mode/Coun inputs inputs ter Mode) 1 (on the IN10 Normal Interrupt Quick- Pulse output 2 left) 2962.00...
Page 51: Allocating Functions To Output Terminals
2 I/O Application Procedures and Function Allocations 2-2-4 Allocating Functions to Output Terminals Allocating Functions to Output Terminals Functions are assigned to output terminals when an instruction is executed for an output bit. (The instructions that can be used include OUT, ORG(889), and PWM(891).) If the origin search operation is set to mode 1 or mode 2 in the PLC Setup, PWM outputs cannot be used for the output terminals that are used for error counter reset outputs.
Page 52: Plc Setup
2 I/O Application Procedures and Function Allocations PLC Setup The following dialog box will be displayed when the I/O Module Tab Page is opened in the PLC Setup. I/O Module 0 Allocations and I/O Module 1 Allocations The current settings of the I/O terminals on the Pulse I/O Modules are displayed here. Settings made on the dialog boxes that are accessed from this dialog box are shown here so that you can see the cur- rent I/O terminal functions settings.
Page 53: Interrupt Input And Quick-Response Input Detailed Settings
2 I/O Application Procedures and Function Allocations 2-3-1 Normal Input Operation Setting Related Auxiliary Update timing in Parameter Setting Default Description Area words and bits CPU Unit Input Time • Default (8 ms) Default Set the input time constant for normal Refreshed when Constant inputs IN00 to IN19.
Page 54: High-Speed Counter Settings
2 I/O Application Procedures and Function Allocations 2-3-3 High-speed Counter Settings The following dialog box will be displayed if the Set Button is clicked in the High-speed Counters Area of the I/O Module Tab Page in the PLC Setting Dialog Box. Items that cannot be set will be grayed out. The items that are grayed out can be set if the required Counter Setting and Counting Mode are set.
Page 55: Pulse Output And Origin Search Settings
2 I/O Application Procedures and Function Allocations The settings for one high-speed counter can be copied to another high-speed counter. Use the following procedure to copy the settings. Click the Copy High-speed Counter Settings Button in the High-speed Counter Detailed Set- tings Dialog Box.
Page 56 2 I/O Application Procedures and Function Allocations Related Auxiliary Update timing in Parameter Setting Default Description Area words and bits CPU Unit Internal Pulse • 4 ms 4 ms Set the control frequency of the pulse output. Refreshed when Control Cycle operation is started.
Page 57 2 I/O Application Procedures and Function Allocations Origin Search Related Auxiliary Update timing in Parameter Setting Default Description Area words and bits CPU Unit Origin Search • Disable Disable Set whether to use origin Refreshed when Setting searches. power is turned ON. •...
Page 58: Origin Return
2 I/O Application Procedures and Function Allocations Related Auxiliary Update timing in Parameter Setting Default Description Area words and bits CPU Unit Acceleration Rate 1 to 65,535 Set the acceleration rate in pps Refreshed when per 4 ms for accelerating during operation is started.
Page 59: I/O Specifications And Wiring For Pulse I/O Modules
I/O Specifications and Wiring for Pulse I/O Modules This section gives the I/O specifications and describes the wiring of the Pulse I/O Mod- ules. 3-1 I/O Specifications ..........3-2 3-1-1 Input Specifications .
Page 60: I/O Specifications
3 I/O Specifications and Wiring for Pulse I/O Modules I/O Specifications 3-1-1 Input Specifications Normal Inputs IN00 to IN05 and IN06 to IN09 and IN00 to IN05 and IN06 to IN09 and Inputs IN10 to IN15 IN16 to IN19 IN10 to IN15 IN16 to IN19 Input form 24-VDC input...
Page 61 3 I/O Specifications and Wiring for Pulse I/O Modules High-speed Counter Input Specifications (IN06 to IN09 and IN16 to IN19) 24-VDC input Line driver input Encoder input phase A or B, single-phase Phase-A/Phase-B encoder input, Single-phase 60-kHz pulse input with 50% duty ratio 60-kHz pulse input with 50% duty ratio Rise time and fall time: 3.0 µs max.
Page 62: Output Specifications For Sinking Transistor Outputs
3 I/O Specifications and Wiring for Pulse I/O Modules 3-1-2 Output Specifications for Sinking Transistor Outputs Normal Outputs (OUT00 to OUT05 and OUT10 to OUT15) Output Specifications Rated voltage 5 to 24 VDC Allowable voltage range 4.75 to 26.4 VDC Maximum switching current 0.3 A/output;...
Page 63: Output Specifications For Sourcing Transistor Outputs
3 I/O Specifications and Wiring for Pulse I/O Modules PWM Outputs (OUT04, OUT05, OUT14, and OUT15) Item Specifications Rated voltage 5 to 24 VDC Allowable voltage range 4.75 to 26.4 VDC Maximum switching capacity 6.5535 kHz or less: 300 mA, 6.5535 to 32.8 kHz: 100 mA Maximum output frequency 32,800 Hz ON duty at 6.5535 kHz or less: −0.2% to +1%, ON duty at...
Page 64: Wiring
3 I/O Specifications and Wiring for Pulse I/O Modules Additional Information • The load for the above values is assumed to be the resistance load, and does not take into account the impedance for the connecting cable to the load. •...
Page 65: Wiring
3 I/O Specifications and Wiring for Pulse I/O Modules Wiring 3-2-1 Connector Pin Allocations Connector on Sinking-type I/O Module (CJ2M-MD211) Input sig- Input sig- Pin layout Terminal symbol Terminal symbol nal type nal type IN00/IN10 24 VDC IN01/IN11 24 VDC 0 V/LD−...
Page 66: I/O Circuit Configurations
Servo Drives. • Using Servo Relay Units Servo Relay Units are used when using OMRON's Servo Drives. • Directly Connecting a Self-made Cable with a Connector A self-made cable with a Connector can be used to directly connect the I/O.
Page 67 • Do not connect a line driver output device to the DC input. Doing so will not damage the inter- nal circuits, but the input will not be recognized. Using Connector-Terminal Block Conversion Units A special OMRON Connecting Cable with a connector is used to connect the Connector-Terminal Block Conversion Unit. Cables for Connector-Terminal Block Conversion Units...
Page 68 3 I/O Specifications and Wiring for Pulse I/O Modules Corresponding Connector-Terminal Block Conversion Unit Terminals The following figure shows the corresponding terminals on the Connector-Terminal Block Conver- sion Unit when it is connected to a Pulse I/O Module. Pulse I/O Module CJ2M-MD211, CJ2M-MD212 Connector-Terminal Block Conver- XW2D-40G6...
Page 69 Servo Drives. Using Servo Relay Units (Sinking Outputs Only) Use special OMRON Connecting Cables with Connectors to connect between the Sinking-type Pulse I/O Module and the Servo Relay Unit and between the Servo Relay Unit and Servo Drive.
Page 70 3 I/O Specifications and Wiring for Pulse I/O Modules Connection Example When Using a Servo Relay Unit This is a connection example when the Servo Drive is connected to one or two axes using the Servo Relay Unit. In the connection example, the positioning/origin search connections (origin input signal, origin proximity input signal, and error counter reset output) with the Servo Drive are also wired.
Page 71 3 I/O Specifications and Wiring for Pulse I/O Modules Connecting an OMNUC G-series, G5-series, or SMARTSTEP 2-series Servo Drive CJ2M Pulse CPU Unit I/O Module G-series Connecting Cable XW2Z-@@@J-B31 Connecting Cable (1 m) G5-series Connecting XW2Z-100J-A33 XW2Z-@@@J-B31 SMARTSTEP 2-series Connecting Cable XW2Z-@@@J-B32 One-axis Servo Relay Unit Connecting an OMNUC G-series,...
Page 72 3 I/O Specifications and Wiring for Pulse I/O Modules Connecting to OMNUC W-series Servo Drives CJ2M Pulse CPU Unit I/O Module OMNUC W-series W-series Connecting Cable Servo Drive XW2Z-@@@J-B4 Connecting Cable (1 m) XW2Z-100J-A27 OMNUC W-series W-series Connecting Cable Servomotor XW2Z-@@@J-B4 OMNUC W-series Two-axis Servo Relay Unit...
Page 73 3 I/O Specifications and Wiring for Pulse I/O Modules Directly Connecting a Self-made Cable with a Connector Types of Connectors MIL Flat Cable Connectors (40-pin Pressure-fitted Connectors) Strain relief Socket Daiichi Electronics model Name OMRON model number number Socket XG4M-4030 FRC5-AO40-3TON Strain Relief XG4T-4004 Set model number...
Page 74: Cj2M Cpu Unit Pulse I/O Module User's Manual
3 I/O Specifications and Wiring for Pulse I/O Modules 3-16 CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 75 Normal I/O This section gives an overview of the normal inputs and outputs of the Pulse I/O Mod- ule, their functions, as well as the wiring methods. 4-1 Normal Inputs ..........4-2 4-1-1 Overview .
Page 76: Normal I/O
4 Normal I/O Normal Inputs 4-1-1 Overview The status of input signals for normal inputs are read and stored in I/O memory during the I/O refresh period in the same way as it is for Input Units. The input time constant (ON/OFF response time) can also be set.
Page 77 4 Normal I/O Applicable Input Terminals The inputs listed in the following table can be used as normal inputs. The input terminals that are used for normal inputs are also used for interrupt inputs, quick-response inputs, high-speed counter inputs, and origin searches. The same input terminal can be used for only one of these functions.
Page 78: Specifications
4 Normal I/O Other functions that cannot be used at the same time Pulse I/O Origin search Terminal Quick- Module Word Function High-speed Interrupt inputs for symbol response counter inputs inputs pulse outputs inputs 0 to 3 1 (on the IN10 Normal input Quick-response...
Page 79: Normal Outputs
4 Normal I/O Normal Outputs 4-2-1 Overview Normal outputs are used to output standard output signals. The output point is refreshed when the allo- cated bit goes ON or OFF. Normal outputs are allocated to bits 00 to 05 of CIO 2961 and CIO 2963. 4-2-2 Flow of Operation •...
Page 80 4 Normal I/O Applicable Output Terminals The outputs listed in the following table can be used as normal outputs. The output terminals that are used for normal outputs are also used for pulse outputs, origin searches, and PWM outputs. The same output terminal can be used for only one of these functions. For example, if normal output 4 is used, PWM output 0 and the error counter reset for pulse output 0 (when performing origin searches) cannot be used.
Page 81: Wiring
4 Normal I/O Wiring 4-3-1 Connector Pin Assignments Normal Inputs Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Input type Termi- Input type Termi- Descrip- Descrip- and num- and num- tion tion symbol symbol Normal...
Page 82 4 Normal I/O Normal Outputs Sinking-type Pulse I/O Module (CJ2M-MD211) Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Output Termi- Output Termi- type and Description type and Description number symbol number symbol Normal OUT00 Output 0...
Page 83: Wiring Examples
4 Normal I/O 4-3-2 Wiring Examples Examples for DC Input Devices • Two-wire DC Sensor • Device with Contact Outputs IN (24 VDC) IN (0 V) Input in Pulse I/O Input in Pulse I/O IN (0 V) Module I/O Module I/O Sensor IN (24 VDC) Power Supply...
Page 84 4 Normal I/O Precautions When Connecting a Two-wire DC Sensor When using a two-wire sensor, check that the following conditions have been met. Failure to meet these conditions may result in operating errors. (1) Relation between voltage when the input is ON and the sensor residual voltage: ≤...
Page 85: Programming Example
In this example, the sensor's power supply voltage is used as the input to CIO 0.00. A 100-ms timer delay (the time required for an OMRON Proximity Sensor to stabilize) is created in the program. After the Completion Flag for the timer turns ON, the sensor input on input bit CIO 0.01 will cause output bit CIO 1.00 to turn ON.
Page 86 4 Normal I/O 4-12 CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 87 Quick-response Inputs This section describes the quick-response inputs that can be used to read signals that are shorter than the cycle time. 5-1 Overview ........... . . 5-2 5-2 Application Procedure .
Page 88: Overview
5 Quick-response Inputs Overview By setting an input on the Pulse I/O Module to quick-response input operation, inputs with signal widths as small as 30 µs can be read with certainty regardless of the cycle time. Use the quick-response inputs to read signals shorter than the cycle time, such as inputs from photomicrosensors.
Page 89: Application Procedure
5 Quick-response Inputs Application Procedure • Select Quick-response Input in the Interrupt Input and Quick-response Input Detailed Settings Dialog Box PLC Setup that is accessed from the I/O Module Tab Page of the PLC Setup using the CX-Programmer. • IN00 to IN03 and IN10 to IN13 can be used for quick- response inputs.
Page 90 5 Quick-response Inputs Interrupt Input and Quick-response Input Detailed Settings Pulse I/O Corresponding bit Input Operation Module No. address 0 (on the right) IN00 Select Quick for IN00 CIO 2960.00 to IN03 or IN10 to IN01 CIO 2960.01 IN13. IN02 CIO 2960.02 IN03 CIO 2960.03...
Page 91: Applicable Input Terminals
5 Quick-response Inputs 5-2-2 Applicable Input Terminals The following terminals can be used for quick-response inputs. The input terminals that are used for quick-response inputs are also used for normal inputs, interrupt inputs, high-speed counter inputs, and origin searches. The same input terminal can be used for only one of these functions.
Page 92: Wiring
5 Quick-response Inputs Wiring 5-3-1 Connector Pin Assignments The following terminals can be used for quick-response inputs. Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Input type Input type Terminal Terminal and num- Description and num- Description...
Page 93: Creating Ladder Programs
5 Quick-response Inputs Creating Ladder Programs Pulse inputs shorter than the cycle time can be read in the CPU Unit I/O memory using normal instruc- tions by selecting Quick-response Input for the input terminal in the PLC Setup. The status of CIO 2960.00 to CIO 2960.03 and CIO 2962.00 to CIO 2962.03 can be read using instruc- tions such as the LD instruction.
Page 94 5 Quick-response Inputs CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 95: Interrupts
Interrupts This section gives an overview of the interrupt function and how to use it, as well as a description of the wiring method. 6-1 Types of Interrupts ..........6-2 6-1-1 Overview .
Page 96: Types Of Interrupts
6 Interrupts Types of Interrupts 6-1-1 Overview CJ2M CPU Units normally repeat processes in the following order: overseeing processes, program exe- cution, I/O refreshing, peripheral servicing. During the program execution stage, cyclic tasks (ladder programs) are executed. The interrupt function, on the other hand, allows a specified condition to interrupt a cycle and execute a specified program.
Page 97: Interrupt Inputs
6 Interrupts Interrupt Inputs 6-2-1 Overview Interrupt inputs can be used in either Direct Mode or Counter Mode. Interrupt Input in Direct Mode: A corresponding interrupt task can be executed when an Pulse I/O Module input turns ON or turns OFF. The PLC Setup or MSKS(690) instruction determines whether the interrupt is triggered when the input turns ON or when it turns OFF.
Page 98: Counter Mode
6 Interrupts Direct Mode Interrupt enable condition Example: IN02 (interrupt input 2) MSKS instruction executed to enable interrupts Processing Processing Cyclic task program Cyclic task execution interrupted. interrupted. execution Interrupt task 142 Interrupt task 142 program execution program execution Counter Mode Interrupt enable condition Example: IN02...
Page 99: Application Procedure
6 Interrupts 6-2-2 Application Procedure • Select Quick-response Input in the Quick-response Input Detailed Settings Dialog Box that is accessed from PLC Setup the I/O Module Tab Page of the PLC Setup using the CX-Programmer. • This will allocate inputs IN00 to IN03 or IN10 to IN13 for interrupt inputs.
Page 100: Plc Setup
6 Interrupts Precautions for Correct Use Precautions for Correct Use • In Counter Mode, the PV of the interrupt counter in the Auxiliary Area is updated every cycle as well as when the interrupt task is started. For this reason, the PV of the interrupt counter in the Auxiliary Area changes irregularly.
Page 101 6 Interrupts Interrupt Input and Quick-response Input Detailed Settings Item Setting Interrupt inputs 0 Input Operation Select interrupt inputs. to 7 Edge Select the edge to detect to generate an interrupt input. • Rising Edge (ON transition) • Falling Edge (OFF transition) Latch Select how to use the software latch.
Page 102 6 Interrupts Specifying to Detect ON or OFF There are the following two ways to set whether to start the interrupt on OFF transitions or ON transi- tions in the input. • PLC Setup: The setting is always updated when the CPU Unit is changed from PROGRAM mode to RUN mode.
Page 103 6 Interrupts Applicable Input Terminals The inputs listed in the following table can be used as interrupt inputs. The input terminals that are used for interrupt inputs are also used for normal inputs, quick-response inputs, high-speed counter inputs, and origin search inputs. The same input terminal can be used for only one of these functions.
Page 104: Wiring
6 Interrupts 6-2-5 Wiring Connector Pin Assignments Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Input Termi- Termi- Input type type Description Description and number symbol symbol number Interrupt IN00 24-VDC input Inter- IN10 24-VDC input...
Page 105 6 Interrupts Executing MSKS(690) in a Cyclic Task Execute the MSKS(690) instruction from the ladder program in a cyclic task to use interrupt inputs. MSKS(690) has the following two functions and two of this instruction are normally used in combina- tion.
Page 106 6 Interrupts (2) Enabling Interrupt Inputs Operand N Operand C Pulse I/O Correspond- Terminal Interrupt Module ing bit Function Interrupt Specifying to symbol task number address identifier detect ON or OFF 0 (on the IN00 CIO 2960.00 Interrupt input 0 #0000: Enable right) interrupt (Direct...
Page 107 6 Interrupts Related Parameters in the Auxiliary Area Name Word Function Read/Write Refresh timing Interrupt Counter A532 This word is used for interrupt inputs in Read/Write • Retained when 0 Counter SV Counter Mode. Set the count value at power is turned which to start the interrupt task.
Page 108: Application Example
6 Interrupts 6-2-7 Application Example In this example, bent parts are detected in a moving workpiece, such as an IC component. When the sensor input (terminal IN02, address CIO 2960.02) turns ON, the interrupt task is executed. Sensor input Sensor input (interrupt) (interrupt input 2) Interrupt task Interrupt task...
Page 109 6 Interrupts Connecting Interrupt Input Terminals Terminal 2 on I/O Module 0 (CIO 2960) is interrupt input IN02. Interrupt task 142 corresponds to interrupt input 2. Pulse I/O CJ2M CPU Unit Module Connecting Cable XW2Z-@@@K OK output: CIO 2961.00 Reset input: CIO 2960.04 NG output 2: CIO 2961.02 Sensor input (interrupt) CIO 2960.02...
Page 110 6 Interrupts Ladder Program Example Cyclic Task P_First_Cycle Interrupt input 2 The MSKS instruction is used Specifies executing to specify an interrupt when the interrupt when input input turns ON and then it is turns ON. used to unmask the interrupt input.
Page 111: High-Speed Counters
High-speed Counters This section describes the high-speed counter inputs, high-speed counter interrupts, and the frequency measurement function. 7-1 Overview ........... . . 7-2 7-1-1 Overview .
Page 112: Overview
7 High-speed Counters Overview 7-1-1 Overview High-speed counters are used to measure high-speed pulse input signals that cannot be measured by counter (CNT) instructions. Applications • Detecting the position or length of a workpiece with an input from an incremental rotary encoder. •...
Page 113: Application Procedure
7 High-speed Counters 7-1-2 Application Procedure • Enable the required high-speed counters. PLC Setup • Select the required input pulse frequency from the High- speed Counter Detailed Settings Dialog Box that is accessed from the I/O Module Tab Page of the PLC Setup using the CX-Programmer.
Page 114: Plc Setup
7 High-speed Counters 7-1-4 PLC Setup Click the I/O Module Tab and then click the Set Button in the High-speed Counter Settings Area. In the High-speed Counter Detailed Settings Dialog Box, select the input pulse frequency for the Counter set- ting parameter and set the counting mode, ring counter maximum value, reset method, pulse input method, and other parameters.
Page 115 7 High-speed Counters High-speed Counter Detailed Settings Item Setting Use high Counter setting Select one of the following. speed • Do not use counter 0 to • Input pulse frequency (60 kHz max.)* • Input pulse frequency (100 kHz max.)* * The frequency of the noise filter will change.
Page 116 7 High-speed Counters Determining High-speed Counters Applicable Input Terminals Terminals that can be used as high-speed counter inputs are shown in the following table. The terminals that are used for high-speed counter inputs are also used for normal inputs, quick- response inputs, interrupt inputs, and origin searches.
Page 117: Wiring
7 High-speed Counters 7-1-5 Wiring Connector Pin Assignments Phase Inputs Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Description Description Input type Terminal Input type Terminal and number symbol and number symbol High-speed IN08 Phase-A...
Page 118 7 High-speed Counters Pulse + Direction Inputs Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Description Description Input type Terminal Input type Terminal and number symbol and number symbol High-speed IN08 Counter High-speed IN18 Counter...
Page 119 7 High-speed Counters Up/Down Pulse Inputs Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Description Description Input type Terminal Input type Terminal and number symbol and number symbol High-speed IN08 Up input High-speed IN18 Up input...
Page 120 7 High-speed Counters Increment Pulse Input Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Description Description Input type Terminal Input type Terminal and number symbol and number symbol High-speed IN08 Increment High-speed IN18 Increment counter 0...
Page 121 7 High-speed Counters Wiring Example The following example shows the connections of an encoder with phase-A, phase-B, and phase-Z inputs to high-speed counter 0. Using a 24-VDC Open-collector Encoder Pulse I/O Module Differential Phase Input Mode (High-speed counter 0: Phase A 24 V) Black Phase-A (High-speed counter 0: Phase-A 0 V) Encoder...
Page 122: Creating Ladder Programs
7 High-speed Counters Encoders with Line Driver Outputs (Conforming to AM26LS31) Pulse I/O Module Differential Phase Input Mode Black 27 (High-speed counter 0: Phase-A load +) Black (striped) 29 (High-speed counter 0: Phase-A load − ) Encoder White 28 (High-speed counter 0: Phase-B load +) White (striped) 30 (High-speed counter 0: Phase-B load −...
Page 123: High-Speed Counter Inputs
7 High-speed Counters High-speed Counter Inputs 7-2-1 Pulse Input Methods Settings There are four pulse input methods for high-speed counters. • Increment pulse input • Differential phase inputs (4×) • Up/down pulse inputs • Pulse + direction inputs Increment Pulse Input The increment pulse input method counts signals on a single-phase pulse input.
Page 124: Counting Mode Settings
7 High-speed Counters Pulse + Direction Inputs The pulse + direction input method uses a direction signal and a pulse signal. The count is incre- mented or decremented depending on the status (ON or OFF) of the direction signal. Conditions for Incrementing/Decre- menting the Count Pulse Direction...
Page 125: Ring Mode
7 High-speed Counters Ring Mode Input pulses are counted in a loop within the set range. • If the count is incremented from the maximum ring count, the count will be reset to 0 automatically and incrementing will continue. • If the count is decremented from 0, the count will be set to the maximum ring count automatically and decrementing will continue.
Page 126: Reset Methods
7 High-speed Counters 7-2-3 Reset Methods Setting a high-speed counter's PV to 0 is called resetting. There are two reset methods. • Phase-Z Signal + Software Reset • Software Reset Phase-Z Signal + Software Reset The high-speed counter's PV is reset when the phase-Z signal (reset input) turns ON while the corre- sponding High-speed Counter Reset Bit (A531.00 to A531.03) is ON.
Page 127: Frequency Measurement
7 High-speed Counters Reading the PV Refreshed at the I/O Refresh Timing The PV that is stored in the following words can be read using the MOVL(498) instruction or other instructions. Pulse I/O Read PV Auxiliary Area words Module No. 0 (on the right) High-speed counter 0 A271 (upper digits) and A270 (lower digits)
Page 128: Measuring The Rotational Speed Or Total Rotations
7 High-speed Counters Reading the High-speed Counter Frequency with a PRV(881) Instruction Execution condition @PRV P: Port specifier (always high-speed counter input 0) #0010 C: Control data for reading frequency (10-ms sampling) #0013 D: First destination word D100 D100 Present frequency data lower bytes High-speed counter frequency that was read Present frequency...
Page 129: Reading The Count Direction
7 High-speed Counters • Measuring Total Number of Revolutions Execution condition @PRV2 C1: Control data, Example: Converting counter PV to total number of revolutions #0001 #03E8 C2: Pulses per revolution, Example: 1,000 pulses (03E8 hex) D: First destination word D100 Conversion result D100 (lower word)
Page 130: Temporarily Stopping Input Signal Counting (Gate Function)
7 High-speed Counters Reading the Value from the Ladder Program Reading the High-speed Counter Status with a PRV(881) Instruction Execution condition @PRV P: Port specifier, Example: High-speed counter input 0 #0010 #0001 C: Control data for reading status D: First destination word (for status) D100 D100 0 0 0 0 0 0 0 0 0 0 0 0 0 Comparison operation...
Page 131: High-Speed Counter Interrupts
7 High-speed Counters High-speed Counter Interrupts 7-3-1 Overview A high-speed counter interrupt counts input pulses with the built-in high-speed counter and executes an interrupt task when the count reaches the preset value or falls within a preset range (target-value or range comparison).
Page 132 7 High-speed Counters Target value comparison Range Comparison The specified interrupt task can be started when the present The specified interrupt program can be started when the value of the high-speed counter matches a target value. present value of the high-speed counter enters or leaves a set range.
Page 133 7 High-speed Counters Application Procedure • Set the operation of the high-speed counters. PLC Setup • Select the required input pulse frequency from the High-speed Counter Detailed Settings Dialog Box that is accessed from the I/O Module Tab Page of the PLC Setup using the CX-Program- mer.
Page 134 7 High-speed Counters Determining High-speed Counters High-speed counters 0 to 3 can be used for high-speed counter interrupts. • Refer to 2-2-3 Allocating Functions to Input Terminals for information on allocating input terminals to high-speed counters. • Refer to Section 6 Interrupts for information on interrupts except for the high-speed counter inter- rupts.
Page 135: Present Value Comparison
7 High-speed Counters 7-3-2 Present Value Comparison There are two ways to compare the high-speed counter PV: Target Value Comparison and Range Com- parison. Target comparison and range comparison cannot be used for the same high-speed counter at the same time.
Page 136 7 High-speed Counters Precautions for Correct Use Precautions for Correct Use • When the count direction (incrementing/decrementing) changes at a PV that matches a target value, the next target value will not be matched in that direction. Set the target values so that they do not occur at the peak or trough of count value changes. Match/Target value + 1 Match Target value + 2 or higher...
Page 137 7 High-speed Counters Range Comparison The specified interrupt task is executed when the high-speed counter PV enters or leaves the range defined by the upper and lower limit values. • The comparison conditions (upper and lower limits and entering or leaving the range) are registered in the comparison table along with the corresponding interrupt task numbers.
Page 138: High-Speed Counter Interrupt Instructions
7 High-speed Counters Additional Information The range comparison table can be used without starting an interrupt task when the comparison condition is met. The range comparison function can be useful when you just want to know whether or not the high-speed counter PV is within a particular range. Use the Range Comparison Condition In-range Flags (bits 00 to 07 in A274, A275, A320, and A312 or words A10128 to A10135) to determine whether the high-speed counter PV is within a registered range.
Page 139 7 High-speed Counters Contents of the Comparison Table • Target-value Comparison Table Depending on the number of target values in the table, the target-value comparison table requires a continuous block of 4 to 145 words. 1 to 48 (0001 to 0030 hex) Number of target values Target value 1 (lower word) TB+1...
Page 140 7 High-speed Counters • Creating a Range Comparison Tables (Variable Length of One to 32 Ranges) The number of ranges is registered along with the lower limit (2 words), upper limit (2 words), and interrupt task number (1 words) for each range from range 1 to 32. The comparison table can be between 6 and 161 words long, depending on the number of compari- son ranges.
Page 141 7 High-speed Counters MODE CONTROL Instruction: INI(880) The INI(880) instruction is used for the following items. • Starting and Stopping Comparison for a High-speed Counter Comparison Table Use the CTBL(882) instruction to register the target value or range comparison table before using INI(880) to start or stop comparison.
Page 142 7 High-speed Counters Set the target-value comparison table in words D1000 to D1006. Word Setting Description D1000 #0002 Number of target values = 2 D1001 #7530 Rightmost 4 digits of the target value 1 data (30,000) Target value = 30,000 D1002 #0000 Leftmost 4 digits of the target value 1 data (30,000)
Page 143 7 High-speed Counters Example 2: Range Comparison In this example, high-speed counter 1 operates in Ring Mode and starts interrupt task 12 when the PV enters the range from 25,000 (0000 61A8 hex) to 25,500 (0000 639C hex). The ring counter maximum value is set to 50,000 (0000 C350 hex). Set high-speed counter 1 on the I/O Module Tab Page in the PLC Setup.
Page 144 7 High-speed Counters W0.00 @CTBL Uses high-speed counter 1. #0001 Registers a target value comparison #0001 table and starts comparison. D2000 First comparison table word When execution condition W0.00 turns ON, the comparison starts for high-speed counter 1. When the PV of high speed counter 1 is between 25,000 and 25,500, cyclic task execution is interrupted, and interrupt task 12 is executed.
Page 145: Related Auxiliary Area Words And Bits
7 High-speed Counters Related Auxiliary Area Words and Bits Related Auxiliary Area Words and Bits Name Word/Bit Function Read/Write Refresh timing High-speed A270 to Contain the PVs of high-speed Read • Cleared when power is counter 0 PV A271 counters 0 to 3. turned ON.
Page 146 7 High-speed Counters Name Word/Bit Function Read/Write Refresh timing High-speed A274.00 These flags indicate whether the Read • Cleared when power is Counter 0 Range PV is within any of the eight ranges turned ON. Comparison Con- when high-speed counter 0 is being •...
Page 147 7 High-speed Counters Name Word/Bit Function Read/Write Refresh timing High-speed A274.10 This flag indicates whether the Read • Setting used for high- Counter 0 Count high-speed counter is currently speed counter, valid Direction being incremented or decremented. during counter opera- tion.
Page 148 7 High-speed Counters Name Word/Bit Function Read/Write Refresh timing High-speed A275.09 This flag indicates when an over- Read • Cleared when power is Counter 1 Over- flow or underflow has occurred in turned ON. flow/Underflow the high-speed counter 1 PV. •...
Page 149 7 High-speed Counters Name Word/Bit Function Read/Write Refresh timing High-speed A320.08 This flag indicates whether a com- Read • Cleared when power is Counter 2 Compar- parison operation is being executed turned ON. ison In-progress for high-speed counter 2. • Cleared when starting Flag operation.
Page 150 7 High-speed Counters Name Word/Bit Function Read/Write Refresh timing High-speed A321.00 These flags indicate whether the Read • Cleared when power is Counter 3 Range PV is within any of the eight ranges turned ON. Comparison Con- when high-speed counter 3 is being •...
Page 151 7 High-speed Counters Name Word/Bit Function Read/Write Refresh timing High-speed A321.10 This flag indicates whether high- Read • Setting used for high- Counter 3 Count speed counter 3 is currently being speed counter, valid Direction incremented or decremented. The during counter opera- counter PV for the current cycle is tion.
Page 152 7 High-speed Counters Name Word/Bit Function Read/Write Refresh timing High-speed A531.08 If one of these flags is turned ON, Read/Write • Cleared when power is Counter 0 Gate Bit the high-speed counter will not turned ON. count even if pulse inputs are received and the counter PV will be High-speed A531.09...
Page 153: Application Examples
7 High-speed Counters Application Examples Using a Rotary Encoder to Measure Positions Functions Used: High-speed Counting A high-speed counter input can be used by connecting a rotary encoder to an input terminal. A Pulse I/O Module is equipped with more than one high-speed counter input, making it possible to control devices for multiple axes with a single PLC.
Page 154: System Configuration
7 High-speed Counters System configuration Wiring Example CJ2M CPU Unit Pulse I/O Encoder (power Module Phase A Black supply: 24 VDC) White Phase B Orange Phase Z Connecting Cable XW2Z-@@@K +Vcc Brown Example: E6B2-CWZ6C 0 V ( COM ) Blue NPN open-collector output Normal stop position output:...
Page 155 7 High-speed Counters Select an input frequency of 100 kHz max. for the counter setting for high-speed counter 0. Select Linear mode for the counting mode. Select Software Reset for the reset method. Select Continue for the comparison operation after resetting. Select Differential Phase for the pulse input mode.
Page 156 7 High-speed Counters Ladder Program The CTBL(882) instruction is used to execute interrupt tasks when the target positions are reached. 2960.02 RSET Reset when motor stops W0.02 Start motor Clear the PV of high-speed MOVL counter 0 to 0. Specifies high-speed counter 0 #0010 PV change #0002...
Page 157 7 High-speed Counters When the present value of the high-speed counter matches target value 2 (3,500), interrupt task 144 is executed. P_On RSET Motor operation reset. 2961.00 Interrupt task RSET Motor low speed number 144 reset 2961.01 Turns ON motor stop output.
Page 158 7 High-speed Counters Length Measurement (Using Interrupts to Read Input Pulses) Specifications and Operation The number of encoder pulse inputs is counted with high-speed counter input 1. Sensor inputs 1 and 2 are read as interrupt inputs at terminals IN00 (CIO 2960.00) and IN01 (CIO 2960.01). The workpiece length is measured by the number of pulses counted between an ON input at sensor input 1 and an ON input at sensor input 2.
Page 159 7 High-speed Counters CJ2M CPU Unit Pulse I/O Module User’s Manual 7-49...
Page 160 7 High-speed Counters Ladder Program Cyclic Task (Task 0) P_First_Cycle BSET(071) First Cycle Flag ← Initializes the work area. Always ON Flag MOVL(498) ← Initializes the workpiece length data. MSKS(690) ← Interrupt input 0 0100 ← Clears mask (Enables interrupts.) MSKS(690) ←...
Page 161: Pulse Outputs
Pulse Outputs This section describes positioning functions such as trapezoidal control, S-curve con- trol, jogging, and origin searches. 8-1 Overview ........... . . 8-3 8-1-1 Overview .
Page 162 8 Pulse Outputs 8-9 Application Example ......... . . 8-63 8-9-1 Cutting Long Material Using Fixed Feeding .
Page 163: Overview
8 Pulse Outputs Overview 8-1-1 Overview Pulse outputs can be output from the Pulse I/O Module's output terminals using instructions to perform positioning or speed control with a servomotor or a stepping motor that accepts pulse inputs. It is also possible to perform origin searches or origin returns.
Page 164: Application Procedure
8 Pulse Outputs 8-1-2 Application Procedure • When executing origin searches PLC Setup • When using the limit input signal for functions other than origin searches. Execute instructions related to pulse outputs. Set pulse outputs 0 to 3 and the modes. Create ladder program.
Page 165: Specifications
8 Pulse Outputs 8-1-3 Specifications Item Specifications Output mode Continuous mode (for speed control) or independent mode (for position con- trol) Positioning (independent mode) instruc- PULS(886) and SPED(885), PULS(886) and ACC(888), or PULS2(887) tions instruction Speed control (continuous mode) SPED(885) and ACC(888) instructions instructions Origin (origin search and origin return) ORG(889) instruction...
Page 166 8 Pulse Outputs PLC Setup To perform an origin search or to use a limit input signal as an input to a function other than an origin search, click the Set Button in the Pulse Outputs and Origin Searches Area on the I/O Module Tab Page in the PLC Setup and make the settings in the Pulse Output and Origin Search Detailed Settings Dialog Box.
Page 167 8 Pulse Outputs Pulse Output and Origin Search Detailed Settings Item Selection Description 4 ms Sets the control cycle for the pulse output to 4 ms. Internal pulse control cycle 1 ms Sets the control cycle for the pulse output to 1 ms. Search Only The CW/CCW limit input signal is used for origin searches only.
Page 168 8 Pulse Outputs Setting the Pulse Output Port Number and Assigning Pulse Output Terminals Pulse Output Method The CW/CCW pulse outputs or pulse plus direction outputs can be used as the pulse output method. The pulse output method is specified with an operand in the Pulse Output Instruction. CW/CCW Pulse Output Pulse and Direction Outputs Pulse...
Page 169: Origin Searches
8 Pulse Outputs Origin Searches Use the following input and output terminals for origin searches. • Inputs Other functions that cannot be used at the same Input bit Function time Pulse I/O Terminal Module Quick- High-speed symbol Origin Normal Interrupt Word response counter...
Page 170 8 Pulse Outputs Other functions that cannot be used at the same Input bit Function time Pulse I/O Terminal Module Quick- High-speed symbol Origin Normal Interrupt Word response counter search inputs inputs inputs inputs 1 (on the IN10 Pulse output Normal Interrupt Quick-...
Page 171: Wiring
8 Pulse Outputs 8-1-4 Wiring Connector Pin Assignments CW/CCW Outputs Sinking-type Pulse I/O Module (CJ2M-MD211) Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Output Termi- Output Termi- type and Description type and Description number symbol...
Page 172 8 Pulse Outputs Pulse + Direction Outputs Sinking-type Pulse I/O Module (CJ2M-MD211) Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left) Output Termi- Output Termi- type and Description type and Description number symbol number symbol Pulse...
Page 173 8 Pulse Outputs Connecting the Servo Drive and External Sensors Connections for Pulse Output 0 Terminals Origin search Pulse I/O Terminal Module Signal Operation Operation Operation symbol mode 0 mode 1 mode 2 0 (on the OUT00 CW/CCW Connect to Servo Drive's pulse input right) 2961.00 stored in...
Page 174 8 Pulse Outputs Connections for Pulse Output 1 Terminals Origin search Pulse I/O Terminal Module Signal Operation Operation Operation symbol mode 0 mode 1 mode 2 0 (on the OUT02 PV stored CW/CCW Connect to Servo Drive's pulse input right) 2961.02 in A278 outputs...
Page 175 8 Pulse Outputs Connections for Pulse Output 2 Terminals Origin search Pulse I/O Terminal Module Signal Operation Operation Operation symbol mode 0 mode 1 mode 2 1 (on the OUT10 PV stored CW/CCW Connect to Servo Drive's pulse input left) 2963.00 in A322 (CW).
Page 176 8 Pulse Outputs Connections for Pulse Output 3 Terminals Origin search Pulse I/O Terminal Module Signal Operation Operation Operation symbol mode 0 mode 1 mode 2 1 (on the OUT12 PV stored CW/CCW Connect to Servo Drive's pulse input left) 2963.02 in A324 (CW).
Page 177 8 Pulse Outputs Output Connection Examples This section provides examples of connections to motor drives. Refer to the specifications for the motor drive being used before actually connecting a motor drive. The cable length between the Pulse I/O Module and motor drive must not exceed 3 m. When the pulse output's output transistor is OFF, pulses are not being output.
Page 178 8 Pulse Outputs Using a Motor Drive with 5-VDC Photocoupler Input • Connection Example 1 24-VDC power Pulse I/O Module (Sinking Outputs) supply Motor drive (5-V input type) − 37, 38 Input of (Example, power R = 220 Ω) supply for outputs 1.6 kΩ...
Page 179 Connection Example for the Error Counter Reset Output Pulse I/O Module (Sinking Outputs) Power 24-VDC 37, 38 supply power input for supply OMRON R88D-WT Servo outputs Drive 5-VDC 35/36 power supply 39, 40 ECRST ECRST CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 180 Allocations when using pulse output 1 or 3. When using an OMRON Servo Drive, a Servo Relay Unit can be used to connect more easily. For the configuration when using a Servo Relay Unit, refer to Using Servo Relay Units (Sinking Outputs Only) on page 3-11.
Page 181 8 Pulse Outputs Connection Example for Operation Mode 0 In operation mode 0, the origin location is determined when the rising edge of the origin input signal is detected (up-differentiation.) The error counter reset output and positioning completed signal are not used.
Page 182 In this example, a servo drive is used and the encoder's phase-Z output is used as the origin input signal terminal. The servo drive is an OMRON G5-series Servo Drive. G5-series Servo Drive...
Page 183 ON when the motor is stopped. The origin search operation won't end if the positioning completed signal is not connected correctly from the Servo Drive or is not set correctly. The servo drive is an OMRON G5-series Servo Drive. G5-series Servo Drive...
Page 184 8 Pulse Outputs Executing Pulse Control Instructions in a Ladder Program The pulse outputs are used by executing pulse control instructions in the ladder program. Applicable Instructions The following instructions are used. Purpose Overview Instruction Reference Performing trapezoidal or S- Performs trapezoidal or S-curve pulse out- ACC(888) Refer to 8-2 Position Con-...
Page 185 8 Pulse Outputs Outputting to the Auxiliary Area Using the OUT Instruction The OUT instruction is used in the ladder program to write signals received from the CW limit sensor and CCW limit sensor connected to normal inputs to the Auxiliary Area bits. Normal input from CW limit input signal CW limit sensor...
Page 186 8 Pulse Outputs Precautions for Safe Use When using the BIT COUNTER (BCNT(067)), BLOCK SET (BSET(071)), and BLOCK TRANS- FER (XFER(070)) in the ladder program, do not specify more than 99 words for each instruction. If more than 99 words must be used, use more than one instruction. Pulse output is not possible during execution of these instructions.
Page 187: Position Control
8 Pulse Outputs Position Control This section describes how to use pulse outputs with the PLS2(887) instruction. 8-2-1 Position Control Configuration If the target frequency, starting frequency, acceleration and deceleration rates, and direction are set beforehand, trapezoidal and S-curve position control will be performed according to the following time charts.
Page 188: Relative Positioning And Absolute Positioning
8 Pulse Outputs Positioning with S-curve Acceleration/Deceleration With the S-curve acceleration/deceleration positioning, shock and vibration can be controlled by reducing the initial acceleration rate in comparison with a trapezoidal acceleration/deceleration rate. This can be selected when there is some leeway in the maximum allowable speed. Additional Information •...
Page 189 8 Pulse Outputs • When the origin has been defined, the system operates using absolute coordinates. Origin has been defined by Origin is undefined (Origin Origin has been executing the INI(880) search has not been performed Conditions defined by an origin instruction to change the and PV has not been changed search...
Page 190: Application Example
8 Pulse Outputs Precautions for Correct Use Precautions for Correct Use Absolute pulses cannot be specified when the origin is undefined. Specify them only when the origin has been defined by performing an origin search or by changing the PV with the INI(880) instruction.
Page 191 8 Pulse Outputs Preparations PLC Setup There are no settings that need to be made in the PLC Setup. DM Area Settings • Settings for PLS2(887) Instruction (D0 to D7) Setting Word Data Acceleration rate: 300 pps/4 ms #012C Deceleration rate: 200 pps/4 ms #00C8 Target frequency: 50,000 pps #C350...
Page 192: Jogging
8 Pulse Outputs Jogging Jogging can be performed by using the SPED(885) (SPEED OUTPUT) and ACC(888) (ACCELERA- TION CONTROL) instructions. This section describes the procedure for jogging. 8-3-1 High-speed Jogging Start pulse output with acceleration/deceleration using the ACC(888) instruction. In this case, the accel- eration and deceleration rates must be the same.
Page 193: Application Example
8 Pulse Outputs 8-3-3 Application Example Specifications and Operation The following example shows jogging without acceleration or deceleration executed using a SPED(885) instruction. It is used for low-speed jogging. • Clockwise low-speed jogging will be executed from pulse output 1 while CIO 2960.00 is ON. •...
Page 194 8 Pulse Outputs Ladder Program 2960.00 A281.04 SPED ← Pulse output 1 #0001 Pulse output Low-speed ← Specifies pulse + direction output method, CW, and continuous mode. #0100 in progress CW start ← Target frequency SET W0.00 W0.00 2960.00 SPED #0001 Low-speed Low-speed...
Page 195: Implementing Interrupt Feeding
8 Pulse Outputs Implementing Interrupt Feeding Interrupt feeding is useful for applications such as feeding wrapping material from a position where a marker was detected for a specified number of pulses (distance), and then stopping it. 8-4-1 Using the IFEED(892) (INTERRUPT FEEDING) Instruction Interrupt feeding is performed with the IFEED(892) (INTERRUPT FEEDING) instruction.
Page 196: Plc Setup
8 Pulse Outputs 8-4-3 PLC Setup Click the I/O Module Tab in the PLC Setup. Select Interrupt Input in the Interrupt Input and Quick- response Input Detailed Settings Dialog Box. Interrupt Input and Quick-response Input Detailed Settings Pulse I/O Mod- Correspond- Input Operation setting ule No.
Page 197: Interrupt Feeding Instruction: Ifeed(892)
8 Pulse Outputs Pulse frequency Interrupt input occurs. Specified number of pulses Target frequency Deceleration rate Acceleration Speed Position rate control control Time IFEED executed 8-4-4 INTERRUPT FEEDING Instruction: IFEED(892) Execution condition @IFEED P: Port specifier, Example: Interrupt input 0 and pulse output 0 #0100 C: Control data, CW/CCW outputs and CW direction #0000...
Page 198 8 Pulse Outputs Checking Status during Interrupt Feeding The interrupt feeding status can be read from the following bits. Pulse Pulse Pulse Pulse Name Refresh timing output 0 output 1 output 2 output 3 Interrupt A280.08 A281.08 A326.08 A327.08 • Cleared when power is turned ON. Feeding In- •...
Page 199: Defining The Origin
8 Pulse Outputs Defining the Origin The CJ2 CPU Units have two methods that can be used to define the origin position. • Origin searches The ORG(889) instruction outputs pulses to turn the motor according to the pattern specified in the origin search parameters.
Page 200: Setting Procedure
8 Pulse Outputs 8-5-2 Setting Procedure • Set the origin search parameters in the Pulse Output and Origin Search Detailed PLC Setup Settings Dialog Box that is accessed from the I/O Module Tab Page of the PLC Setup using the CX-Programmer. •...
Page 201 8 Pulse Outputs Pulse Output and Origin Search Detailed Settings Item Selection Description Search Only The CW/CCW limit input signal is used for origin searches only. Limit Input Signal Opera- Always The CW/CCW limit input signal is used by functions other than origin tion search.
Page 202 8 Pulse Outputs Item Selection Description Select whether to use the origin search function. Origin Search Disable The origin search function is not used. Setting Enable The origin search function is used. Set the direction for detecting the origin input signal. An origin search is performed so that the origin input signal's rising edge is detected when mov- Search Direc- ing in the origin search direction.
Page 203 8 Pulse Outputs Item Selection Description Sets the motor's speed after the origin proximity input signal is detected. Specify the speed in the number of pulses per second (pps). Proximity Setting range: 0 to 100 kpps Speed (pps) The origin search will not be performed in these cases: Origin search high speed ≤ Origin search proximity speed.
Page 204 8 Pulse Outputs INI(880) Instruction Execution condition @INI #0000 P: Port specifier, Example: Pulse output 0 C: Control data, Example: Changing origin #0005 Example: search or origin return settings #0064 Origin NV: First word with new value Initial speed: search 100 pps #0000 NV+1:...
Page 205: Origin Search Instructions
8 Pulse Outputs 8-5-4 Origin Search Instructions ORIGIN SEARCH (ORG(889)) Instruction Execute the ORG(889) instruction in the ladder program to perform an origin search with the specified parameters. P: Port specifier Pulse output 0: 0000 hex Pulse output 1: 0001 hex Pulse output 2: 0002 hex Pulse output 3: 0003 hex C: Control data...
Page 206: Origin Search Operations
8 Pulse Outputs 8-5-5 Origin Search Operations Operation Mode Settings and Operation The operation mode parameter specifies the I/O signals that are used in the origin search. Operation Mode Operation mode 0 Operation mode 1 Operation mode 2 Stepping motor driver*1 Servo Drive Two sensors, an origin prox- An origin proximity sensor and the phase-Z signal from...
Page 207: Operation Mode
8 Pulse Outputs Operation Mode 0 Set the origin proximity signal dog to ensure the deceleration time or longer. If the origin signal is received while deceler- ating, an error will occur (error code 0202). Origin proximity input signal Origin input signal Origin search direction →...
Page 208 8 Pulse Outputs Origin Detection Timing and Operation for Limit Inputs Origin Detection Timing The position where the origin is detected will depend on the following settings. 0: After Proximity Input Turns OFF The first origin input signal after the proximity input turns ON is considered the origin. Deceleration starts when Origin Proximity Input Signal turns ON.
Page 209 8 Pulse Outputs Operation for Limit Inputs The operation to perform for limit inputs that occur during origin searches can be set. Method 0: Reverse When the limit input signal is received, the motor stops without deceleration, reverses direction, and continues the origin search.
Page 210 8 Pulse Outputs Method 1: Stop with Error When the limit input signal is received, the motor stops without deceleration and the origin search ends in an error. Origin Detection Method Operation pattern Method 0: Turns ON and then OFF Origin proximity The origin input signal is accepted after input signal...
Page 211: Origin Return
8 Pulse Outputs 8-5-6 Origin Return An origin return operation moves the motor to the origin position from any other position. The origin return operation is controlled by the ORG(889) instruction. The origin return operation returns the motor to the origin by starting at the specified speed, accelerat- ing to the target speed, moving at the target speed, and then decelerating to a stop at the origin posi- tion.
Page 212: Changing The Pv Of The Pulse Output
8 Pulse Outputs 8-5-7 Changing the PV of the Pulse Output The present value of the pulse output can be changed by using the INI(880) instruction. To define the present value as the origin, set the pulse output PV to 0 using the INI(880) instruction. INI Instruction Pulse output New PV...
Page 213 8 Pulse Outputs System Configuration Origin proximity input CW limit sensor sensor Workpiece CCW limit Servomotor sensor Pulse I/O Module Encoder CJ2M CPU Unit Basic I/O Units Allocations in CIO 0000 • Bit 00: CW limit sensor • Bit 01: CCW limit sensor Servo Drive To Input Unit Pulse output from outputs OUT00 and...
Page 214 8 Pulse Outputs Operation Origin proximity input (IN01: CIO 2960.01) Origin signal input (IN00: CIO 2960.00) Pulse frequency Origin Search High Speed Origin Search Origin Search Deceleration Rate Acceleration Rate Origin Search Pulse output Proximity Speed (OUT00: CIO 2960.00) Origin Search Initial Speed Stop Execution of ORG(889)
Page 215 8 Pulse Outputs Ladder Program CW limit input signal CW limit sensor 0.00 A540.08 CCW limit input signal CCW limit sensor A540.09 0.01 Execution condition @ORG Origin search 0: 0000 hex, #0000 Origin search and CW/CCW: 0000 hex #0000 CJ2M CPU Unit Pulse I/O Module User’s Manual 8-55...
Page 216: Reading The Pulse Output Present Value
8 Pulse Outputs Reading the Pulse Output Present Value The present value of a pulse output can be read in the following three ways. • Reading the PV Refreshed at the I/O Refresh Timing Read from the Auxiliary Area. • Reading the PV during Program Execution Read by executing the PRV(881) instruc- tion.
Page 217: Reading The Pulse Output Frequency
8 Pulse Outputs Reading the Pulse Output Frequency The frequency of a pulse output can be read in the following two ways. • Reading the value at any time during program execution: Read by executing the PRV(881) instruc- tion. • Reading the value for each trace sampling cycle: Specify tracing the pulse frequency in the I/O Mod- ule AR Select Area on the Data Trace Configuration Tab Page of the CX-Programmer Reading the Value When a Ladder Program Is Executed HIGH-SPEED COUNTER PV READ (PRV(881)) Instruction...
Page 218: Related Auxiliary Area Bits
8 Pulse Outputs Related Auxiliary Area Bits Related Auxiliary Area Bits Read/ Name Word/Bit Function Refresh timing Write Pulse Output 0 A276 to Contain the number of pulses output from the Read • Cleared when power is A277 corresponding pulse output port. turned ON.
Page 219 8 Pulse Outputs Read/ Name Word/Bit Function Refresh timing Write Pulse Output 0 A280.02 This flag will be ON when the number of output Read • Cleared when power is Output Amount pulses for pulse output 0 to 3 has been set turned ON.
Page 220 8 Pulse Outputs Read/ Name Word/Bit Function Refresh timing Write Pulse Output 0 A280.06 This flag will be ON when the pulse output 0 to Read • Turned ON when power is At-origin Flag 3 PV matches the origin (0). turned ON.
Page 221 8 Pulse Outputs Read/ Name Word/Bit Function Refresh timing Write Pulse Output 0 A280.09 These flags will turn ON if an overflow or Read • Cleared when power is Interrupt Feed- underflow occurs when an interrupt input is turned ON. ing Error Flag received, or when the specified number of •...
Page 222 8 Pulse Outputs Read/ Name Word/Bit Function Refresh timing Write Pulse Output 0 A540.08 This is the CW limit input signal for pulse out- Read/ • Cleared when power is CW Limit Input put 0 to 3, which is used in the origin search. Write turned ON.
Page 223: Application Example
8 Pulse Outputs Application Example 8-9-1 Cutting Long Material Using Fixed Feeding Specifications and Operation Overview First jogging is used to position the material. Then fixed-distance feeding is repeated. 10,000 Hz Acceleration: 1,000 Hz/4 ms (2710 hex) (03E8 hex) 1,000 Hz (03E8 hex) 50000 (C350 hex)
Page 224 8 Pulse Outputs The feeding operation can be canceled and operation stopped at any point using the immediate stop switch input (IN02: CIO 2960.02). Applicable Instructions SPED(885) and PLS2(887) instructions Preparations PLC Setup There are no settings that need to be made in the PLC Setup. DM Area Settings •...
Page 225 8 Pulse Outputs Ladder Program Jogging 2960.00 A280.04 Sets the frequency. SPED(885) Pulse Output Port specifier: Pulse output 0 In-progress Flag switch Output mode Target frequency: 10,000 pps Target frequency setting SET instruction W0.00 Bit indicating the jogging is in progress 2960.00 W0.00 Sets the frequency.
Page 226: Palletize: Two-Axis Multipoint Positioning
8 Pulse Outputs 8-9-2 Palletize: Two-axis Multipoint Positioning Specifications and Operation Overview Cylinder Y axis X axis Workpiece is grasped and moved. Operation Pattern 1. Perform origin search. 2. A workpiece is grasped and moved to position A. 3. The workpiece is repeatedly moved between the grasp position and the assembly positions. 1.
Page 227 8 Pulse Outputs Wiring Example Using SMARTSTEP A-series Servo Drive, XW2Z Cables, and XW2B I/O Terminal Origin Search Start Switch (CIO 0.00) Immediate Stop Switch (CIO 0.01) SMARTSTEP A-series Servo Drive XW2Z-100J-B5 (1 m) XW2Z-200J-B5 (2 m) ID211 OD211 (CIO 0) (CIO 1) XW2Z-100J-B5 (1 m) XW2Z-100J-A26 (1 m)
Page 228 8 Pulse Outputs Preparations PLC Setup Setting Origin Search Detailed Settings for pulse output 0 Note The setting of the option to use the origin search is read from the PLC Setup when the power supply is turned ON. DM Area Settings •...
Page 229 8 Pulse Outputs • Settings to Move from Position A to Position B Setting Word Data X axis Acceleration rate: 2,000 pps/4 ms #07D0 Deceleration rate: 2,000 pps/4 ms #07D0 Target frequency: 100,000 pps #86A0 #0001 Number of output pulses: 25,000 pulses #61A8 #0000 Y axis...
Page 230 8 Pulse Outputs Ladder Program Origin Search for X and Y Axes 0.00 Setting Origin Search Switch Bit address W0.00 W1.14 W0.00 Origin search start W1.15 RSET Resetting Origin search completed W0.00 Bit address Operation 1: Positioning to A W0.00 Setting W0.01 Bit address...
Page 231 8 Pulse Outputs Operation 3: Positioning to A W0.04 Setting W0.05 Bit address W3.01 W0.05 Positioning to A start W2.00 RSET Resetting Positioning to A completed W0.05 Bit address Operation 4: Positioning to D W0.05 Setting Bit address W0.06 W1.03 W0.06 Positioning to D start W2.03...
Page 232 8 Pulse Outputs Positioning to B Start and Completion for X and Y Axes W1.01 @PLS2(887) Positioning Positioning to Port specifier: Pulse output 0 B start Control data First word containing parameters First starting frequency word @PLS2(887) Positioning Port specifier: Pulse output 1 Control data First word containing parameters First starting frequency word...
Page 233 8 Pulse Outputs Immediate stop (Pulse output stopped) 0.01 @INI (880) Operation Mode Control Immediate Port specifier: Pulse output 0 stop switch Control data: Stop pulse output @INI (880) Operation Mode Control Port specifier: Pulse output 1 Control data: Stop pulse output Limit Input Settings A540.08 (CIO 2960.06)
Page 234: Vertically Conveying Pcbs (Multiple Progressive Positioning)
8 Pulse Outputs 8-9-3 Vertically Conveying PCBs (Multiple Progressive Positioning) Specifications and Operation Overview A PCBs with components mounted are stored in a stocker. B When the stocker becomes full, it is moved to the conveyance point. Positioning Operation for Vertical Conveyor Stocker movement position Stocker conveyance position Operation Pattern...
Page 235 8 Pulse Outputs Wiring Example Using SMARTSTEP A-series Servo Drive Basic I/O Units CJ2M Pulse CPU Unit I/O Module Stocker Moving (CIO 1.01) PCB Storage Enabled (CIO 1.00) Stocker Movement Completed (CIO 0.03) Origin Search Start Switch (CIO 0.00) Immediate Stop Switch (CIO 0.01) PCB Storage Completed (CIO 0.02) SmartStep A-series Servo Driver...
Page 236 8 Pulse Outputs The number of PCBs in the stocker is counted with counter C0 by counting the number of times the stocker is raised. When the stocker is full, it is moved (CIO 1.01) and only the conveyor is lowered (absolute posi- tioning) when stoker movement is completed (CIO 0.03).
Page 237 8 Pulse Outputs DM Area Settings • Settings for PLS2(887) for Fixed-distance Positioning (D0 to D7) Setting Word Data Acceleration rate: 1,000 pps/4 ms #03E8 Deceleration rate: 1,000 pps/4 ms #03E8 Target frequency: 50,000 pps #C350 #0000 Number of output pulses: 10,000 pulses #2710 #0000 Starting frequency: 0 pps...
Page 238 8 Pulse Outputs Ladder Program Jogging W0.00 0.00 W0.01 Origin search in progress Origin search Origin search completed start @ORG Origin search W0.00 Port specifier: Pulse output 0 #0000 Control data #0000 Origin search W0.01 in progress A280.05 Origin search completed No-origin Flag 1.00 W0.01...
Page 239 8 Pulse Outputs When the stocker is not full (C0 = OFF), store PCB, and repeat lift positioning after PCB storage is completed. W0.05 W0.04 C000 PCB stored Lift positioning Stocker full completed When the stocker is full (C0 = ON), move the stocker, and start lower positioning after stocker movement is completed.
Page 240: Feeding Wrapping Material: Interrupt Feeding
8 Pulse Outputs 8-9-4 Feeding Wrapping Material: Interrupt Feeding Specifications and Operation Feeding Wrapping Material in a Vertical Pillow Wrapper Start switch (CIO 2960.04) Immediate stop switch (CIO 2960.01) Pulse I/O Module Speed Marker sensor (IN00) control Position control CJ2M CPU Unit Connecting Cable Connector-Terminal...
Page 241 8 Pulse Outputs Preparations PLC Setup Setting Enable using input IN00 as interrupt input. Note The interrupt input setting is read from the PLC Setup when the power supply is turned ON. DM Area Settings • Speed Control Settings to Feed Wrapping Material to Initial Position and Positioning Control Set- tings for Wrapping Material Setting Word...
Page 242: Precautions When Using Pulse Outputs
8 Pulse Outputs 8-10 Precautions when Using Pulse Outputs Movement Direction when Specifying Absolute Pulses When operating with absolute pulses, the movement direction (CW/CCW) is selected automatically based on the relationship between the pulse output PV when the instruction is executed and the speci- fied target position.
Page 243 8 Pulse Outputs Differences between Set Frequencies and Actual Frequencies Source clock frequency: 33,330 MHz Set frequency (kHz) Actual frequency (kHz) 99.941 to 100.000 100.090 99.642 to 99.940 99.790 50.008 to 50.082 50.045 49.933 to 50.007 49.970 10.002 to 10.004 10.003 9.999 to 10.001 10.000...
Page 244 8 Pulse Outputs *1 SPED (Independent) to SPED (Independent) • The number of output pulses cannot be changed. • The frequency can be changed. *2 SPED (Continuous) to SPED (Continuous) • The frequency can be changed. *3 SPED (Independent) to ACC (Independent) •...
Page 245 8 Pulse Outputs Related Auxiliary Area Bits Pulse Pulse Pulse Pulse Description Setting output 0 output 1 output 2 output 3 Pulse Output Stopped Error Flag OFF: No error, A280.07 A281.07 A326.07 A327.07 ON when an error occurred while out- ON: Error putting pulses in the origin search function.
Page 246 8 Pulse Outputs Error Operation after Error name Description Corrective action code error Origin Proximity 0206 • When an origin search with Check the installation positions of the origin Emergency stop Input Signal reversal at the limit is being proximity input signal, origin input signal, and No effect on other Origin Reverse performed, the limit input sig-...
Page 247: 8-11 Pulse Output Patterns
8 Pulse Outputs 8-11 Pulse Output Patterns The pulse output function of the Pulse I/O Module enables operation in Continuous Mode, for which the number of output pluses is not specified, or in Independent Mode, for which the number of output pulses is specified.
Page 248 8 Pulse Outputs Procedure Example Operation Frequency changes Function application Instructions Settings Change Changing the Changes the ACC or • Port Pulse frequency speed speed smoothly frequency SPED (Con- • Continuous Target frequency smoothly during operation from the tinuous) Acceleration/ •...
Page 249: Positioning Control (Independent Mode)
8 Pulse Outputs 8-11-2 Positioning Control (Independent Mode) The following operations can be performed in Independent Mode by combining instructions. Starting Pulse Output Procedure Example Operation Frequency changes Function Instruc- application Settings tions Outputting Positioning Starts outputting PULS • Number of Pulse frequency the specified without accel-...
Page 250 8 Pulse Outputs * Triangular Control If the specified number of pulses is less than the number required just to reach the target frequency and return to zero, the function will automatically reduce the acceleration/deceleration time and perform triangu- lar control (acceleration and deceleration only.) An error will not occur. Pulse frequency Pulse frequency Specified number of pulses...
Page 251 8 Pulse Outputs Procedure Example Operation Frequency changes Function application Instructions Settings Change Changing PLS2(887) can be PULS • Number of Pulse frequency speed the target executed during pulses ↓ Specified number of pulses smoothly speed (fre- positioning to (Specified with PULS.) •...
Page 252 8 Pulse Outputs Procedure Example Operation applica- Frequency changes Function Instruc- Settings tion tions Change Change The PLS2(887) instruc- PULS • Number of Number of pulses specified target posi- the target tion can be executed dur- pulses ↓ Pulse frequency with PULS changed.
Page 253 8 Pulse Outputs Stopping a Pulse Output Procedure Example Operation Frequency changes Function application Instructions Settings Stop pulse Immediate Stops the pulse output immedi- PULS Stopping Pulse frequency output stop ately. Clears the current num- pulse output ↓ (Number of ber of output pulses.
Page 254: Independent Mode
8 Pulse Outputs Switching from Speed Control (Continuous Mode) to Positioning (Independent Mode) Procedure Example Frequency changes Function application Instructions Settings Change The PLS2(887) instruc- ACC (Con- • Port Outputs the number of pulses from speed tion can be executed dur- tinuous) specified in PLS2 (Both relative and •...
Page 255 PWM Outputs This section describes the PWM outputs (variable duty ratio pulse outputs). 9-1 PWM Outputs (Variable Duty Ratio Pulse Outputs) ....9-2 9-1-1 Overview .
Page 256: Pwm Outputs (Variable Duty Ratio Pulse Outputs)
9 PWM Outputs PWM Outputs (Variable Duty Ratio Pulse Outputs) 9-1-1 Overview A PWM (Pulse Width Modulation) pulse can be output with a specified duty ratio. The duty ratio is the ratio of the pulse's 'ON time and OFF time in one pulse cycle. Use the PWM(891) instruction to generate PWM pulses from a pulse output.
Page 257: Application Procedure
9 PWM Outputs 9-1-2 Application Procedure PWM outputs 0 to 3 use OUT04, OUT05, OUT14, and Setting the pulse output port number, OUT15. assigning pulse output terminals, and wiring • Execute a PWM(891) instruction. Creating Cyclic task, ladder • PWM outputs are stopped with the INI(880) instruc- interrupt task program tion.
Page 258: Wiring
9 PWM Outputs Related Auxiliary Area Bits Name Function Read/Write Refresh timing PWM Output 0 A283.00 ON when pulses are being output Read • Cleared when power is Output In- from PWM output 0 to 3. turned ON. progress Flag •...
Page 259: Ladder Program Example
9 PWM Outputs Wiring Example This example shows how to use PWM output 0 to control the brightness of a light bulb. Refer to 4-3-2 Wiring Examples for details on suppressing the load's inrush current and modify the cir- cuit if necessary. 24-VDC power supply...
Page 260 9 PWM Outputs Preparations PLC Setup There are no settings that need to be made in the PLC Setup. DM Area Settings • PWM(891) Operand Settings (D0 and D1) Settings Word Data Frequency: 2,000.0 Hz #4E20 Duty ratio: 40.0% #0190 Ladder Diagram 2960.00 @PWM...
Page 261: Appendices
Appendices A-1 Flag Operations during Pulse Output ......A-2 A-2 Combinations of Pulse Control Instructions ......A-3 A-3 Comparison to CJ1M Built-in I/O Functions .
Page 262: Flag Operations During Pulse Output
Appendices Flag Operations during Pulse Output The flags related to pulse outputs are refreshed at the following times. • When PULS(886) is executed • When pulse output operation is started or stopped by SPED(885), ACC(888), PLS2(887), INI(880), or ORG(889) • When the Reset Flag is turned ON •...
Page 263: Combinations Of Pulse Control Instructions
Appendices Combinations of Pulse Control Instructions Instruc Starting instruction (factor) tion Pulse being SPED (Inde- SPED (Con- ACC (Indepen- ACC (Contin- status PLS2 IFEED exe- pendent) tinuous) dent) uous) cuted SPED Steady Chang- Output Output Output Output Output Output Output (Contin- speed ing the...
Page 264 Appendices Instruc Starting instruction (factor) tion Pulse being SPED (Inde- SPED (Con- ACC (Indepen- ACC (Contin- status PLS2 IFEED exe- pendent) tinuous) dent) uous) cuted Chang- Output Output Output Output Output Output Output (Inde- (Inde- ing the method method method method method method...
Page 265 Appendices Instruc Starting instruction (factor) tion Pulse being SPED (Inde- SPED (Con- ACC (Indepen- ACC (Contin- status PLS2 IFEED exe- pendent) tinuous) dent) uous) cuted PLS2 Steady Chang- Output Output Output Output Output Output Output speed ing the method method method method method...
Page 266 Appendices Instruc Starting instruction (factor) tion Pulse being SPED (Inde- SPED (Con- ACC (Indepen- ACC (Contin- status PLS2 IFEED exe- pendent) tinuous) dent) uous) cuted Steady Chang- Output Output Output Output Output Output Output speed ing the method method method method method method...
Page 267: Comparison To Cj1M Built-In I/O Functions
Appendices Comparison to CJ1M Built-in I/O Functions Specification/performance Item CJ2M with Pulse I/O Module CJ1M built-in I/O 20 inputs (10 × 2 Pulse I/O Modules) Normal inputs Number of inputs 10 inputs Input response time ON response time: 8 ms max. ON response time: 8 ms max.
Page 268 Appendices Specification/performance Item CJ2M with Pulse I/O Module CJ1M built-in I/O 4 counters (2 × 2 Pulse I/O Modules) High-speed Differential-phase 2 counters counters inputs Line driver: 50 kHz (×4) Line driver: 50 kHz (×4) 24-VDC power supply pulse: 35 kHz 24-VDC power supply pulse: 30 kHz (×4) (×4)
Page 269 Appendices Specification/performance Item CJ2M with Pulse I/O Module CJ1M built-in I/O 4 axes (2 × 2 Pulse I/O Modules) Pulse output Number of control 2 axes axes Pulse output method CW/CCW or Pulse + direction CW/CCW or Pulse + direction Numeric range 32 bits 32 bits...
Page 270: Performance Information
Appendices Performance Information Precautions for Correct Use Precautions for Correct Use The actual performance depends on a variety of factors that affect CPU Unit operation such as the function's operating conditions, user program complexity, and cycle time. Use the perfor- mance specifications as guidelines, not absolute values.
Page 271: A-4-2 Pulse Output Start Time
Appendices A-4-2 Pulse Output Start Time The pulse output start time is the time required from executing a pulse output instruction until pulses are output externally. This time depends on the pulse output instruction that is used and operation that is performed.
Page 272 Appendices A-12 CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 273: Index
Index setting ..............2-10 specifications ............7-3 target value comparison ........7-22 absolute coordinates ........... 8-28 wiring ............... 7-7 absolute positioning ............ 8-28 high-speed jogging ............8-32 ACC(888) ..............8-24 allocating functions input terminals ............2-5 output terminals ............2-7 I/O circuits PLC Setup ...............
Page 274 flag operations ............A-2 instruction combinations ..........A-3 specifications ............3-6, 9-4 ORG(889) ..........8-24, 8-45, 8-51 wiring ............... 9-4 origin PWM(891) ..............9-5 defining ..............8-39 origin returns ............2-14, 8-51 ORIGIN SEARCH instruction (ORG(889)) ....8-45 origin searches ........... 2-13, 8-39 quick-response inputs ........... 5-1 operation modes ............
Page 275: Revision History
Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. W486-E1-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
Page 276 Revision-2 CJ2M CPU Unit Pulse I/O Module User’s Manual...
Page 278 The Netherlands IL 60173-5302 U.S.A. Tel: (31)2356-81-300/Fax: (31)2356-81-388 Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 © OMRON Corporation 2010 All Rights Reserved. OMRON (CHINA) CO., LTD. OMRON ASIA PACIFIC PTE. LTD. In the interest of product improvement, Room 2211, Bank of China Tower, No.

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Omron SYSMAC CJ Series User Manual

Introduction

CJ2 CPU Unit Manuals

Manual Structure

Sections in this Manual

Safety Precautions

Application Precautions

Operating Environment Precautions

Regulations and Standards

Unit Versions of CJ2 CPU Units

Related Manuals

Pulse I/O Modules

Overview of the Functions of CJ2M Pulse I/O

Functions of CJ2M Pulse I/O

Pulse I/O Module Application Procedure

Allocating I/O Functions

PLC Setup

I/O Specifications

Wiring

Section 4 Normal I/O

Normal Inputs

Normal Outputs

Wiring

Section 5 Quick-Response Inputs

Overview

Application Procedure

Wiring

Creating Ladder Programs

Section 6 Interrupts

Types of Interrupts

Interrupt Inputs

Section 7 High-Speed Counters

Overview

High-Speed Counter Inputs

High-Speed Counter Interrupts

Related Auxiliary Area Words and Bits

Application Examples

Overview

Position Control

Jogging

Implementing Interrupt Feeding

Defining the Origin

Reading the Pulse Output Present Value

Reading the Pulse Output Frequency

Related Auxiliary Area Bits

Application Example

Precautions When Using Pulse Outputs

8-11 Pulse Output Patterns

Section 9 PWM Outputs

PWM Outputs (Variable Duty Ratio Pulse Outputs)

Appendices

Flag Operations During Pulse Output

Combinations of Pulse Control Instructions

Comparison to CJ1M Built-In I/O Functions

Performance Information

Index

Quick Links

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Summary of Contents for Omron SYSMAC CJ Series