Omron CJ-Series Operation Manual
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Omron CJ-Series Operation Manual

Built-in i/o. cpu units
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Cat. No. W395-E1-01
CJ-series Built-in I/O
CJ1M-CPU22/CPU23
CJ1M CPU Units
OPERATION MANUAL

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  • Page 1 Cat. No. W395-E1-01 CJ-series Built-in I/O CJ1M-CPU22/CPU23 CJ1M CPU Units OPERATION MANUAL...
  • Page 2 CJ-series Built-in I/O CJ1M-CPU22/CPU23 CPU Units Operation Manual Produced July 2002...
  • Page 4 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 6: Table Of Contents

    TABLE OF CONTENTS PRECAUTIONS ........Intended Audience ............General Precautions .
  • Page 7 TABLE OF CONTENTS Appendices Combinations of Pulse Control Instructions ........Using Pulse Instructions in other CPU Units .
  • Page 8 About this Manual: This manual describes the installation and operation of the built-in I/O supported by the CJ1M-CPU22 and CJ1M-CPU23 CPU Units and includes the sections described below. Please read this manual carefully and be sure you understand the information provided before attempting to install or operate the built-in I/O Be sure to read the precautions provided in the following section.

  • Page 10: Precautions

    PRECAUTIONS This section provides general precautions for using the CJ-series Programmable Controllers (PLCs) and related devices. The information contained in this section is important for the safe and reliable application of Programmable Controllers. You must read this section and understand the information contained before attempting to set up or operate a PLC system.

  • Page 11: Intended Audience

    It is extremely important that a PLC and all PLC Units be used for the speci- fied purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PLC System to the above-mentioned appli- cations.
  • Page 12 Safety Precautions !WARNING Provide safety measures in external circuits (i.e., not in the Programmable Controller), including the following items, to ensure safety in the system if an abnormality occurs due to malfunction of the PLC or another external factor affecting the PLC operation. Not doing so may result in serious accidents. •...

  • Page 13: Operating Environment Precautions

    Operating Environment Precautions Operating Environment Precautions !Caution 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. • Locations subject to condensation as the result of severe changes in tem- perature.
  • Page 14 PLC or the system, or could damage the PLC or PLC Units. Always heed these precautions. • A CJ-series CPU Unit is shipped with the battery installed and the time already set on the internal clock. It is not necessary to clear memory or set the clock before application, as it is for the CS-series CPU Units.
  • Page 15 Application Precautions with the FALS(007) instruction, all outputs from Output Unit will be turned OFF and only the internal output status will be maintained.) • The contents of the DM, EM, and HR Areas in the CPU Unit are backed up by a Battery.
  • Page 16 Application Precautions • Do not apply voltages or connect loads to the Output Units in excess of the maximum switching capacity. Excess voltage or loads may result in burning. • Disconnect the functional ground terminal when performing withstand voltage tests. Not disconnecting the functional ground terminal may result in burning.

  • Page 17: Conformance To Ec Directives

    1,500 V DC meet the required safety standards for the PLC (EN61131-2). Conformance to EC Directives The CJ-series PLCs comply with EC Directives. To ensure that the machine or device in which the CJ-series PLC is used complies with EC Directives, the PLC must be installed as follows: 1,2,3...

  • Page 18: Conformance To Ec Directives

    Conformance to EC Directives Relay Output Noise Reduction Methods The CJ-series PLCs conforms to the Common Emission Standards (EN50081-2) of the EMC Directives. However, noise generated by relay out- put switching may not satisfy these Standards. In such a case, a noise filter must be connected to the load side or other appropriate countermeasures must be provided external to the PLC.
  • Page 19 Conformance to EC Directives Circuit Current Characteristic Required element The diode connected in parallel with The reversed dielectric strength value the load changes energy accumulated of the diode must be at least 10 times by the coil into a current, which then as large as the circuit voltage value.

  • Page 20: Features

    SECTION 1 Features This section describes the features and applications of the functions of the built-in I/O. Features ............1-1-1 Built-in I/O Functions.

  • Page 21: Features

    Section 1-1 Features Features 1-1-1 Built-in I/O Functions The CJ1M CPU Units are high-speed, advanced, micro-sized PLCs equipped with built-in I/O. The built-in I/O have the following features. General-purpose I/O Immediate Refreshing The CPU Unit’s built-in inputs and outputs can be used as general-purpose inputs and outputs.
  • Page 22 Section 1-1 Features Triangular Control Triangular control (trapezoidal control without a constant-speed plateau) will be performed during positioning executed by an ACC(888) instruction (inde- pendent) or PLS2(887) instruction if the number of output pulses required for acceleration/deceleration exceeds the specified target pulse Output Amount. (The number of pulses required for acceleration/deceleration equals the time required to reach the target frequency x the target frequency.) Previously, an error would have occurred under these conditions and the...

  • Page 23: Configuration Of The Built-In I/O Functions

    Section 1-1 Features 1-1-2 Configuration of the Built-in I/O Functions Built-in Input Functions Built-in I/O Functions General-purpose Inputs 10 inputs Any function can be selected in Allocated bits 00 to 09 of CIO 2960. the PLC Setup. Immediate refreshing is supported. General-purpose inputs 2/3, inter- rupt inputs 2/3, and quick-re- sponse inputs 2/3 cannot be used...

  • Page 24: Functions Listed By Purpose

    Section 1-2 Functions Listed by Purpose Functions Listed by Purpose 1-2-1 High-speed Processing Purpose I/O used Function Description Execute a special process very Built-in Interrupt inputs Interrupt inputs Executes an interrupt task at the rising or quickly when the correspond- Inputs 0 to 3 (Direct mode)

  • Page 25: Controlling Pulse Outputs

    Section 1-2 Functions Listed by Purpose 1-2-2 Controlling Pulse Outputs Purpose I/O used Function Description Perform simple posi- Built-in Pulse out- Pulse output functions The built-in outputs (bits 00 to 03 of tioning by outputting Outputs puts 0 and CIO 2961) can be used as pulse outputs 0 •...
  • Page 26 Section 1-2 Functions Listed by Purpose Purpose I/O used Function Description Perform fixed distance Built-in Pulse out- Execute positioning When a speed control operation started with feed interrupt. Outputs puts 0 and with the PLS2(887) the SPED(885) instruction (continuous) or instruction during an ACC(888) instruction (continuous) is in operation started with...

  • Page 27: Receiving Pulse Inputs

    Section 1-2 Functions Listed by Purpose 1-2-3 Receiving Pulse Inputs Purpose Function Description used Receive incremental rotary encoder inputs to calculate length or position. • Counting at low- Built-in Interrupt inputs Interrupt inputs (Counter Built-in inputs (bits 00 to 03 of speed frequen- Inputs...

  • Page 28: Comparison With Cj1W-Nc Pulse Outputs

    Section 1-2 Functions Listed by Purpose 1-2-4 Comparison with CJ1W-NC Pulse Outputs Item CJ1M CJ1W-NC Position Control Unit Control method Controlled with the ladder program’s Pulse Controlled with the Start Command Bit (Rel- Output instructions (SPED(885), ACC(888), ative Movement Command Bit or Absolute and PLS2(887)).
  • Page 29 Section 1-2 Functions Listed by Purpose...

  • Page 30: Overview

    SECTION 2 Overview This section provides an overview of the functions of built-in I/O. Allocations for Built-in CPU Unit Inputs ......Allocations for Built-in CPU Unit Outputs.

  • Page 31: Allocations For Built-In Cpu Unit Inputs

    Section 2-1 Allocations for Built-in CPU Unit Inputs Allocations for Built-in CPU Unit Inputs Select 1) General-purpose inputs, 2) Interrupt inputs, 3) Quick-response inputs, or 4) High-speed counters with the PLC Setup. Inputs IN0 to IN3 can each be set to 1) General-purpose inputs, 2) Interrupt inputs, or 3) Quick- response inputs with the input operation settings.
  • Page 32 Section 2-1 Allocations for Built-in CPU Unit Inputs puts IN2, IN3, and IN5 are used for the origin search function when the or- igin search function for pulse output 1 is enabled in the PLC Setup. • General-purpose inputs 0 and 1, interrupt inputs 0 and 1, and quick- response inputs 0 and 1 cannot be used when the origin search function for pulse output 0 is being used.
  • Page 33 Section 2-1 Allocations for Built-in CPU Unit Inputs Item Specifications 4) High-speed Gate (stop The CPU Unit’s built-in inputs can be The status of the high-speed counter PV counter inputs count) function used as high-speed counters. (High- can be controlled (maintained or speed counter 0 uses bits 03, 08, 09 of refreshed) with the High-speed Counter (2 inputs max.)

  • Page 34: Allocations For Built-In Cpu Unit Outputs

    Section 2-2 Allocations for Built-in CPU Unit Outputs Allocations for Built-in CPU Unit Outputs Select 1) General-purpose outputs, 2) Fixed duty ratio pulse outputs, or 3) Variable duty ratio pulse outputs by executing the appropriate instruction, as shown in the following table. Instruction/PLC Setup Settings other Function set by execution of a Origin search function...

  • Page 35: Allocations For Origin Search Function

    Section 2-3 Allocations for Origin Search Function Functions Item Specifications 1) General-purpose outputs The CPU Unit’s built-in outputs (bits Note The outputs can be refreshed immediately with the immedi- 00 to 05 of CIO 2961) can be used as (6 outputs) ate refreshing variation (! pre- general-purpose outputs.
  • Page 36 Section 2-3 Allocations for Origin Search Function Inputs Code Address Word CIO 2960 Inputs General- General- General- General- General- General- General- General- General- General- General- purpose purpose purpose purpose purpose purpose purpose purpose purpose purpose purpose inputs input 0 input 1 input 2 input 3 input 4...
  • Page 37 Section 2-3 Allocations for Origin Search Function Functions Item Specifications Origin search If the ORG(889) (ORIGIN SEARCH) instruction is executed and the origin search function is enabled in the PLC Setup, the origin search operation will start and the origin location will be determined based on the Origin Proximity Input Sig- nal and Origin Input Signal.

  • Page 38: I/O Specifications And Wiring

    SECTION 3 I/O Specifications and Wiring This section provides I/O specifications and wiring instructions for the built-in I/O. I/O Specifications ..........3-1-1 Input Specifications .

  • Page 39: I/O Specifications

    Section 3-1 I/O Specifications I/O Specifications 3-1-1 Input Specifications General-purpose Input Specifications Inputs IN0 to IN5 IN6 to IN9 IN0 to IN5 IN6 to IN9 Input type Two-wire Sensor Line driver inputs Input current 6.0 mA typical 5.5 mA typical 13 mA typical 10 mA typical 24 V DC +10%, −15% Input voltage...
  • Page 40 Section 3-1 I/O Specifications High-speed Counter Input Specifications (IN6 to IN9) Input 24-V DC inputs Line driver inputs Set to 60 kHz Phase-A/Phase-B encoder input, 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 s max.

  • Page 41: Output Specification

    Section 3-1 I/O Specifications Note In order for the counter inputs to satisfy the specifications shown in the table above, it will be necessary to check the factors that can affect the pulses, such as the type of output driver in the encoder, encoder cable length, and count pulse frequency.

  • Page 42: Wiring

    Section 3-2 Wiring PWM(891) Output Specifications (OUT4 and OUT5) Item Specifications Max. switching capacity 300 mA, 4.75 to 26.4 V DC Max. output frequency 1 kHz PWM(891) output accuracy ON duty: +5%/−0% for a 1-kHz pulse output Output waveform X 100% ON duty = Wiring 3-2-1...

  • Page 43: Connector Pins Used By Each Function

    Section 3-2 Wiring 3-2-2 Connector Pins Used by Each Function Built-in Inputs General-purpose Inputs Input number Code Pin No. Content General-purpose input 0 24 V DC General-purpose input 1 24 V DC General-purpose input 2 24 V DC General-purpose input 3 24 V DC General-purpose input 4 24 V DC...
  • Page 44 Section 3-2 Wiring High-speed Counters High-speed Counters Using Differential-phase Inputs Encoder with phases A, B, and Z Input number Code Pin No. Content High-speed counter 0 Phase A, 24 V Phase A, 0 V Phase B, 24 V Phase B, 0 V Phase Z, 24 V Phase Z, 0 V High-speed counter 1...
  • Page 45 Section 3-2 Wiring High-speed Counters Using Up/Down Pulse Inputs Input number Code Pin No. Content High-speed counter 0 Increment input, 24 V Increment input, 0 V Decrement input, 24 V Decrement input, 0 V Reset input, 24 V Reset input, 0 V High-speed counter 1 Increment input, 24 V Increment input, 0 V...
  • Page 46 Section 3-2 Wiring Output number Code Pin No. Content General-purpose output 5 OUT5 Output 5 Power supply input (+V) for the output 39 or 40 Output COM Pulse Outputs Pulse Outputs Using CW/CCW Outputs Output number Code Pin No. Content Pulse output 0 OUT0 CW pulse output...

  • Page 47: Wiring Methods

    39 or 40 Output COM 3-2-3 Wiring Methods To connect to a Terminal Block, use an OMRON Cable preassembled with the special connector or attach the special connector (sold separately) to a cable yourself. Note 1. Do not supply a voltage to the input terminals that exceeds the I/O circuit’s specified input voltage range.
  • Page 48 Connector Models Compatible Connector MIL Flat Cable Connectors (40-pin Pressure-fitted Connectors) Specifications Socket Stain relief Name OMRON model number Daiichi Electronics model number Socket XG4M-4030 FRC5-AO40-3TON Stain Relief XG4M-4004...
  • Page 49 XW2B-40G4 (Standard) Connecting to an OMRON Servo Driver The following cable and Relay Unit can be used when connecting an OMRON Servo to the CJ1M CPU Unit’s built-in I/O. The configurations shown in the fol- lowing diagrams will make the necessary Servo Driver connections for the positioning and origin search functions (Origin Input Signal, Origin Proximity Input Signal, Positioning Completed Signal, and Error Counter Reset Output).
  • Page 50 Section 3-2 Wiring OMRON OMNUC W-series, UP-series, or UT-series Servo Driver CJ1M CPU Unit • XW2Z-@@@J-B4 W-series XW2Z-100J-A27 Connecting Cable Connecting Cable (1 m) • XW2Z-@@@J-B1 UP-series Connecting Cable • XW2Z-@@@J-B4 UT-series Connecting Cable; XW2B-20J6-8A OMNUC W-series Relay Unit or UP/UT-series...

  • Page 51: Wiring Examples

    Section 3-3 Wiring Examples OMRON OMNUC W-series, UP-series, or UT-series Servo Drivers • XW2Z-@@@J-B4 W-series Connecting Cable CJ1M CPU Unit • XW2Z-@@@J-B1 UP-series XW2Z-100J-A27 Connecting Cable • XW2Z-@@@J-B4 UT-series OMNUC W-series or Connecting UP/UT-series Cable (1 m) Connecting Cable Servomotor Driver •...
  • Page 52 Section 3-3 Wiring Examples Note Do not use the following wiring with voltage-output devices. Sensor power supply Output IN (24 V DC) CJ1M CPU Unit's built-in I/O IN (0 V) Note The CJ1M CPU Unit’s inputs have a set polarity, so the inputs will not go ON if the wiring is reversed.
  • Page 53 The sensor’s power supply status is read with CIO 000000. The timer pro- vides a delay until the sensor’s operation has stabilized (100 ms for an OMRON Proximity Sensor.) Once TIM 0000 goes ON, output CIO 000100 will be turned ON when a sen- sor input is received in input bit CIO 000001.

  • Page 54: Pulse Input Connection Examples

    Section 3-3 Wiring Examples 3-3-2 Pulse Input Connection Examples Encoders with 24-V DC Open-collector Outputs This example shows how to connect an encoder that has phase-A, phase-B, and phase-Z outputs. CJ1M CPU Unit Differential-phase input mode High-speed counter 0: Phase A, 24 V Black High-speed counter 0: Encoder...

  • Page 55: Power Supply Input Connection Example

    Section 3-3 Wiring Examples Encoders with Line Driver Outputs (Conforming to Am26LS31) CJ1M CPU Unit Differential-phase input mode Black High-speed counter 0: Phase A, LD+ A− Black (with stripe) High-speed counter 0: Encoder Phase A, LD− White High-speed counter 0: Phase B, LD+ B−...

  • Page 56: Pulse Output Connection Examples

    3.6 kΩ 1/7 5/11 Signal Switch circuit Origin Input Signal (Line Driver Input) CJ1M CPU Unit Example: OMRON R88D-WT 3.6 kΩ Servomotor Driver −Z 5/11 3-3-4 Pulse Output Connection Examples This section provides examples of connections to motor drivers. Refer to the specifications for the motor driver being used before actually connecting a motor driver.
  • Page 57 Section 3-3 Wiring Examples CW/CCW Pulse Output and Pulse plus Direction Output Using a Motor Driver with 24-V DC Photocoupler Inputs 24-V DC power CJ1M CPU Unit supply Motor driver (24-V input type) − 24-V DC power supply for outputs (−) 31/33 CW pulse...
  • Page 58 Section 3-3 Wiring Examples Connection Example 2 24-V DC 5-V DC power power CJ1M CPU Unit supply supply Motor driver − − (5-V input type) 24-V DC power supply for outputs (−) CW pulse 31/33 output (31/32) (Pulse output) (−) 32/34 CCW pulse (33/34)

  • Page 59: Error Counter Reset Output Connection Examples

    Section 3-3 Wiring Examples 3-3-5 Error Counter Reset Output Connection Examples CJ1M CPU Unit 24-V DC Output DC24V 37/38 power power OMRON R88D-WT Servo supply supply − Driver input 5-V DC 35/36 power supply − +ECRST 39, 40 −ECRST OMRON R88D-WT Servo...
  • Page 60 Section 3-3 Wiring Examples Connection Example for Operating Mode 0 In operating 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. In this example, a stepping motor driver is used and a sensor is connected to the Origin Input Signal terminal.
  • Page 61 Origin Input Signal. In this example, a servo driver is used and the encoder’s phase-Z output is used as the Origin Input Signal terminal. The servo driver is an OMRON W- series Servo Driver.
  • Page 62 Section 3-3 Wiring Examples Connecting an OMRON W-series Servo Driver W-series Servomotor Driver Operation Mode 1 CW output 1.6 kΩ −CW (pulse output 0) +CCW output (pulse 1.6 kΩ output 0) −CCW Output +24 V IN power supply input 24 V DC N.C.
  • Page 63 Section 3-3 Wiring Examples Connecting a SMART STEP A-series Servo Driver SMART STEP A-series Servomotor Driver Operation Mode 1 CW output 1.6 kΩ (pulse output 0) −CW +CCW output (pulse 1.6 kΩ output 0) −CCW Output power sup- +24 V IN ply input 24 V DC N.C.
  • Page 64 Positioning Completed Signal. In this example, a servo driver is used and the encoder’s phase-Z output is used as the Origin Input Signal terminal. The servo driver is an OMRON Servo Driver (W-series, U-series, or SMART STEP A-series. Set the Servo Driver so that the Positioning Completed Signal is OFF when the motor is operating and ON when the motor is stopped.
  • Page 65 Section 3-3 Wiring Examples Connecting an OMRON W-series or U-series (UP or UT) Servo Driver W-series or U-series Servomotor Driver Operation Mode 2 CW output 1.6 kΩ −CW (pulse output 0) +CCW output (pulse 1.6 kΩ output 0) −CCW Output pow-...
  • Page 66 Section 3-3 Wiring Examples Connecting an OMRON U-series (UE) or SMART STEP A-series Servo Driver U-series (UE) or SMART STEP A-series Servo Driver Operation Mode 2 CW output 1.6 kΩ −CW (pulse output 0) +CCW output (pulse 1.6 kΩ −CCW...
  • Page 67 Section 3-3 Wiring Examples Origin Search Operation The origin search operation is completed at the first phase-Z signal after the rising edge of the Origin Proximity Input Signal is detected, deceleration is completed, and the falling edge of the Origin Proximity Input Signal is detected.

  • Page 68: Variable Duty Ratio Pulse Output (Pwm(891) Output) Connection Example49

    Section 3-3 Wiring Examples 3-3-7 Variable Duty Ratio Pulse Output (PWM(891) Output) Connection Example This example shows how to use pulse output 0 to control the brightness of a light bulb. Refer to Output Wiring Precautions on page 34 for details on suppressing the load’s inrush current and modify the circuit if necessary.
  • Page 69 Section 3-3 Wiring Examples...

  • Page 70: Data Area Allocation And Plc Setup Settings

    SECTION 4 Data Area Allocation and PLC Setup Settings This section describes the allocation of words and bits for usage with the built-in I/O and PLC Setup settings related to built-in I/O. Data Area Allocation for Built-in I/O ....... PLC Setup Settings .

  • Page 71: Data Area Allocation For Built-In I/O

    Section 4-1 Data Area Allocation for Built-in I/O Data Area Allocation for Built-in I/O I/O Code OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 Address CIO 2960 CIO 2961 Inputs General- General- General- General- General- General- General- General- General- General- General- purpose purpose purpose purpose...
  • Page 72 Section 4-2 PLC Setup Settings High-speed Counter 0 Counting Mode Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 08 to 11 0 hex: 0 hex Specifies the counting mode for high- When operation speed counter 0.
  • Page 73 Section 4-2 PLC Setup Settings High-speed Counter 1 Operation Settings High-speed Counter 1 Enable/Disable Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 12 to 15 0 hex: Don’t Use 0 hex Specifies whether or not high-speed When power is...
  • Page 74 Section 4-2 PLC Setup Settings High-speed Counter 1 Pulse Input Setting (Pulse Input Mode) Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 00 to 03 0 hex: Differential 0 hex Specifies the pulse-input method for When operation...
  • Page 75 Section 4-2 PLC Setup Settings Input Operation Setting for IN2 Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 08 to 11 0 hex: 0 hex Specifies the kind of input that is When power is being received at built-in input IN2.

  • Page 76: Origin Search Function

    Section 4-2 PLC Setup Settings 4-2-2 Origin Search Function The following tables show the settings for the origin search function in the CX- Programmer’s Define Origin Operation Settings Field of Define Origin 1/2 Tab. These settings are for CJ1M CPU Units equipped with the built-in I/O func- tions.
  • Page 77 Section 4-2 PLC Setup Settings Pulse Output 0 Origin Search Operation Setting Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 04 to 07 0 hex: 0 hex Specifies the origin search operation When operation for pulse output 0.
  • Page 78 Section 4-2 PLC Setup Settings Note When the CX-Programmer is being used to make the setting, the setting is input in decimal. Pulse Output 0 Origin Search High Speed Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit...
  • Page 79 Section 4-2 PLC Setup Settings Note When the CX-Programmer is being used to make the setting, the setting is input in decimal. Pulse Output 0 Positioning Monitor Time Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit...
  • Page 80 Section 4-2 PLC Setup Settings Pulse Output 1 Origin Search Operation Setting Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 04 to 07 0 hex: 0 hex Specifies the origin search operation When operation for pulse output 1.
  • Page 81 Section 4-2 PLC Setup Settings Pulse Output 1 Origin Search/Return Initial Speed Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 00 to 15 00000000 to 00000000 Specifies the starting speed (0 to When operation 000186A0 hex 100,000 pps) for the pulse output 1...

  • Page 82: Origin Return Function

    Section 4-2 PLC Setup Settings Pulse Output 1 Origin Search Deceleration Rate Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 00 to 15 0001 to 07D0 hex Sets the origin search deceleration When operation (See note.)
  • Page 83 Section 4-2 PLC Setup Settings Deceleration Rate (Pulse Output 0 Origin Return Deceleration Rate) Programming Settings Default Function Related Time when Console setting Auxiliary setting is read address Area flags/ by CPU Unit bits Word 00 to 15 0001 to 07D0 hex 0000 Sets the origin return deceleration When operation...

  • Page 84: Auxiliary Area Data Allocation

    Section 4-3 Auxiliary Area Data Allocation Auxiliary Area Data Allocation 4-3-1 Auxiliary Area Flags and Bits for Built-in Inputs The following tables show the Auxiliary Area words and bits that are related to the CJ1M CPU Unit’s built-in inputs. These allocations apply to CPU Units equipped with the built-in I/O functions only.
  • Page 85 Section 4-3 Auxiliary Area Data Allocation Name Address Description Read/Write Times when data is accessed High-speed Counter A27400 These flags indicate whether the PV is within the Read only • Cleared when power is turned specified ranges when high-speed counter 0 is being operated in range-comparison mode.
  • Page 86 Section 4-3 Auxiliary Area Data Allocation Name Address Description Read/Write Times when data is accessed High-speed Counter A27415 ON only when the CTBL(882) instruction is Read only • Cleared when power is turned being executed for high-speed counter 0, i.e., a comparison table is registered for high-speed CTBL(882) Instruc- •...

  • Page 87: Auxiliary Area Flags And Bits For Built-In Outputs

    Section 4-3 Auxiliary Area Data Allocation Name Address Description Read/Write Times when data is accessed High-speed Counter A27509 This flag indicates when an overflow or under- Read only • Cleared when power is turned flow has occurred in the high-speed counter 1 PV.
  • Page 88 Section 4-3 Auxiliary Area Data Allocation Name Address Description Read/Write Times when data is accessed Pulse Output 0 A28000 This flag will be ON when pulses are being out- Read only • Cleared when power is turned Accel/Decel Flag put from pulse output 0 according to an ACC(888) or PLS2(887) instruction and the out- •...
  • Page 89 Section 4-3 Auxiliary Area Data Allocation Name Address Description Read/Write Times when data is accessed Pulse Output 0 At- A28006 ON when the pulse output PV matches the ori- Read only • Cleared when power is turned origin Flag gin (0). 0: Not stopped at origin.
  • Page 90 Section 4-3 Auxiliary Area Data Allocation Name Address Description Read/Write Times when data is accessed Pulse Output 1 Out- A28104 ON when pulses are being output from pulse Read only • Cleared when power is turned put In-progress Flag output 1. 0: Stopped •...

  • Page 91: Flag Operations During Pulse Output

    Section 4-4 Flag Operations during Pulse Output Name Address Description Read/Write Times when data is accessed Pulse Output 0 CW A54008 This is the CW limit input signal for pulse output Read/Write Cleared when power Limit Input Signal 0, which is used in the origin search. To use this is turned ON.

  • Page 92: Built-In I/O Function Descriptions

    SECTION 5 Built-in I/O Function Descriptions This section describes the application of built-in I/O in detail. Built-in Inputs ..........5-1-1 Overview.

  • Page 93: Built-In Inputs

    Section 5-1 Built-in Inputs Built-in Inputs 5-1-1 Overview There are 4 kinds of built-in inputs: • General-purpose inputs • Interrupt inputs (direct mode or counter mode) • High-speed counter inputs (with the frequency measurement function) • Quick-response inputs The built-in inputs are allocated bits 00 to 09 of CIO 2960. The PLC Setup set- tings specify which kind of input is used for each bit.
  • Page 94 Section 5-1 Built-in Inputs Procedure • IN0 to IN9 (CIO 2960 bits 00 to 09) Select general purpose • Connect to the selected terminals between IN0 and IN9. Wire inputs. PLC Setup settings • When IN0 to IN3 are used as general-purpose inputs, make the necessary "input operation settings"...

  • Page 95: Interrupt Inputs

    Section 5-1 Built-in Inputs Specifications Item Specifications Number of inputs 10 inputs Allocated data area CIO 2960 bits 00 to 09 Input time constant Default: 8 ms (ON response time) The following settings can be made in the PLC Setup: 0 ms (no filter), 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, or 32 ms.
  • Page 96 Section 5-1 Built-in Inputs Restrictions on Interrupt • Interrupt inputs 0 to 3 cannot be used when built-in inputs IN0 to IN3 are Inputs (Direct Mode) being used as general-purpose inputs or quick-response inputs. • Interrupt input 3 cannot be used when high-speed counter input 0 is being used and the high-speed counter 0 reset method is set to Phase-Z signal + Software reset.
  • Page 97 Section 5-1 Built-in Inputs Procedure • IN0 to IN3 (CIO 2960 bits 00 to 03) Select interrupt inputs. • Connect to the selected terminals between IN0 and IN3. Wire inputs. • When IN0 to IN3 are used as interrupt inputs in counter PLC Setup settings mode, make the necessary "input operation settings"...

  • Page 98: High-Speed Counter Inputs

    Section 5-1 Built-in Inputs Specifications Item Specifications Number of inputs 4 inputs (The 4 input terminals are shared with the quick-response inputs, high-speed counter (Phase-Z signal), and general-purpose inputs.) Allocated data area CIO 2960 bits 00 to 03 Count pulse detection Up differentiation or down differentiation Count method Incrementing or decrementing (Set with the...
  • Page 99 Section 5-1 Built-in Inputs Bit Allocations Code Word Pulse input mode address Differential phase Pulse + direction Up/down input Increment CIO 2960 High-speed counter High-speed counter High-speed counter High-speed counter 1 Phase A 1 Count input 1 Increment input 1 Count input High-speed counter High-speed counter High-speed counter...
  • Page 100 Section 5-1 Built-in Inputs Procedure Select high-speed counter 1 and/or 2. • Pulse input methods: Differential phase (4x), Pulse + direction, Up/Down, or Increment • Reset methods: Phase-Z + Software reset or Software Select the pulse input method, reset method, and counting range. reset •...
  • Page 101 Section 5-1 Built-in Inputs Restrictions on High-speed Counter Inputs • The Phase-Z signal + Software reset method cannot be used when high speed counters 0/1 are operating in Differential Phase or Pulse + Direc- tion Input Modes and the origin search function is enabled for pulse out- put 1.
  • Page 102 Section 5-1 Built-in Inputs Item Specification Control Target value comparison Up to 48 target values and corresponding interrupt task numbers can be regis- method tered. Range comparison Up to 8 ranges can be registered, with a separate upper limit, lower limit, and interrupt task number for each range.
  • Page 103 Section 5-1 Built-in Inputs Conditions for Incrementing/Decrementing the Count Direction Pulse Count value signal signal ↑ No change ↑ Increment ↓ No change ↓ No change ↑ Decrement ↑ No change ↓ No change ↓ No change • The count is incremented when the direction signal is ON and decre- mented when it is OFF.
  • Page 104 Section 5-1 Built-in Inputs • Only up-differentiated pulses (rising edges) can be counted. Counting Modes Linear Mode Input pulses can be counted in the range between the lower limit and upper limit values. If the pulse count goes beyond the lower/upper limit, an under- flow/overflow will occur and counting will stop.
  • Page 105 Section 5-1 Built-in Inputs Reset Methods Phase-Z Signal + Software The high-speed counter’s PV is reset when the phase-Z signal (reset input) Reset goes from OFF to ON while the corresponding High-speed Counter Reset Bit (A53100 or A53101) is ON. The CPU Unit recognizes the ON status of the High-speed Counter Reset Bit only at the beginning of the PLC cycle during the overseeing processes.
  • Page 106 Section 5-1 Built-in Inputs • Up to 48 target values (between 1 and 48) can be registered in the com- parison table. • A different interrupt task can be registered for each target value. • The target value comparison is performed on all of the target values in the table, regardless of the order in which the target values are registered.
  • Page 107 Section 5-1 Built-in Inputs Restrictions When more than one comparison condition is met in a cycle, the first interrupt task in the table will be executed in that cycle. The next interrupt task in the table will be executed in the next cycle. High-speed counter PV Comparison table Upper limit 1...

  • Page 108: Quick-Response Inputs

    Section 5-1 Built-in Inputs 2. Pulse Input Mode Setting (Required) Set the High-speed Counter 0 Pulse Input Mode in the PLC Setup. 3. Counting Mode Setting (Required) Set the High-speed Counter 0 Counting Mode in the PLC Setup. If ring mode counting is selected, set the High-speed Counter 0 Ring Counter Maximum Value (max.

  • Page 109: Hardware Specifications

    Section 5-1 Built-in Inputs Restrictions on Quick-response Inputs • Quick-response inputs 0 to 3 cannot be used when built-in inputs IN0 to IN3 are being used as general-purpose inputs or high-speed counter inputs. • Quick-response input 3 cannot be used when high-speed counter input 0 is being used.

  • Page 110: Built-In Outputs

    Section 5-2 Built-in Outputs Built-in Outputs 5-2-1 Overview There are 3 kinds of built-in outputs: • General-purpose outputs • Pulse outputs • Variable duty ratio pulse outputs (PWM(891) outputs) The built-in outputs are allocated bits 00 to 05 of CIO 2961. The Pulse Output Instructions must be executed to specify which kind of input is used for each bit.

  • Page 111: Pulse Outputs

    Section 5-2 Built-in Outputs Specifications Item Specifications Number of outputs 6 outputs Allocated data area CIO 2961 bits 00 to 05 5-2-3 Pulse Outputs Overview The pulse output function outputs fixed duty ratio (duty ratio: 50%) pulse sig- nals from the built-in output terminals. Both speed control (outputting pulses continuously at specified frequencies) and positioning (outputting a specified number of pulses) are supported.
  • Page 112 Section 5-2 Built-in Outputs Bit Allocations Code Word CW/CCW inputs Pulse + direction inputs address OUT0 CIO 2961 Pulse output 0 (CW) Pulse output 0 (pulse) OUT1 Pulse output 0 (CCW) Pulse output 1 (pulse) OUT2 Pulse output 1 (CW) Pulse output 0 (direction) OUT3 Pulse output 1 (CCW)
  • Page 113 Section 5-2 Built-in Outputs Item Specifications Relative pulse specification/ The pulse type can be specified with an operand in PULS(886) or PLS2(887). Absolute pulse specification Note The absolute pulse specification can be used when absolute coordinates are specified for the pulse out- put PV, i.e.
  • Page 114 Section 5-2 Built-in Outputs Instruction Function Positioning (independent mode) Speed control Origin (continuous mode) search Pulse Pulse output with Pulse Pulse output acceleration/deceler- output output without ation without with accelera- accelera- accelera- Trapezoi- Trapezoi- tion/ tion/ tion/ dal, equal dal, sepa- decelera- decelera- decelera-...
  • Page 115 Section 5-2 Built-in Outputs Pulse Output Patterns The following tables show the kinds of pulse output operations that can be performed by combining various pulse output instructions. Continuous Mode (Speed Starting a Pulse Output Control) Operation Example Frequency changes Description Procedure application Instruction...
  • Page 116 Section 5-2 Built-in Outputs Operation Example applica- Frequency changes Description Procedure tion Instruction Settings Change Not supported. direction Change Not supported. pulse out- put method Stopping a Pulse Output Operation Example Frequency changes Description Procedure application Instruction Settings Stop pulse Immediate Stops the pulse out- SPED(885)
  • Page 117 Section 5-2 Built-in Outputs Independent Mode Starting a Pulse Output (Positioning) Operation Example Frequency changes Description Procedure application Instruction Settings •Number Output with Positioning Starts outputting PULS(886) Specified number of specified without accel- Pulse frequency pulses at the speci- ↓ of pulses pulses (Specified with speed...
  • Page 118 Section 5-2 Built-in Outputs reduce the acceleration/deceleration time and perform triangular control (acceleration and deceleration only.) An error will not occur. Specified number Specified number of pulses of pulses Pulse frequency Pulse frequency (Specified with (Specified with PULS(887).) PULS(886).) Target Target frequency frequency...
  • Page 119 Section 5-2 Built-in Outputs Operation Example Frequency changes Description Procedure application Instruction Settings Change Changing PLS2(887) can be PULS(886) •Number Specified number of Pulse ↓ speed the target executed during of pulses pulses (Specified frequency smoothly speed (fre- positioning to •Relative ACC(888) with PULS(886).)
  • Page 120 Section 5-2 Built-in Outputs Operation Example Frequency changes Description Procedure application Instruction Settings Change tar- Change the PLS2(887) can be PULS(886) •Number Number of pulses ↓ get position target posi- executed during of pulses Number of not change with Pulse and speed tion and tar- positioning to...
  • Page 121 Section 5-2 Built-in Outputs Stopping a Pulse Output Operation Example applica- Frequency changes Description Procedure tion Instruction Settings Stop pulse Immediate stop Stops the pulse out- PULS(886) •Stop Pulse frequency ↓ output put immediately pulse out- (Number of and clears the num- ACC(888) or Present pulses set-...
  • Page 122 Section 5-2 Built-in Outputs Switching from Continuous Mode (Speed Control) to Independent Mode (Positioning) Example applica- Frequency changes Description Procedure tion Instruction Settings Change from speed PLS2(887) can be ACC(888) •Port Outputs the number of control to fixed dis- executed during a (Continu- •Acceleration rate pulses specified in...
  • Page 123 Section 5-2 Built-in Outputs Instruction being executed Overriding instruction (Yes: Can be executed; No: Cannot be executed) SPED SPED PLS2 (Ind.) (Cont.) (Ind.) (Cont.) ACC(888) Steady speed (Ind.) Accelerating or deceler- ating ACC(888) Steady speed (Cont.) Accelerating or deceler- ating PLS2(887) Steady speed Accelerating or deceler- ating...
  • Page 124 Section 5-2 Built-in Outputs • The output mode and direction cannot be switched. 7. ACC(888) (Cont.) to PLS2(887) • The frequency can be changed (even during acceleration or decelera- tion.) • The acceleration/deceleration rate can be changed (even during acceler- ation or deceleration.) •...
  • Page 125 Section 5-2 Built-in Outputs Relationship between the The following table shows the pulse output operation for the four possible Coordinate System and combinations of the coordinate systems (absolute or relative) and the pulse Pulse Specification specifications (absolute or relative) made when PULS(886) or PLS2(887) is executed.
  • Page 126 Section 5-2 Built-in Outputs Coordinate Relative coordinate system Absolute coordinate system system Path specification Origin not established: Origin established: made with The Pulse Output 0 Origin Established Flag The Pulse Output 0 Origin Established Flag instruction (A28005) or Pulse Output 1 Origin Established (A28005) or Pulse Output 1 No-origin Flag (PULS(886) or Flag (A28105) will be ON.
  • Page 127 Section 5-2 Built-in Outputs Current status PROGRAM mode RUN mode or MONITOR mode Operation Origin Origin not Origin Origin not established established established established Instruc- Origin search Status Status tion exe- performed by changes to changes to cution ORG(889) “Origin “Origin established.”...
  • Page 128 Section 5-2 Built-in Outputs Procedure Single-phase Pulse Output without Acceleration/Deceleration The number of output pulses setting cannot be changed during positioning. PULS(886) and SPED(885) • CW/CCW method Pulse output 0 uses OUT0 (CIO 296100) and OUT1 CIO 296101). Pulse output 1 uses OUT2 (CIO 296102) and OUT3 CIO 296103). •...
  • Page 129 Section 5-2 Built-in Outputs Single-phase Pulse Output with Acceleration/Deceleration PULS(886) and ACC(888) • CW/CCW method Pulse output 0 uses OUT0 (CIO 296100) and OUT1 (CIO 296101). Pulse output 1 uses OUT2 (CIO 296102) and OUT3 (CIO 296103). • Pulse + direction method Determine the pulse output method and port.

  • Page 130: Variable Duty Ratio Pulse Outputs (Pwm(891) Outputs)

    Section 5-2 Built-in Outputs Pulse Output with Trapezoidal Acceleration/Deceleration (Using PLS2(887)) • CW/CCW method Pulse output 0 uses OUT0 (CIO 296100) and OUT1 (CIO 296101). Pulse output 1 uses OUT2 (CIO 296102) and OUT3 (CIO 296103). Determine the pulse output •...
  • Page 131 Section 5-2 Built-in Outputs Procedure • PWM output 0 uses OUT4 (CIO 296104) PWM output 1 uses OUT5 (CIO 296105) Determine the pulse output port. • Connect to OUT4 or OUT5. Wire the outputs. • Disable the origin search function for pulse output 0 or 1 by setting the Origin Search Function Enable/Disable setting to 0.

  • Page 132: Origin Search And Origin Return Functions

    Section 5-3 Origin Search and Origin Return Functions Origin Search and Origin Return Functions 5-3-1 Overview The CJ1M CPU Units have two functions that can be used to determine the machine origin for positioning. 1,2,3... 1. Origin Search The origin search function outputs pulses to turn the motor according to the pattern specified in the origin search parameters.
  • Page 133 Section 5-3 Origin Search and Origin Return Functions motor is decelerated to the origin search low speed and run at that speed until the origin position is detected. The motor is stopped at the origin position. Origin search Origin search Pulse frequency deceleration rate high speed...
  • Page 134 Section 5-3 Origin Search and Origin Return Functions Origin Search for Pulse Output 1 Code Word CW/CCW Pulse + Bits used when address inputs direction origin search inputs function is enabled. OUT1 Pulse output 1 2961 (pulse) OUT2 Pulse output 1 (CW) OUT3 Pulse output 1...
  • Page 135 Section 5-3 Origin Search and Origin Return Functions Procedure • Output: Connect the outputs using the CW/CCW method or pulse + direction method. The same method must be used for both pulse output 0 and pulse output 1. Power supply for outputs: 24 V DC •...
  • Page 136 Section 5-3 Origin Search and Origin Return Functions PLC Setup Settings Origin Search Function These PLC Setup settings indicate whether or not the origin search function Enable/Disable Settings will be used for each pulse output. for Pulse Outputs 0 and 1 Pulse Output 0 Use Origin Operation Settings (Origin Search Function Enable/Disable) Programming...
  • Page 137 Section 5-3 Origin Search and Origin Return Functions Name Settings Time when read Origin Origin search/ 00000000 to 000186A0 hex Start of opera- search return initial (0 to 100,000 pps) tion speed speed Origin search 00000000 to 000186A0 hex Start of opera- high speed (0 to 100,000 pps) tion...
  • Page 138 Section 5-3 Origin Search and Origin Return Functions The following table shows the proper operating mode settings for different drivers and applications. Driver Remarks Operating mode Stepping motor driver (See note.) Servo driver Use this mode when you want to reduce the processing time, even at the expense of positioning accuracy.
  • Page 139 Section 5-3 Origin Search and Origin Return Functions Operating Mode 1 (with Error Counter Reset Output, without Positioning Completed Input) Connect the phase-Z signal from the Servo Driver to the Origin Input Signal. When the Origin Input Signal is received, the pulse output will be stopped and the Error Counter Reset Signal will be output for about 20 to 30 ms.
  • Page 140 Section 5-3 Origin Search and Origin Return Functions Operating Mode 1 without Origin Proximity Input Signal Reverse (Origin Detection Method Setting = 1) Depending on the length of the deceleration time, the stopping position may change when the Origin Input Signal is detected during deceleration. Origin Proximity Input Signal Origin Input Signal...
  • Page 141 Section 5-3 Origin Search and Origin Return Functions Origin Detection Method Select one of the following methods that specify the treatment of the Origin Proximity Input Signal. Setting Description 0: Origin Proximity Input Signal Reads the first Origin Input Signal after the Ori- reversal required.
  • Page 142 Section 5-3 Origin Search and Origin Return Functions Origin Detection Method 2: Origin Proximity Input Signal Reversal Not Used Deceleration starts when Origin Proximity Input Signal goes OFF→ON. Origin Input Signal Proximity speed Pulse output for origin search Acceleration Initial speed Stop Start when...
  • Page 143 Section 5-3 Origin Search and Origin Return Functions Using Reversal Mode 1 Origin search 0: Reversal mode 1 operation Origin detection method 0: Origin Prox- Origin Proximity imity Input Sig- Input Signal nal reversal Origin Input required. Signal High speed for origin search Pulse output Proximity speed for origin search Stop...
  • Page 144 Section 5-3 Origin Search and Origin Return Functions Using Reversal Mode 2 Origin search 1: Reversal mode 2 operation Origin detection method 0: Origin Proximity Input Origin Proximity Signal reversal required. Input Signal Origin Input Signal Pulse output Stop Start CW limit input signal Stop (See note.)
  • Page 145 Section 5-3 Origin Search and Origin Return Functions Origin search 1: Reversal mode 2 operation Origin detection method 1: Origin Proximity Input Origin Proximity Signal reversal not Input Signal required. Origin Input Signal Pulse output Stop Start CW limit input signal Stop (See note.) Start...
  • Page 146 Section 5-3 Origin Search and Origin Return Functions Origin Search Proximity Speed Sets the motor’s speed after the Origin Proximity Input Signal is detected. Specify the speed in the number of pulses per second (pps). Origin Search Acceleration Rate Sets the motor’s acceleration rate when the origin search is executed. Specify the amount to increase the speed (Hz) per 4-ms interval.

  • Page 147: Origin Search Error Processing

    Section 5-3 Origin Search and Origin Return Functions Executing an Origin Search Execute ORG(889) in the ladder program to perform an origin search with the specified parameters. P: Port specifier ORG(889) Pulse output 0: #0000 Pulse output 1: #0001 C: Control data; Origin search and CW/CCW method: #0000 Origin search and pulse + direction method: #0001 Restrictions The motor can be moved even if the origin position has not been determined...
  • Page 148 Section 5-3 Origin Search and Origin Return Functions Pulse Output Stop Error Codes Error name Error code Likely cause Corrective action Operation after error CW Limit Stop Input 0100 Stopped due to a CW limit signal Move in the CCW direction. Immediate stop, Signal input.

  • Page 149: Origin Search Examples

    Section 5-3 Origin Search and Origin Return Functions Error name Error code Likely cause Corrective action Operation after error Limit Input Signal 0205 •When an origin search in one Check the wiring of the Limit Immediate stop, direction is being performed, Already Being Input Input Signal and the PLC No effect on...
  • Page 150 Section 5-3 Origin Search and Origin Return Functions System Configuration Origin Proximity CW limit Input sensor CCW limit detection detection Workpiece Servomotor sensor sensor Encoder CJ1M CPU Unit Basic I/O Units Allocations in CIO 0000 • Bit 00: CW limit detection sensor •...
  • Page 151 Section 5-3 Origin Search and Origin Return Functions Operation Origin Proximity Input (IN1: CIO 26001) Origin Signal Input (IN0: CIO 26000) Pulse Origin search frequency Origin search high speed deceleration Origin search rate Pulse output acceleration (OUT0 and Origin search rate OUT1) proximity speed...

  • Page 152: Origin Return

    Section 5-3 Origin Search and Origin Return Functions Ladder Program CW limit detection CCW limit sensor detection sensor 000000 A54008 CW Limit CCW Limit Input Signal Input Signal 000001 A54009 Execution condition Origin search 0: @ORG #0000; Origin #0000 search and CW/CCW #0000 method: #0000...
  • Page 153 Section 5-3 Origin Search and Origin Return Functions Procedure 1. Starting Speed for Origin Search and Origin Return 2. Origin return target speed Determine the origin return parameters. 3. Origin return acceleration rate 4. Origin return deceleration rate • Outputs: Use either the CW/CCW method or Pulse + direction method.

  • Page 154: Programming Examples

    SECTION 6 Programming Examples This section provides examples of programming built-in I/O. Built-in Outputs..........6-1-1 Using Interrupts to Read Input Pulses (Length Measurement) .

  • Page 155: Built-In Outputs

    Section 6-1 Built-in Outputs Built-in Outputs 6-1-1 Using Interrupts to Read Input Pulses (Length Measurement) Specifications and Operation This example program reads the number of encoder pulses input with high- speed counter 1 and also reads sensor inputs 1 and 2 as interrupt inputs at terminals IN1 (2960.01) and IN3 (2960.03).
  • Page 156 Section 6-1 Built-in Outputs Ladder Program Cyclic Task (Task 0) P_First_Cycle_Task MOVL(498) Task Start Flag Used to clear the high- D00000 speed counter PV. MSKS(690) Built-in interrupt input 1 Unmask (Enable interrupts.) MSKS(690) Built-in interrupt input 3 Unmask (Enable interrupts.) Built-in Input 1 Interrupt Task (Interrupt Task 141) P_On INI(880)

  • Page 157: Outputting Pulses After A Preset Delay

    Section 6-1 Built-in Outputs 6-1-2 Outputting Pulses after a Preset Delay Specifications and Operation This example program waits for a preset time (0.5 ms) after the interrupt input (2960.03) goes ON and then outputs 100,000 pulses at 100 kHz from pulse output 0.

  • Page 158: Positioning (Trapezoidal Control)

    Section 6-1 Built-in Outputs Built-in Input 3 Interrupt Task (Interrupt Task 143) A280.04 MSKS(690) Pulse Output 0 Scheduled interrupt 0 Output In-progress (Reset start) Flag Scheduled interrupt time #0005 (5 x 0.1 ms = 0.5 ms) Scheduled Interrupt Task 0 (Interrupt Task 2) P_On PULS(886) Always ON...

  • Page 159: Jog Operation

    Section 6-1 Built-in Outputs Preparation and PLC Setup Settings PLS2(887) Settings Table (D00000 to D00007) Setting details Address Data Acceleration rate: 300 Hz/4 ms D00000 #012C Deceleration rate: 200 Hz/4 ms D00001 #00C8 Target frequency: 50,000 Hz D00002 #C350 D00003 #0000 Number of output pulses: 600,000 pulses D00004...
  • Page 160 Section 6-1 Built-in Outputs • Low-speed jog operation (CCW) will be executed from pulse output 1 while input 2960.07 is ON. Target frequency 1,000 Hz CW Low-speed JOG (2960.06) CCW Low-speed JOG (2960.07) • High-speed job operation (CW) will be executed from pulse output 1 while input 2960.08 is ON.
  • Page 161 Section 6-1 Built-in Outputs Ladder Program 2960.06 A281.04 SPED(885) Low-speed Pulse Output Pulse output 1 CW Start in Progress Specifies CW/CCW output method, #0000 CW side, and continuous mode. D00000 Target frequency SET 0.00 0.00 2960.06 SPED(885) Low-speed Low-speed CW output in CW Start progress #0000...
  • Page 162 Section 6-1 Built-in Outputs 2960.08 A281.04 ACC(888) High-speed Pulse Output Pulse output 1 CW Start in Progress Specifies CW/CCW output method, #0000 CW side, and continuous mode. D00010 Acceleration rate and target frequency SET 0.02 0.02 2960.08 ACC(888) High-speed High-speed CW output in CW Start progress...
  • Page 163 Section 6-1 Built-in Outputs...

  • Page 164: Combinations Of Pulse Control Instructions

    Appendix A Combinations of Pulse Control Instructions Starting Instructions: SPED(885) and ACC(888), Independent Instruc- Pulse Starting instruction tion being status INI(880) SPED(885) SPED(885) ACC(888) executed (Independent) (Continuous) (Independent) × SPED(885) Steady Read PV Output method Output method Output method (Indepen- speed ×...
  • Page 165 Appendix A Combinations of Pulse Control Instructions Instruc- Pulse Starting instruction tion being status INI(880) SPED(885) SPED(885) ACC(888) executed (Independent) (Continuous) (Independent) × × × ORG(889) Steady Read PV Output method Output method Output method speed × × × Stop pulses Direction Direction Direction...
  • Page 166 Appendix A Combinations of Pulse Control Instructions Starting Instructions: ACC(888), Continuous, PLS2(887), and ORG(889) Instruction Pulse status Starting instruction being exe- ACC(888) (Continuous) PLS2(887) ORG(889) cuted × × × SPED(885) Steady Output method Output method Output method (Independent) speed × ×...

  • Page 167: A Combinations Of Pulse Control Instructions

    Appendix A Combinations of Pulse Control Instructions...

  • Page 168: Using Pulse Instructions In Other Cpu Units

    Appendix B Using Pulse Instructions in other CPU Units PLC Compatibility Table Instruction Function CJ1M CQM1H CPM2C Customizable Counter Units PULS(886) Specifying the number of output pulses (absolute or relative) Specifying the CW/CCW direction (Specified by (Specified by SPED(885) or SPED(885) or ACC(888).) ACC(888).)
  • Page 169 Appendix B Using Pulse Instructions in other CPU Units Instruction Function CJ1M CQM1H CPM2C Customizable Counter Units PLS2(887) Specifying the number of output pulses (absolute or relative) (Instruction not supported) Switching between CW/CCW and Pulse + direction output methods (Instruction not supported) Setting different acceleration and deceleration rates...
  • Page 170 Appendix B Using Pulse Instructions in other CPU Units Instruction Function CJ1M CQM1H CPM2C Customizable Counter Units PRV(881) Reading PVs •High-speed •High-speed •High-speed •High-speed counter PV counter PV counter PV counter PV (PVs that can be read.) •Interrupt input •Interrupt input •Pulse output (counter mode) (counter mode)

  • Page 171: B Using Pulse Instructions In Other Cpu Units

    Appendix B Using Pulse Instructions in other CPU Units...

  • Page 172: Interrupt Response Times

    Appendix C Interrupt Response Times Note The actual performance depends on a variety of factors that affect CPU Unit operation such as the func- tion’s operating conditions, user program complexity, and cycle time. Use the performance specifications as guidelines, not absolute values. Built-in Interrupt Input Response Time The interrupt response time is the time it takes between an OFF-to-ON signal (or ON-to-OFF signal for down- differentiation) at the built-in interrupt input terminal until the corresponding I/O interrupt task is actually exe-...
  • Page 173 Appendix C Interrupt Response Times Pulse output instruction Startup time 70 µs PLS2(887) (Trapezoidal control) 72 µs PLS2(887) (Triangular control) Pulse Output Change Response Time In some cases, another pulse output instruction can be executed during a pulse output operation to change the settings or the operation itself.

  • Page 174: Index

    Index absolute coordinates CJ1W-NC selecting comparison of pulse output functions absolute pulse outputs connector pin allocations acceleration rate connectors changing flat cable connectors loose wire crimp connectors allocations models Auxiliary Area data allocation built-in CPU Unit inputs continuous mode (speed control) built-in CPU Unit outputs controlling pulse outputs connector pin allocations...
  • Page 175 Index features I/O specifications fixed distance feed interrupt immediate refreshing fixed duty ratio pulse outputs increment mode allocations details flags independent mode (positioning) flag operations during pulse output input operation settings frequency IN0 to IN3 frequency measurement input time constant input pulse frequency settings inrush current considerations...
  • Page 176 Index origin status operations affecting OMNUC W-series, UP-series, or UT-series Servo Driver output short protection connections output wiring precautions OMNUC W-series, UP-series, or UT-series Servo Drivers connections operating environment precautions PLC Setup settings operating environment precautions PLCs operating mode 0 compatibility table connection example positioning...
  • Page 177 Index PWM(891) output I/O specifications connection example input characteristics details input specifications restrictions interrupt input (counter mode) specifications interrupt input (direct mode) interrupt input specifications PWM(891) outputs output specifications connector pin usage pulse outputs PWM(891) output quick-response input specifications quick-response inputs quick-response inputs transistor allocations...
  • Page 178 Index wiring connector pin allocations wiring examples DC input devices wiring instructions wiring methods W-series or U-series (UP or UT) Servo Driver connection example W-series Servo Driver connection example...
  • Page 179 Index...

  • Page 180: 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. W395-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 181 For US technical support or other inquiries: 800.556.6766 OMRON CANADA, INC. Milner Avenue Toronto, Ontario M 416.286.6465 OMRON ON-LINE Global - http://www.omron.com USA - http://www.omron.com/oei Canada - http://www.omron.ca W395-E1-1 9/02 ©2002 OMRON ELECTRONICS LLC Specifications subject to change without notice. Printed in the U.S.A.

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