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SYSMAC CJ Series CJ2M CPU Unit Pulse I/O Module

1. 7 28 high speed counters eeeeeeeeeeeeeeeeese 7 1 application examples sseeesssssss 7 43 PAU INGUIN ANOA caseus Ue aee ies baste atlases 7 35 counting mode setting seeeseeesseesesss 7 14 frequency measurement ccccccseeeeeeeeeeeeeeeeeeees 7 17 gate function cccccseeceeccceeseeeeceeeeeeceuaeeeeesaeeeeess 7 20 INPUT SPECITIEATIONS reci t oH S 3 3 incar MOOG Tr 7 14 measuring rotational speed or total revolutions 7 18 PEC SOU Osos CON 7 4 pulse input methods eeesssees 7 13 range comparison eeeeeeeeeeeee nenne 7 22 reading count direction sessssessssss 7 19 reading present value ssss 7 16 reset methods 1c tr tert detecto te dates dus 7 16 CJ2M CPU Unit Pulse I O Module User s Manual LEI AI e cocos 1205 EEEE RE LODGE T E COE DL taco pat Tod Eco EON 2 10 specifications diem 7 3 target value comparison seseessesss 7 22 Udine But ars deiectucates 7 7 high speed jogging eccccceeceeceeeeeeeeeeeeeeeeeeeeeeeeeneeeees 8 32 I O circuits configuration cccceeeeececeeeeeeeceeeeeeeeaeeeeeeeeaaeeenesaaeees 3 8 YO specifications esesesseseseeeeennenennnn 3 2 REE DIG92 REEL 8 37 increment
2. sees 2 11 Section 3 I O Specifications and Wiring for Pulse I O Modules Sl VOSPECINCAIONS t 3 2 3 1 1 FU UIE SOS CIN CATIONS ss 2 cs ct CP 3 2 3 1 2 Output Specifications for Sinking Transistor OUtDUTS ccceceeceeeeeeeceeeeeeeeseeseeesaeeeeesessaanees 3 4 3 1 3 Output Specifications for Sourcing Transistor Outputs ccceccseeeeeeeeseeeeeeeeeeeeeseseeeeesaeeeeeess 3 5 CMS VI 3 7 3 2 1 COMMECIOF PIN AllO CATIONS isi io dete tus iie ates cima let etate ip i need testati iie asa Eq eae ita uds 3 7 3 2 2 OGRE Greater itio t 3 8 3 2 3 Vi sno fete ET C CM C PH PER E ERUNT 3 8 CJ2M CPU Unit Pulse I O Module User s Manual 9 Section 4 Normal I O A t inr WPS seine M 4 2 4 1 1 QUERIES ii ploccticictise iiie dt did Mu italice c ai d es 4 2 4 1 2 ADpliCalori PTOCCOUNGC i25 cde ne redimi dodo Mt eroi doce ert erhreutae sete rne itas eta deed dct bet 4 2 A2 regelt ciem 4 5 4 2 1 OVE VIEWS aen na a Mt Ma MEI ues MM I MILL Skene hea o lot Ue Duca 4 5 4 2 2 me Ol ODS ral ON t 4 5 s WID O cossa Ea a a a a Ea aeae deassseeecvecsstaeestewens 4 7 4 3 1 Connector PINASSIJAMEN Sean r e aS A N A ETET 4 7 4 3 2 iMaleiare dieses iraje t etr PCETme 4 9 Section 5 Quick response Inputs 5 OV OT VIC E 5 2 5 2 Applicaton PEFOCCOUIE met E 5 3 5 2 1 og ic
3. X Positioning to C completed Pulse output Pulse output completed completed Positioning to D Start and Completion for X and Y Axes W1 03 Positioning to D start Positioning 0 PLS2 887 Positioning Port specifier Pulse output 1 fM Control data 1 1 First word containing parameters First starting frequency word W2 03 A280 03 A281 03 po ooo Positioning to D completed Pulse output completed Pulse output completed Port specifier Pulse output 0 Control data First word containing parameters First starting frequency word 8 72 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Immediate stop Pulse output stopped 0 01 Immediate stop switch Operation Mode Control o 9 09 Port specifier Pulse output 0 Control data Stop pulse output Operation Mode Control 0 3 Port specifier Pulse output 1 Control data Stop pulse output Limit Input Settings A540 08 CIO 2960 06 ee CW limit input signal X axis Input INO6 A540 09 i ad CCW limit input signal X axis Input INO7 A541 08 CIO 2960 08 e CW limit input signal Y axis do 9060109 A541 09 CCW limit input signal Y axis Input INO9 g Co gt Ke 9 o fo o 3 m X fo 3 ri o Duiuonisog 1urodniniy SIXe OML ezneled 2 6 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 73 8 Pulse Outputs 8 9 3 Verticall
4. Processing interrupted Processing interrupted Interrupt task 142 program execution Cyclic task program execution Interrupt task 142 program execution e Counter Mode Interrupt enable condim Example IN02 interrupt input 2 I A53 MSKS instruction executed to enable interrupts l for interrupt input 2 mm Increment Mode a A mom mmm Cyclic task program execution Interrupt task 142 program execution A534 for interrupt input 2 Decrement Mode l Cyclic task program Cyclic task program execution Interrupt task 142 program execution The pulse widths of interrupt input signals must meet the following conditions 30 us min ON 150 us min OFF 6 4 CJ2M CPU Unit Pulse I O Module User s Manual 6 Interrupts 6 2 2 Application Procedure e Select Quick response Input in the Quick response PLC Setup Input Detailed Settings Dialog Box that is accessed from the I O Module Tab Page of the PLC Setup using the CX Programmer This will allocate inputs INOO to INO3 or IN10 to IN13 for interrupt inputs Specify when changing from PROGRAM mode to RUN mode whether to detect ON or OFF transitions in inputs Specify whether to latch the PV of a pulse output high speed counter when an interrupt task is started wl When using Counter Mode set the counter set values 2 Set parameters in the Auxiliary for interrup
5. CJ1 CPU Units CJ1G CPU CJ series Basic I O Units CJ series Special I O Units CJ series CPU Bus Units CJ series Power Supply Units CJ2M CPU Unit Pulse I O Module User s Manual NSJ series Expansion Units CS1D Process control CPU Units CS1D CPULILIP CS1 CPU Units CS1H CPU CS1G CPU CS series Basic I O Units CS series Special I O Units CS series CPU Bus Units CS series Power Supply Units Note A special Power Supply Unit must be used for CS1D CPU Units 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 LE Hl Run Mounting CJ ies CJ2 CPU Unit series ni CJ series CJ2 CPU Unit and Setting Hardware User s Manual Software User s Manual 1 Hardware Cat No W472 Cat No W473 e Unit part names and specifications e Basic system configuration e Unit mounting procedure e Setting procedure for DIP switch and rotary switches on the front of the CPU Unit For details on built in EtherNet IP port refer to the EtherNet IP Unit Operation Manual W465 CS CJ NSJ Series Instructions Reference Manual Cat No W474 This Manual mm CJ2M CPU Unit Pulse I O Module User s Manual Cat No W486 e Specifications and wiring of Pulse I O Modules e Available pulse I O functions an
6. 1 m XW2Z 100J B831 2 m XW2Z 200J B31 1 m XW2Z 100J B32 2 m XW2Z 200J B32 CJ2M CPU Unit Pulse I O Module User s Manual 3 11 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 Connecting One Servo Drive Using Pulse Output 0 Connecting to SMARTSTEP A series or SMARTSTEP Junior Servo Drives CJ2M CPU Unit Pulse I O Module SMARTSTEP A series Connecting Cable Connecting Cable 1 m XW2Z LILICIJ B5 XW2Z 100J A26 SMARTSTEP Junior Connecting Cable XW2Z LILILJ B17 SMARTSTEP A series or SMARTSTEP Junior Servo Drive One axis Servo Relay Unit XW2B 20J6 8A 20 point terminal block SMARTSTEP A series or Four normal inputs IN6 to INQ Junior Servomotor One origin proximity input etc If a One axis Servo Relay Unit is connected to pulse output 0 the remaining outputs normal outputs 2 and 3 OUT2 and OUT3 and PWM output 1 OUT5 cannot be used Connecting to OMNUC W series Servo Drives Pulse SD it I O Module n W series Connecting Cable Connecting Cable 1 m XW2Z LIEILIJ BA XW2Z 100J A27 One axis Se
7. Base Limit Input Signal Operation Search Only Search Only Search Only Se Setting Limit Input Signal Type I NC Mormall Closed NC Normally Closed NC Normally Closed I NC Clear Origin at Limit Input Signal Hold Origin Hold Origin Hold Origin Hc Search Return Initial Speed pps 0 D 0 0 Speed Curve Linear Linear Linear Lir Origin Origin Search Setting Enable Enable Disable Dis Search Search Direction CW CW ACW Cy Origin Detected after Prox Input 0 Turns ON andthen O Turns ON andthen O Turns ON andthen 0 1 Origin Search at Limit Input Reverse Reverse 0 Reverse Em Operation Mode Mode 0 Stepping Mo Mode 0 Stepping Mo Mode 0 Stepping Mo Mc Error Counter Reset Output Not Output Not Output Not Output Not In position Input Do not Use Do not Use Do not Use Do Origin Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed ANC Proximity Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC High Speed pps 100000 400000 0 0 Proximity Speed pps 50000 50000 0 0 Correction value 0 0 0 fr Acceleration Rate 2000 2000 fr Deceleration Rate 2000 2000 o Positioning Monitor Time ms D 0 0 0 Origin Target Speed pps lo 0 0 0 Return Acceleration Rate 0 0 0 0 Deceleration Rate 0 D gt Default settings are indicated by asterisks ee Output Defaults Help Internal Pulse Control Cycle 4ms C
8. CJ2M CPU Unit Pulse I O Module User s Manual 6 Interrupts 2 Connecting Interrupt Input Terminals Terminal 2 on I O Module 0 CIO 2960 is interrupt input INO2 Interrupt task 142 corresponds to interrupt input 2 Pulse I O Module CJ2M CPU Unit Connecting Cable XW2Z LILILIK OK output CIO 2961 00 NG output 2 CIO 2961 02 Reset input CIO 2960 04 Sensor input interrupt CIO 2960 02 Sensor input 1 CIO 2960 00 NG output 4 CIO 2961 04 Sensor input 2 CIO 2960 01 NG output 3 CIO 2961 03 Sensor input 3 NG output 1 CIO 2961 01 CIO 2960 03 Connector Terminal Block Conversion Unit XW2D 40G6 e N D c c T ejdwexy uonesyjddy 2 9 CJ2M CPU Unit Pulse I O Module User s Manual 6 15 6 Interrupts Ladder Program Example Cyclic Task P_First_Cycle RSET 2961 01 RSET 2960 04 Reset input Interrupt Task 142 2960 00 2960 01 2960 03 LL Sensor input 1 Sensor input 2 Sensor input 3 2960 00 Sensor input 1 2960 01 Sensor input 2 2960 03 Sensor input 3 2960 00 Sensor input 1 2961 02 2960 01 Sensor input 2 2961 03 2960 03 2961 04 o o o m m m Sensor input 3 6 16 Interrupt input 2 Specifies executing interrupt when input turns ON Interrupt input 2 Unmasks the interrupt input The MSKS instruction is used to specify an interrupt w
9. i Nog Noman IN Nemalngtt O INO Noman INI2 Nomalnpti2 di NO Nomalnpto2 IN13 Nomalngt3 i NOS Nomalnppt 3 INIM Nomalngti4 Nog Nomallmpto4 INIS NomalInput15 No5 Nomalput5 IN16 INT Normal Input 16 Normal Input 17 INDE INO Normal Input 06 Normal Input OF IN18 Normal Input 18 INOS Normal Input 08 IN13 Normal Input 13 INOS Normal Input 09 DUT10 Normal Output 06 Pulse Output OUT11 Normal Output 07 Pulse Output OUTOO Normal Output 00 Pulse Output OUTOI Normal Output 01 Pulse Output OUT12 Normal Output 08 Pulse Output DUT13 Normal Output 09 Pulse Output OUT14 Normal Output 10 P wM Output 2 OUT15 Normal Output 11 P4M Output 3 OUTO2 Normal Output 02 Pulse Output OUTOS Normal Output 03 Pulse Output OUTO4 Normal Output 04 P M Output 0 OUTOS Normal Output Q5 P wM Output 1 Normal Input Operation Interrupt Inputs and High speed Counters Pulse Outputs and Quick response Inputs Origin Searches Set Set Set Input Time Constant default 8ms M Help CJ2M CPU35 Offline I 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
10. 08 Manual name Special Information 5 Installation Installation 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 The End Cover is connected in the same way to the Unit on the far right side of the PLC 1 Join the Units so that the connectors fit exactly Hook Hook holes Connector 2 The yellow sliders at the top and bottom of each Unit lock the Units together Move the sliders toward the back of the Units as shown below until they click into place Move the sliders toward the back until they lock into place n Precautions for Correct Use suec HP PP If the locking tabs are not secured properly the connectors may become loose and not function properly Be sure to slide the locking tabs until they are securely in place CJ2 CPU Unit Hardware User s Manual Special information in this manual is classified as follows ED precautions for Safe Use Precautions on what to do and what not to do to ensure using the product safely Precautions for Correct Use uone eisu Z S e m EH o fe i O ch a W nd Oo Q fe 3 3 o E d 7 Level 1 heading Level 2 heading Level 3 heading Gives the current headings Page tab Gives the
11. 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 OVOrvIGW 3 055 445254 toeet i dente b e beseed gabe eee dp sek 9 2 9 1 2 Application Procedure 0c ee ee eee 9 3 Sos ANNO 152 2055 an cae Sececce eaten ey Be hse eed ana eet ale DL be Sete eae 9 4 9 1 4 Ladder Program Example 0 ees 9 5 CJ2M CPU Unit Pulse I O Module User s Manual 9 1 9 PWM Outputs 9 1 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 The duty ratio can be changed during pulse output e Application Example e Controlling temperature on a time proportional basis using the PWM output e Controlling the brightness of lighting Pulse O Module CJ2M CPU Unit Connecting Cable Connector Terminal Block HH Conversion Unit Outputs PWM output 100 q Period is determined lt gt by frequency 1596 Duty ratio 15 Duty ratio 50 75 Duty ratio 75 5096 9 2 CJ2M CPU Unit Pulse I O Module User s Manual 9 PWM Outputs 9 1 2 Application Procedure 1 Setting the pulse out
12. Pulse Output and Origin Search Detailed Settings x o Kem Pulse Output PulseOutput1 Pulse Output 2 Base Limit Input Signal Operation Always Always Search Only Se Setting Limit Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC Clear Origin at Limit Input Signal Hold Origin Hold Origin Hold Origin Hc Search Return Initial Speed pps 0 0 Linear Linear Linear Lir Origin Disable Disable Disable Di Search cv 0 Turns ON andthen 01 0 Mc Error Counter Reset Output Not Output NotOutput NotOutpt Not Do not Use Do NC NC HghSped ps 0 Q0 Proximity Speed pps 0 322200 Q0 X 9 9Q CoredonVaue woo 0 0 Q0 AccelrationRate Cs 0 o DecelertinRete bo o 0 o b Q0 Positioning Monitor Time ms 0 0 0 0 Origin Target Speed pps 0 0 0 0 Rem pecseraien nae 8 a DeceerdionRae 0 0 n Default settings are indicated by asterisks Copy Pulse Dutput Settings Defaults Help Bw ML oce Internal Pulse Control Cycle dms C 1ms 8 6 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Pulse Output and Origin Search Detailed Settings Item Description Sets the control cycle for the pulse output to 4 ms Internal pulse control cycle Sets the control cycle for the pulse output to 1 ms pA 3 3 oigo Search Only The CW CCW limit input
13. The pulse widths of quick response input signals must meet the following conditions 30 us min ON 150 us min OFF 5 2 CJ2M CPU Unit Pulse I O Module User s Manual 5 Quick response Inputs 5 2 Application Procedure 7 e Select Quick response Input in the Interrupt Input and PLC Setup Quick response Input Detailed Settings Dialog Box that is accessed from the I O Module Tab Page of the PLC Setup using the CX Programmer INOO to INO3 and IN10 to IN13 can be used for quick response inputs Create ladder Read bit status using the LD instruction or other instruc tions Cyclic task or interrupt task 5 2 1 PLC Setup Click the Set Button in the Interrupt Inputs and Quick response Inputs Area on the I O Module Tab Page of the PLC Setup Select Quick response Input for the input operation in the Interrupt Input and Quick response Input Detailed Settings Dialog Box File Options Help ch N gt 9 o D et Oo 5 U Oo o 2 c o Startup Settings Timings SIQU Refresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module mi0 Module 1 Allocations 140 Module 0 Allocations INIO uckresponselngt 4 i Noo Quick tesponse Input INI Quicktesponse InputS5 No f uckresposelnpt 1 80 d INI2 uickresponelnptG6 NO2 f uckrespomselnpt2 L IN13 Quicktesponse Input INO3 Quiekresponselnpt3 O U IN14 Nomallngpti4 INO f M
14. s1dnuje1u 191uno peeds uBiH amp 7 m uosiueduio2 en eA 1uSsaJg Z E Z 7 High speed Counters 7 26 la Precautions for Correct Use e 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 Bad Match Target value 1 Target value 1 Target value 2 N Do not match e The comparison conditions target value and count directions cannot be set more than once in the same table An instruction error will occur if the same comparison conditions appear twice e An instruction error will occur if when decrementing is set as the comparison condition when the high speed counter is set to Increment Pulse Input Mode e The maximum response frequencies of the high speed counters are given in the following table Pulse I O Module Maximum response No frequency Increment pulse 100 kHz i High speed Up and down pulses Con merani counter Oor 1 Pulse Direction Mode Differential phase x4 50 kHz Increment pulse 100 kHz High speed Up and down pulses Don ETER counter 20r 3 Pulse direction Differential phase x4 50 kHz CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters I Range Comparison The specified interrupt task is executed when the high speed counter PV enters or leav
15. 500 pps 4ms 2710 hex 01F4 hex Position control 5 000 1388 hex pulses output before stopping Speed control IFEED executed Mark sensor input INOO CIO 2960 00 Operation 1 Speed control is used to feed wrapping material to the initial position by executing the IFEED 892 instruction when the start switch CIO 2960 04 is activated When the mark sensor input CIO 2960 00 turns ON operation is switched to position control The axis is moved the specified travel amount and then stopped WG NO An immediate stop is executed to stop pulse output with the immediate stop switch input CIO 2960 01 8 80 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs I Preparations e PLC Setup Setting Enable using input INOO 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 Data Acceleration rate 500 pps 4 ms 01F4 Deceleration rate 500 pps 4 ms 01F4 Target frequency 10 000 pps 2710 0000 Number of output pulses 5 000 D14 1388 puses D15 0000 I Ladder Program Cyclic Task Program Executed at Startup Feeding Material with Speed Control 2960 04 WO 01 i Start feeding material WO 00 Material being fed
16. Example application Positioning without accel eration or deceleration Positioning with trapezoi dal accelera tion and deceleration Same rate used for accel eration and deceleration no starting speed The number of pulses cannot be changed during posi tioning Positioning with trapezoi dal accelera tion and deceleration Separate rates used for acceleration and decelera tion starting speed The number of pulses can be changed dur ing position ing Frequency changes Pulse frequency Specified number of pulses Specified with PULS Target frequency SPED instruction executed Outputs the specified number of pulses and then stops Pulse frequency Specified number of pulses Specified with PULS frequency Acceleration deceleration rat ACC instruction executed Outputs the specified number of pulses and then stops Pulse frequency Specified number of pulses Target Deceleration rate x Starting frequency Stop frequency Time instruction Output stops executed Target Deceleration point frequency reached CJ2M CPU Unit Pulse I O Module User s Manual Starts outputting pulses at the speci fied frequency and stops immediately when the specified number of pulses has been output The target position specified number of pulses cannot be changed during positioning Accelerates and decelerates at the same fixed rate and stops immediately
17. INIS Momalnpt19 Nog Nomata OUT10 N ormal Output 06 Pulse Output OUT11 IN ormal Output 07 Pulse Output OUTOO N ormal Output 00 Pulse Output DUTO 1 N ormal Output 01 Pulse Output OUT12 Normal Output 08 Pulse Output OUT13 Normal Output 09 Pulse Output OUT14 Normal Output 10 PM Output 2 OUT15 Normal Output 11 PWM Output 3 DLUTO2 Normal Output 02 Pulse Output DUTOS Normal Output 03 Pulse Output OUTO4 Normal Output 04 PWM Output 0 DUTOS Normal Output 05 PWM Output 1 Normal Input Operation Input Time Constant default 8ms x Interrupt Inputs and Quick respanse Inputs Interrupt Input and Quick response Input Detaile High speed Counters Pulse Outputs and Origin Searches ICJ2M CPU35 Offline Interrupt Input Interrupt Input Interrupt Input Interrupt Input i Interrupt Input Rising Rising Rising Risna Rising Rising IRI Latch Do not Use Do not Use Do not Use Do not Use Do nat Use Do not Use Dic a E l Defaults Cancel i Interrupt Input and Quick response Input Detailed Settings Pulse I O Mod ule No 0 on the right Input Operation setting INOO o Select nterrupt INO for any of the following INOO IN10 INO1 IN10 or IN11 IN11 Item Interrupt inputs Input Operation Select
18. Installing software from the CX One Support Software for Win dows computers CX Programmer operating procedure Operating procedures for CX Simulator Simulation Support Software for Win dows computers Using simulation in the CX Programmer with CX Pro grammer version 6 1 or higher Network setup and moni toring Description Describes C mode commands and FINS com mands Hefer to this manual for a detailed description of commands for communications with the CPU Unit using C mode commands or FINS com mands Note This manual describes the communica tions commands that are addressed to CPU Units The communications path that is used is not relevant and can include any of the following serial ports on CPU Units communications ports on Serial Commu nications Units Boards and Communica tions Units For communications commands addressed to Special I O Units or CPU Bus Units refer to the operation manual for the related Unit Provides an overview of the CX One FA Inte grated Tool Package and describes the installa tion procedure Describes operating procedures for the CX Pro grammer Also refer to the Software User s Manual W473 and CS CJ NSJ series Instructions Reference Manual W474 when you do programming Describes the operating procedures for the CX Simulator When you do simulation also refer to the CX Programmer Operation Manual W446 Soft ware User s Manual WA73 and CS CJ NSJ
19. NO Nomalput6 INIZ Nomallnpt i7 S IN Nomallnpto7 IN18 Nomalnpti8 d INO Nomalnput8 ss INIS Nemalnpt S INOS Nemalpu S OUTIO Normal Output 06 Pulse Output OUT Normal Output 07 Pulse Output OUT12 Normal Output 08 Pulse Output OUT13 Normal Output 09 Pulse Output OUT14 Normal Output 10 P wM Output 2 OUT15 Normal Output 11 PWM Output 3 Normal Input Operation Interrupt Inputs and Input Time Constant Quick response Inputs default 8ms Set OUTOO N ormal Output 00 Pulse Output BuTaot N ormal Output 01 Pulse Output DUTO2 Normal Output 02 Pulse Output OUTOS Normal Output 03 Pulse Output OUTO4 Normal Output 04 PWM Output 0 OUTOS Normal Output 05 P wM Output 1 High speed Counters Set Pulse Outputs and Origin Searche ee Offline ICJ2M CPU35 8 40 CJ2M CPU Unit Pulse I O Module User s Manual Limit Input Signal Operation Origin Input Signal Type Proximity Input Signal Type High Speed pps Proximity Speed pps Correction value Acceleration Rate Deceleration Rate Positioning Monitor Time ms Target Speed pps Acceleration Rate Deceleration Rate Origin Return Always NC Normally Closed NC Normally Closed Oo oO 0 Oo Go 0 909 oi 0 Always NC Normally Closed NC Normally Closed eOjojojiojioijlojoijojo Search Only NC N
20. ing Error Flag received or when the specified number of Pulse Output 1 A281 09 pulses is moved after output from pulse out Interrupt Feed puts O to 3 is started with the IFEED 892 ing Error Flag Pulse Output 2 Interrupt Feed ing Error Flag Pulse Output 3 Interrupt Feed ing Error Flag A326 09 A327 09 instruction ON No error OFF Overflow underflow or specified number of pulses has been moved Read Read e Cleared when power is turned ON Cleared when operation starts e Cleared when IFEED 892 instruction processing is started e Turned ON if an overflow or underflow occurs when an interrupt input is received or if an overflow or underflow occurs while the specified number of pulses is being moved after operation is started with the IFEED 892 instruction with the origin defined Pulse Output O A444 If a Pulse Output Stop Error occurs for pulse Head e Cleared when power is Stop Error output O to 3 the error code is written to this turned ON Code word e Cleared when an origin Pulse Output 1 A445 search is started Stop Error e Refreshed when a fatal Code pulse output error occurs Pulse Output 2 A438 during an origin search Stop Error e Refreshed when the limit Code input signal for pulse out put is set to be always enabled in the PLC Setup and pulse output is stopped due to the limit input Cleared when both limit inputs are disabled and a fatal pulse output erro
21. ssessseeessss 8 63 AUXIIIBEV ATOA enna dinate 8 58 CHANGING PY usas Post ph Re era Me Oe Dale nas 8 51 defining Origin 25 559 220205 5809 8 0 0101 DEPO HICL I Rae 8 39 external sensor connections sssss 8 13 OJN emere EE TREE 8 32 zte e zi de ro o rz ino ester e 8 24 OULD UT Daltel 53 5 secutus vaccines teat ueber me uU aures iud 8 87 PEG SODID 24 1 2 10 1 intei acniss dues naues 8 6 POSION CONOL MEN ETE 8 27 position control independent mode 8 89 ejeee i ueque 8 82 pulse control instructions sesssssssse 8 24 reading frequenoy dosita a s 8 57 reading PV saisie a 8 56 Servo Drive connections ccccceseeeeeeeeeeeeeeeaneees 8 13 SOL siano UE Mist tana M M 2 11 cler relifeziisjot Mme PITE 3 4 3 5 8 5 speed control continuous mode 8 87 staring PER T 8 87 SLOP DING ete eeeeten casas 8 88 sigo E 8 11 PWM OUDITS o5 aun abes eon ptudu cu au cns ues asume ad estan tis Ra Eas COE 9 2 Index 2 MAG SOPCTAUONS unieran agave iuleawesneeatasahenas A 2 instruction combinations ccceeeeeeeeeeeeeeeeeeeeeeeeees A 3 specifications ME 3 6 9 4 WIRO eH TEES 9 4 P VVIVICGO9 D erene a ake eae oe 9 5 Q quick response inputs eseseeeseeeeeereeer 5 1 mE OI Sees 5 3 programMmMiNg Meer HERE 5 7 SEMINO sexeulercvosxenccssnextanneds ueveenciteceboceitsoehesscesetenous
22. CCW limit input signal contacts A0 CW limit t N C input signal contacts 24 VDC com LL A8 B8 CJ2M CPU Unit Pulse I O Module User s Manual 8 21 co L Oo lt D DuuIM tv L 8 8 Pulse Outputs 8 22 Connection Example for Operation Mode 1 In operation mode 1 the error counter reset output is turned ON when the origin location is deter mined by detection of the rising edge of the origin input signal 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 Pulse I O Module Sinking Outputs Operation mode 1 CW output pulse output 0 L CCW output pulse output 0 reset output d 35 Origin input signal Z O O Encoder s 4 phase Z line 5 LD 24 Z I driver output Origin proximity NO ac input signal U contac ees 2 24VDC C O yl 24 VDC 6 0 V Q CJ1W ID211 Input Unit CCW limit N C input signal O contacts CW limit input signal N C contacts CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Connection Example for Operation Mode 2 Operation mode 2 is the same as operation mode 1 except that the servo drive s positioning com pleted signal INP is used as the origin search s positioning completed signal A servo drive is used and the encoder s phase Z
23. I Normal Input Operation Setting The input constant is set here I Interrupt Inputs and Quick response Inputs The interrupt inputs and quick response inputs are set here I High speed Counters The functions and operating parameters of the high speed counters are set here Pulse Outputs and Origin Searches The functions and operating parameters of pulse outputs and the origin search function are set here 2 8 CJ2M CPU Unit Pulse I O Module User s Manual 2 I O Application Procedures and Function Allocations 2 3 1 Normal Input Operation Setting Parameter Description Related Auxiliary Update timing in p Area words and bits CPU Unit Input Time e Default 8 ms Default Set the input time constant for normal Refreshed when Constant No filter 8 ms inputs INOO to IN19 power is turned ON e 0 5 ms Note The input constant is ignored for 1ms input terminals that are set for inter rupt inputs quick response inputs 2 ms and high speed counters 4 ms 8 ms 16 ms 32 ms 2 3 2 Interrupt Input and Quick response Input Detailed Settings The following dialog box will be displayed if the Set Button in the Interrupt Inputs and Quick response Inputs 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 Input Operation is set Interrupt Input and Quick response Input Detail X Item IND IM INOZ IMOS IM
24. OUT15 05 PWM out put 3 einpeooJg uoneoiddy z L 6 CJ2M CPU Unit Pulse I O Module User s Manual 9 3 9 PWM Outputs i Related Auxiliary Area Bits Name Bit Funcion Read Write Refresh timing PWM Output 0 A283 00 ON when pulses are being output Read e Cleared when power is Output In from PWM output 0 to 3 turned ON progress Flag OFF Stopped ON Outputting e Cleared when operation is started or stopped e Refreshed when start ing stopping pulse output PWM Output 1 A283 08 Output In progress Flag PWM Output 2 A329 00 Output In progress Flag PWM Output 3 A329 08 Output In progress Flag i Specifications Item Specifications Duty ratio 0 0 to 100 0 in 0 1 increments Duty ratio accuracy is 5 5 at 1 kHz Frequency 0 1 Hz to 6 553 5 Hz Set in 0 1 Hz increments 1 Hz to 32 800 Hz Set in 1 Hz increments Output mode Continuous Mode Instruction PWM 891 instruction The duty ratio accuracy declines significantly at high frequencies because of limitations in the output circuit at high frequencies 9 1 3 Wiring Connector Pin Assignments Pulse I O Module No 0 on the right Pulse I O Module No 1 on the left Output Terminal Descrip 9utpur Terminal type and 1 type and 1 symbol tion symbol number number PWM out OUTO4 PWM out OUT14 put O dr put 2 pap m or 40 a or a or 39o0r40 Output a E COM PWM out OUTO5 36 B18 PWM out OUT15 i 36
25. Serial Port Peripheral Service FINS Protection 1 0 Module 170 Module 1 Allocations 140 Module 0 Allocations INIO Nomalnpu10 N00 Nomadio IN11 Nomallngptt a NomalpuO INI2 Nomalngti2 wO WNomalpu 2 INI Nomallngpti3 NO Noman INIM Nomalnut 4 Na Nomante INIS Nomalngti5 N65 Momalpu 5 INIG Nomalngpti amp NOS Momalpu G INI Nomalmput NO Nomadi INIS Nomalnpu18 N08 Highspeed CounterODifferenialPhaseA INIS NomallngptiS NO3 Highspeed Counter O Differential PhaseB OUT10 N ormal Output 06 Pulse Output OUT11 N ormal Output 07 Pulse Output OUTOO Normal Output 00 Pulse Output OUTO1 Normal Output 01 Pulse Output OUT12 Normal Output 08 Pulse Output OUT13 Normal Output 09 Pulse Output OUT14 Normal Output 10 P wM Output 2 OUT15 Normal Output 11 PW M Output 3 OUTO2 Normal Output 02 Pulse Output OUTOS Normal Output 03 Pulse Output OUTO4 Normal Output 04 PWM Output 0 OUTOS Normal Output 05 PWM Output 1 Pulse Outputs and aa Searches Normal Input Operation Interrupt Inputs and Input Time Constant Quick response Inputs default 8ms w Set High speed Counters 7 ee Offline CJ2M CP
26. 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 CW CCW Pulse and Direction Outputs CW CCW Pulse ALLEL NNI Direction Output ON Output OFF e Pulse Output Port Numbers and Pulse Output Terminals The following terminals are used for en T outputs according to the pulse output port number Other functions that cannot be used at the same time Module No symbol mots i SCC direction Origin search ermal PWM outputs outputs outputs outputs 0 on the OUTOO CIO 2961 CW pulse out Pulse output O Normal out right put O put O OUT01 CCW pulse out Pulse output 1 Normal out put O put 1 OUTO2 CW pulse out A output Normal out put 1 put 2 OUTOS CCW pulse out no output Normal out put 1 put 3 on the OUT10 CIO 2963 CW pulse out Pulse output 2 Normal out i put 2 put 6 OUT11 CCW pulse out Pulse output 3 Normal out put 2 put 7 OUT12 CW pulse out oe output Normal out put 3 put 8 OUT13 CCW pulse out oo output Normal out put 3 put 9 The pulse output method is specified with an operand in the Pulse Output Instruction Pulse output functions CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Origin Searches Use the following input and output terminals for origin searches e Inputs Other functions that cannot be used at the same time N
27. Unit Software User s Manual EtherNet IP Units Operation Manual CS CJ NSJ series Instructions Refer ence Manual Ca No Weder Application W486 CJ2M CPUL I CJ2M MD21l W472 CJ2H CPUGL EIP CJ2H CPUG CJ2M CPUL I W473 CJ2H CPUGL EIP CJ2H CPU6L CJ2M CPUL I W465 CJ2H CPUGL EIP CJ2M CPUL I CS1W EIP21 CJ1W EIP21 W474 CJ2H CPU6LLEIP CJ2H CPUG CJ2M CPUCTI CS1G H CPUOOH CS1G H CPULIL V1 CJ1G H CPULICIH CJ1G CPULO CJ1M CPULIO NSJO OOOO B G5D NSJO O000 B M3D Information on using pulse I O on CJ2M CPU Units Hardware specifications for CJ2 CPU Units Software specifications for CJ2 CPU Units Using the built in Ether Net IP port of the CJ2 CPU Unit Information on instructions CJ2M CPU Unit Pulse I O Module User s Manual Description Provides the following information on the CJ2M CPU Units e Specifications and wiring methods e O functions e Quick response inputs e Interrupt functions e High speed counters e Pulse outputs e PWM outputs When programming use this manual together with the nstructions Reference Manual Cat No W474 Describes the following for CJ2 CPU Units e Overview and features e Basic system configuration e Part nomenclature and functions e Mounting and setting procedure e Remedies for errors e Also refer to the Software User s Manual W473 Describes the following for CJ2 CPU Units e CPU Unit operation e Internal me
28. at switching current of 30 mA Output waveform t T CONS oNduy x 100 Note The ON OFF status given above is for the output element CJ2M CPU Unit Pulse I O Module User s Manual 3 I O Specifications and Wiring for Pulse I O Modules 3 2 Wiring 3 2 1 Connector Pin Allocations Connector on Sinking type I O Module Ss Pin layout Terminal symbol pude Terminal Terminal symbol Input sig x nal type nal type INOO INTO eee Ban avec fe e a S INOZ INT2 EA C 7 LA Wess aw 3 5 3 4 mw p B5 a 3 B6 9 19 INO4 IN14 INOS IN15 24 VDC B7 13 14 B8 5 ig B9 E 20 INOG INTS INO7IINT BTO 23 2 Bn E 59 28 23 Bz 29 39 INOB INT8 INOS INTS Bis 33 34 D B4 X o 39 38 Bs 39 40 ouTooouTio f 8 ae ourovouTi e ee g a ee 1 OUTO4OUTIM se BB E Power supply input V A19 Power supply input V B19 5 fal il dal hl z cem gt Je ajom _ 4 ex 2 O 5 o Terminals numbers on the XW2D L I GL Connector Terminal Block Conversion Unit e Sourcing type I O Module CJ2M MD212 Pin layout Terminal symbol input ster Terminal symbol upper nal type nal type INOO IN10 24VDC A1 INO1 IN11 24vDC 2 B1 s E D 4 B2 ovo s ov e es 1 2 INO2 IN12 24VDC 7 A4 INO3 IN13 24VDC 8 B4 u s fas 13 14 INO4 IN14 24VDC 13 a7 INOS N15 24VDC 14 B7 i 2 REGLE 2 24 mOGNTS a4VbC 19 A10 INOZINI7 24VbC 20 B10 27 28 t
29. 1 m XW2B 20J6 8A Servo Driver RUN input Origin proximity input D CCW limit input CIO 2960 07 CW limit input CIO 2960 06 Servo Drive alarm output Servo Drive brake interlock output g Co gt Ke 9 o fo o 3 m X fo 3 ri o Servo Driver alarm reset input Buiuonisog eAissejBoJg ejidnijnjN sgod Bunu AjeonJeA 6 8 Operation 1 An origin search is performed using the origin search start switch CIO 0 00 2 When the origin search is finished the PCB storage enabled output CIO 1 00 is turned ON 3 When a PCB has been stored the stocker is raised relative positioning using the PCB Storage Completed Input CIO 0 02 4 Storing PCBs is repeated until the stocker is full CJ2M CPU Unit Pulse I O Module User s Manual 8 75 8 Pulse Outputs 5 The number of PCBs in the stocker is counted with counter CO by counting the number of times the stocker is raised 6 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 An immediate stop is executed to stop pulse output with the immediate stop switch input CIO 0 01 I Preparations e PLC Setup Setting Enable the origin search setting for pulse output O Note The setting of the option to use the origin search is read from the PLC Setup when the power supply is turned ON Pulse Output and Origin Search Detailed Settings x
30. 2961 03 output3 output 1 output 1 2961 04 OUTO5 CIO 2961 05 1 on the OUT10 CIO Normal CW pulse Pulse out left 2963 00 output6 output 2 put 2 OUT11 CIO Normal CCW pulse Pulse out 2963 01 output7 output 2 put 3 Pulse I O Output Module terminal No symbol Bit address output Pulse output O PWM output error counter 0 reset output Normal ae Pulse output 1 PWM output Normal output 4 output 5 error counter 1 reset output S euluuJo indino 0 Suonoun Duneoo v vY c 6 OUT12 CIO Normal CW pulse Direction 2963 02 output8 output 3 output 2 OUT13 CIO Normal CCW pulse Direction 2963 03 output9 output 3 output 3 OUT14 CIO Normal Pulse output 2 PWM output 2963 04 output 10 error counter 2 reset output OUT15 CIO Normal Pulse output 3 PWM output error counter 3 The pulse output method is specified with an operand in the Pulse Output Instruction output 11 reset output CJ2M CPU Unit Pulse I O Module User s Manual 2 7 2 I O Application Procedures and Function Allocations 2 3 PLC Setup The following dialog box will be displayed when the I O Module Tab Page is opened in the PLC Setup PLC Settings NewPLC1 i Ld File Options Help Startup Settings Timings SIQu Refresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module 170 Module 1 Allocations 170 Module 0 Allocations INIO Nemalngtio
31. CIO 2961 01 Normal stop position output CIO 2961 02 Error stop position output CIO 2961 03 3 550 High speed 3 500 counter O PV 3 000 A270 Pulses When the operation start input is received the ladder program clears the PV of the counter to O While the pulse count is between 3 500 and 3 550 the normal stop position output CIO 2961 02 will be ON If the pulse count exceeds 3 550 the error stop position output CIO 2961 03 will turn ON CJ2M CPU Unit Pulse I O Module User s Manual 7 43 7 High speed Counters e System configuration Wiring Example CJ2M CPU Unit Pulse I O Encoder power Module supply 24 VDC Black Phase A Connecting Cable XW2Z LIL TK Orange Phase Z Example E6B2 CWZ6C NPN open collector output EN Normal stop Morokstagi DO position output i emn Su cup pu iL m Tw o TT Ro AS 7 E Ines fs eut no so ro Pac ce HEIs CIO 2961 03 _ B48 B14 B785 B76 B17 pte pto B20 SSS E Connector Terminal Block Conversion Unit XW2D 40G6 Example Inverter Motor operation input CIO 2961 00 Motor low speed input ClO 2961 01 PLC Setup Use the following procedure to enable high speed counter O 1 Click the Set Button in the High speed Counters Area The High speed Counter Detailed Settings Dialog Box will be displayed gt PLC Settings NewPLC1 File Options Help Startup Settings Timings SIDU Refresh Unit Settings
32. L A10120 Seconds 5 Fa gt ny Legend View CJ2M CPU Unit Pulse I O Module User s Manual 8 57 qp X J D D Q 5 D U c m D O c p c TI 2 c D 5 lt 8 Pulse Outputs 8 8 Related Auxiliary Area Bits 8 58 Name Pulse Output 0 PV Pulse Output 1 PV Pulse Output 2 PV Pulse Output 3 PV Pulse Output 0 Pulse Output Status Flag Pulse Output 1 Pulse Output Status Flag Pulse Output 2 Pulse Output Status Flag Pulse Output 3 Pulse Output Status Flag Pulse Output 0 PV Overflow Underflow Pulse Output 1 PV Overflow Underflow Pulse Output 2 PV Overflow Underflow Pulse Output 3 PV Overflow Underflow A276 to A278 to A279 A322 to A323 A324 to A325 Related Auxiliary Area Bits Contain the number of pulses output from the corresponding pulse output port PV range 8000 0000 to 7FFF FFFF hex 2 147 483 648 to 2 147 483 647 When pulses are being output in the CW direc tion the PV is incremented by 1 for each pulse When pulses are being output in the CCW direction the PV is decremented by 1 for each pulse PV after overflow 7FFF FFFF hex PV after underflow 8000 0000 hex A276 A278 A322 and A324 contain the lower 4 digits A277 A279 A323 and A325 contain the upper 4 digits This flag will be ON when pulses are being output from pulse output O to 3 according to an ORG 889 ACC 888 PLS2 887 or IFEED 892 i
33. PLC Setup s Limit Signal Type setting NC or NO and then execute the origin search again No effect on other port Emergency stop No effect on other port 8 85 eo U D O fo c e o 3 o0 z 3 D 3 c D 3 aq U c o0 o O c F xe c 0 8 Pulse Outputs 8 86 Error ee Error name Description code Origin Proximity 0206 Input Signal Origin Reverse Error When an origin search with reversal at the limit is being performed the limit input sig nal in the search direction was input while the origin proximity input signal was reversing When an origin search with reversal at the limit is being performed and the origin prox imity input signal is not being used the limit input signal in the search direction was input while the origin input signal was reversing The Servo Drive s positioning completed signal does not turn ON within the Positioning Moni tor Time specified in the PLC Setup Positioning 0300 Timeout Error Operation after error Check the installation positions of the origin Emergency stop proximity input signal origin input signal and No effect on other limit input signal as well as the PLC Setup s port I O settings Also check the PLC Setup s Sig nal Type settings NC or NO for each input signal and then execute the origin search again Corrective action No effect on other Adjust the Positioning Monitor Time setting or Servo system
34. Related Manuals uscxsssnuve DuxsMuca Vas uk FATA vcFxUSNU aaa 31 Section 1 Overview Ti Puse yO M ore UES cT 1 2 1 2 Overview of the Functions of CJ2M Pulse W O ssnnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nna 1 4 1 9 Functions of CJ2M Pulse NO iori eu Ein v uku aaa Bim ese s cuu Rund OU uis 1 6 Section 2 I O Application Procedures and Function Allocations 2 1 Pulse I O Module Application Procedure eeeeeeeeeeeeeeeeeee recen 2 2 2 2 Allocating VO FUNCHONS cese coe EE men 1d i ce EE eH adea cos eene oen Pe cbe ecco sis cesa uc rae e eo R er esee Dep eSws 2 4 2 2 1 SPECIVING the FHEOCHOnDnsS to USe eios oi EE cent a liebe delit arid 2 4 2 2 2 Selecting F nctions In the PEG Setup ortis eicere kn a epo hein aa 2 4 2 2 3 Allocating Functions to Input Terminals aieo i e ae ke ch eed Xa p nuo pe nea ox Eae Rara nhe enn 2 5 2 2 4 Allocating FUNCUONS to Output Termilials uoo iode rte er cote e eco e ee eerie x 2 7 2 2 PEG SEUD iin eet cere etc pete te AOA LIEU MI n qe PM DE 2 8 2 3 1 Normal Input Operation Setting cccccseccccccsseeececeeeeececaeeeeeeeceeeeeeeeseuseeeeeeeeeesessueeeeessaeeeesesaaees 2 9 2 3 2 Interrupt Input and Quick response Input Detailed Settings seseeeseeessseesssss 2 9 2 3 3 Highisspeed Counter Seltliigs Geyter aE sov ns esposta dee cete assu a ena De eu onto 2 10 2 3 4 Pulse Output and Origin Search Settings
35. Starting frequency 0 pps 0000 D17 0000 Counter setting 100 times 0100 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs I Ladder Program Jogging 2960 00 A280 04 T Jog Pulse Output switch In progress Flag 2960 00 WO0 00 1 MM Jog Jogging in switch progress Interrupt feeding 2960 01 Position control 2960 03 Material cut with cutter completed Interrupt feeding rotation count A280 03 Pulse output completed 2960 01 T Position control Immediate stop SPED 885 Wo 00 RST RSET W0 00 PLS2 887 2961 03 A280 03 Pulse output completed 2961 02 C0000 e Immediate stop Pulse output stopped 2960 02 Sets the frequency Port specifier Pulse output O Output mode Target frequency 10 000 pps Target frequency setting SET instruction Bit indicating the jogging is in progress Sets the frequency Port specifier Pulse output O Output mode Target frequency 0 pps Target frequency setting RESET instruction Bit indicating the jogging is in progress Positioning Port specifier Pulse output O Control data First parameter word First starting frequency word Cutter started Counter Counter number Count BCD SV qo gt 9 D Oo 5 m Pe D 3 S9 D Cutting operation completed Mode control Port specifier Pulse output O Control data Stop pulse output I Remarks
36. The interrupt task will be executed when the range is left e The counter PV is compared with the 8 ranges or 1 to 32 ranges once each cycle e When the PV of the high speed counter is changed the applicable interrupt tasks will be executed if the new PV falls within any table ranges regardless of whether interrupt execution is specified when the PV enters or leaves the range sidnuje1u 191uno peeds uBiH E Z 7 uosiueduio2 en eA 1u9saJg cz la Precautions for Correct Use When more than one comparison condition is met in a cycle the first interrupt task in the table will be executed in that cycle Even if more than one comparison condition is met when the PV enters or exits the range the first interrupt task in the table will be executed The next interrupt task in the table will be executed in the next cycle e Once an interrupt task has been executed from a table the interrupt task will not be executed again for the same table until the PV enters or leaves that comparison range However regard less of whether interrupt execution is specified when the PV enters or leaves a particular range the Range Comparison Condition In range Flag will be ON when the PV is within the set range Even if a table range is left because the PV is reset to zero for either a software reset or phase Z 4 software reset the applicable interrupt task will not be executed CJ2M CPU Unit Pulse I O Module User s Manual 7 27 7 High speed
37. Turned OFF when INI 880 instruction is exe cuted to change the PV Output In Pulse Output 2 A326 04 Output In progress Flag iani Pulse Output O This flag will be ON when the origin has not Read e Turned ON when power is No origin Flag been defined for pulse output O to 3 and goes turned ON Pulse Output 1 OFF when the origin has been defined e Turned ON when starting No origin Flag OFF Origin established operation Pulse Output 2 ON Origin not established e Turned ON when the pulse No origin Flag output is reset Pulse Output 3 A327 05 No origin Flag CJ2M CPU Unit Pulse I O Module User s Manual 8 59 8 Pulse Outputs Refresh timing Read Pulse Output O A280 06 This flag will be ON when the pulse output Oto Read Turned ON when power is At origin Flag 3 PV matches the origin 0 turned ON Pulse Output 1 A281 06 OFF Not stopped at origin e Turned ON when stopped At origin Flag ON Stopped at origin at the origin Pulse Output 2 A326 06 At origin Flag Turned OFF when the ori Pulse Output 3 A327 06 At origin Flag gin is left during an origin search Refreshed when the limit input signal for pulse out Pulse Output 2 A326 07 ON Stop error Output Stopped Error Flag 8 60 Pulse Output 3 Output Stopped Error Flag Pulse Output 0 Interrupt Feed ing In progress Flag Pulse Output 1 Interrupt Feed ing In progress Flag Pulse Output 2 Interrupt Feed ing
38. lt E D Frequency and number 100 kHz 2 inputs x 50 kHz 2 inputs 100 kHz 2 inputs 7 of high speed counters 2 I O Modules x 2 I O Modules x 2 I O Modules x 2 I O Modules Counting mode Linear mode or ring mode Count value Linear mode 8000 0000 to 7FFF FFFF hex 0000 0000 to FFFF FFFF hex for increment pulse i Ring mode 0000 0000 to Max ring value High speed counter PV High speed counter 0 A271 upper 4 digits and A270 lower 4 digits 2 storage locations High speed counter 1 A273 upper 4 digits and A272 lower 4 digits zd High speed counter 2 A317 upper 4 digits and A316 lower 4 digits S Q 5 High speed counter 3 A319 upper 4 digits and A318 lower 4 digits Refreshed during overseeing processing Use PRV 881 to read the most recent PVs Data format 8 digit hexadecimal e Linear mode 8000 0000 to 7FFF FFFF hex 0000 0000 to FFFF FFFF hex for increment pulse e Ring mode 0000 0000 to Max ring value Control Target value Up to 48 target values and corresponding interrupt task numbers can be registered method comparison Range Com Up to 8 or up to 32 ranges can be registered with a separate upper limit lower limit parison and interrupt task number for each range Counter reset method Phase Z Software reset The counter is reset when the phase Z input goes ON while the Reset Bit 4531 00 to A531 03 is ON e Software reset The counter is reset when the Re
39. or ting Is not SPED Inde reserved p pendent SPED INI instruction instruction executed executed INI Stop pulse Immediate ulsedir quenoy Stops the pulse output immedi PULS e Port output stop ately Clears the current num e Indepen Number of diim ber of output pulses SPED Inde dent pulses set pendent Target fre ting Is not quency 0 preserved i SPED SPED SPED Inde oo a meu pendent Stop sloped Decelerate pulse frequency Decelerates the pulse output PULS e Port pulse out toa Stop ada a Original acceleration loa Stop i M Indepen O put ne n is If ACC 888 started the opera ACC or SPED dent s smoothly tion the original accelera Independent Target fre E Number of tion deceleration rate will i quency 0 3 dois ag Tue ACC instruction executed remain in effect 3 ting is not If SPED 885 started the oper ACC Inde o preserved ation the acceleration deceler Pendent ation rate will be invalid and PLS2 the pulse output will stop immediately ACC Inde pendent P no U O 2 o 2 C O 2 m x E 3 Q D O D 2 Q D 2 m I Q Q 2 CJ2M CPU Unit Pulse I O Module User s Manual 8 93 8 Pulse Outputs Switching from Speed Control Continuous Mode to Positioning Independent Mode Example Change Outputs the number of pulses from speed specified in PLS2 Both relative and absolute pulse specificat
40. series Instructions Reference Manual W474 Describes the operating procedures for the CX Integrator CJ2M CPU Unit Pulse I O Module User s Manual Overview DEN 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 e rn n n I RI KI I RII 1 2 1 2 Overview of the Functions of CJ2M Pulse I O 1 4 1 3 Functions of CJ2M Pulse l D eee n m RI RII 1 6 CJ2M CPU Unit Pulse I O Module User s Manual 1 1 1 Overview 1 1 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 CJ2M Simple or Pulse I O Module Standard CPU Unit Pulse I O Modules Standard CPU Unit PR CONTROLLER APWOONHWNZ i p a8 ALWOWIRIZ sw setting OREN BATTERY v OPEN ETTING ATTERY v Connected CU I O Module 0 E I O Module 0 I O Module 1 The following models are supported Name Model Model with transistor outputs Specifications Pulse I O Module CJ2M MD211 Sinking outputs 40 pin MIL connectors CJ2M MD212 Sourcing outputs Note The connector for the Connecting Cable is not provided with the Pulse I O Module Purcha
41. uM on the OUT10 31 A16 CIO PV stored CW CCW dli us 2963 00 in A322 OUT11 32 B16 CIO and A323 2963 01 OUT10 31 A16 CIO PV stored 2963 00 in A322 OUT12 33 A17 CIO and A323 2963 02 Outputs Origin search Terminal symbol Operation Operation Operation mode 0 mode 1 mode 2 eae to Servo Drive s pulse input adii a to Servo Drive s pulse input CCW Pulseand Pulse Connect to Servo Drive s pulse input Direction PULS 886 Direc Connect to Servo Drive s pulse input tion SIGN Normal The external signal CW limit sensor Connect sensor to a normal input termi input must be received as an nal input and the input sta tus must be written to A542 08 in the ladder program Normal The external signal CCW limit sensor Connect sensor to a normal input termi input must be received as an nal input and the input sta tus must be written to A542 09 in the ladder program IN10 CIO 2962 00 Origin input Connect to sensor m T A18 CIO 2963 04 Error counter reset output Not used IN14 CIO 2962 04 Positioning com pleted signal INP Terminals numbers on the XW2D l I GL Connector Terminal Block Conversion Unit CJ2M CPU Unit Pulse I O Module User s Manual Connect to the phase Z signal from the Servo Drive Connect to the phase Z signal from the Servo Drive dud CIO 2962 01 Origin proximity Connect to sensor input Connect to error count
42. 0 Turns ON andthen 0 Turns ON andthen 0 1 Origin Search at Limit Input Reverse Reverse Reverse U Operation Mode Mode 0 Stepping Mo Mode 0 Stepping Mo Mode 0 Stepping Mo Mc Error Counter Reset Output Mot Output Mot Output Not Output Not In position Input Do not Use Do not Use Do not Use Do Origin Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NIC Proximity Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC High Speed pps 0 0 0 0 Proximity Speed pps 0 0 0 0 Correction value 0 0 0 0 Acceleration Rate 0 0 0 0 Deceleration Rate 0 0 0 0 Positioning Monitor Time ms 0 0 0 0 Origin Target Speed pps 0 0 0 0 Return Acceleration Rate 0 0 0 0 Deceleration Rate 0 0 0 0 gt Default settings are indicated by asterisks eia Dutput HE Help Internal Pulse Control Cycle Ams Ims Copy Cancel CJ2M CPU Unit Pulse I O Module User s Manual 8 27 ep N U O o Oo 5 O e 5 o uoneanBijuo JOJUOD uonisog L Z 8 8 Pulse Outputs e 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 EN Additional Information e The same type of S curve accelerati
43. 000 pulses 27C0 0009 Starting frequency 100 pps D6 0064 0000 I Ladder Program 2960 00 lt Pulse output 1 lt Specifies pulse direction output method CW and absolute pulses lt Acceleration rate deceleration rate target frequency number of pulses setting lt Starting frequency Start input ep N U O 0 e O e 5 o EN Additional Information e Absolute pulses can be specified when the origin position has been defined e If a target frequency that cannot be reached has been set the target frequency will be reduced automatically i e triangular control will be performed ejiduiex3 uoneoiuddy Z 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 31 8 Pulse Outputs 8 3 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 Set the target frequency of the ACC 888 instruction to O pps to stop the pulse output Acceleration Target frequency fF deceleration eescccceccoceccccecccccccocececccccoccoseceoceccccoceqeocce RAND 6 9 6 0 0 66 Pulse output started Pulse output stopped Target frequency Starting pulse output 1 pps to 100 kpps in increments of
44. 0000 to 7FFF FFFF hex 2 147 483 648 to 2 147 483 647 Absolute coordinates are specified automatically when the origin location has been defined by changing the pulse output PV with the INI 880 instruction or performing an origin search with the ORG 889 instruction Relative coordi nates must be used when the origin is undefined The pulse type can be specified with an operand in the PULS 886 or PLS2 887 instruction Absolute pulses can be used when absolute coordinates are specified for the pulse output PV i e the origin location has been defined Absolute pulse can not be used when relative coordinates are specified i e when the origin loca tion is undefined An instruction error will occur The following Auxiliary Area words contain the pulse output PVs Pulse output 0 A277 leftmost 4 digits and A276 rightmost 4 digits Pulse output 1 A279 leftmost 4 digits and A278 rightmost 4 digits Pulse output 2 A323 leftmost 4 digits and A322 rightmost 4 digits Pulse output 3 A325 leftmost 4 digits and A324 rightmost 4 digits The PVs are refreshed during regular I O refreshing a ua SNr 8 5 Qo L Oo lt D suoneogioeds 8 8 Pulse Outputs I 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 a
45. 1 111 H12 Input Operati Mormallnput Marmal Input Mormallnput Mormal Input Mormal ingit Mormal inpet Mormal Ing Edge Rising Rising Rising Rising Rising Rising Rising Do not Use Do not Use Do nat Use Do not Use Do not Use Do not Use Do not Use Defaults Cancel eee Related Auxiliary Update timing in Input Operation Normal Input Normal Input Set the function of the inter Refreshed when nal input power is turned ON Quick response Input Interrupt Input Edge Rising Edge Rising Edge This setting is valid only Refreshed when Falling Edge when the input is set to operation is started Interrupt Input Set whether an interrupt will occur when the input turns ON or OFF Latch Do not Use Do not Use This setting is valid only Latched PV A10144 Refreshed when Pulse Output 0 when the input is set to to A10159 power is turned ON Pulse Output 1 Interrupt Input Pulse Output 2 Select the item to latch when using the software P RUE latch for the input for a High speed pulse output high speed Counter 0 counter High speed Counter 1 High speed Counter 2 High speed Counter 3 Only specific pairs of interrupt inputs and pulse outputs can be used together when using interrupt inputs with the INTERRUPT FEEDING IFEED 892 instruction For details refer to 8 4 4 INTER RUPT FEEDING Instruction IFEED 892 CJ2M CPU Unit Pulse I O Module User s Manual 2 9 Y e
46. 11 Description 3 Create the programs for interrupt tasks 10 and 11 4 Use the CTBL 882 instruction to start the comparison operation with high speed counter O and interrupt tasks 10 and 11 W0 00 Uses high speed counter 0 Registers a target value comparison table and starts comparison First comparison table word When execution condition WO 00 turns ON the comparison starts for high speed counter O When the PV of high speed counter O is incremented to 30 000 cyclic task execution is interrupted and interrupt task 10 is executed When the PV of high speed counter O is decremented to 20 000 cyclic task execution is interrupted and interrupt task 11 is executed When interrupt task 10 or 11 execution has been completed execution of the interrupted cyclic task resumes WO 00 Mm CIO 2960 08 ee ee eee CIO 2960 09 l A270 and A271 Target value 30 000 7530 hex High speed Counter 0 PV Target value 20 000 4E20 hex l 7 Counting enabled Cyclic task Interrupted Cyclic task Interrupted Cyclic task processing processing processing Interrupt task Interrupt task 10 processing 11 processing 0 7 32 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters i 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 2
47. 140 P On Always ON Flag D2 INO1 interrupt Task interrupt Task 141 P On Always ON Flag 7 50 MOVL 498 A10146 D4 L 441 D4 D2 D10 MOVL 498 A10144 lt Initializes the work area lt Initializes the workpiece length data lt Interrupt input O lt Clears mask Enables interrupts lt Interrupt input 1 lt Clears mask Enables interrupts lt High speed counter input 1 lt PV change lt New PV data Clears PV to 0 lt Interrupt input O lt Moves latched PV A to work area lt Interrupt input 1 lt Moves latched PV B to work area lt Latched PV B lt Latched PVA CJ2M CPU Unit Pulse I O Module User s Manual Pulse Outputs This section describes positioning functions such as trapezoidal control S curve con trol jogging and origin searches 8 1 8 3 8 4 8 6 8 7 8 8 OVGIVIGW oi oe tanto 8 3 8 1 1 eu M 8 3 8 1 2 A Application Procedure llleeeeeee rh 8 4 8 153 SDSCGIICatlollS s 434 5 tus cedar eed putri west uaa e Dade s Mt 8 5 oA WNO satay m fu et ot usb dos ache bah tee Be iS dui deni pi Agri ah aes re 8 11 POSIHION CONUON uiui uana eee eet ee eee ees 8 27 8 2 1 Position Control Configuratie seess errant eee bea e CERCLE Ec 8 27 8 2 2 Relative Positioning and Absolute Positioning 8 28 8 2 3 Applic
48. A and B must be separated by at least 2 5 us 20 0 us min 11 T2 T3 T4 T1 T2 T3 T4 2 5 us min Encoder input phase Z INO2 INO3 or IN12 IN13 Maintain an ON time of 30 us min and an OFF time of 150 us min ON 150 us min EN Additional Information Line driver input Encoder input phase A or B single phase 60 kHz pulse input with 50 duty ratio 16 6 us min 8 3 us min 8 3 us min Ec OFF Phase A Phase B encoder inputs Differential phases 30 kHz Changes in phases A and B must be separated by at least 4 0 us 33 3 us min ON 5076 OFF ON 5096 OFF 11 T2 T3 T4 T1 T2 T3 T4 4 0 us min Single phase 100 kHz pulse input with 5096 duty ratio 10 0 us min 5 0 us min 5 0 us min o OFF Differential phase 50 kHz pulse input Changes in phases A and B must be separated by at least 2 5 us 20 0 us min T1 T2 T3 T4 2 5 us min Encoder input phase Z INO2 INO3 or IN12 IN13 Maintain an ON time of 30 us min and an OFF time of 150 us min 30 us min 150 us min ON 50 Opes For the counter inputs it is necessary to check the factors that can affect the pulses such as the type of output driver in the encoder cable length and count pulse frequency When counting pulses that exceed 60 kHz we recommend using an encoder with a line driver output To ensure that pulses can be counted stably use a shielded twisted pair cable and keep the
49. A531 10 A531 11 If one of these flags is turned ON Read Write Cleared when power is the high speed counter will not turned ON count even if pulse inputs are received and the counter PV will be maintained at its current value When the flag is turned OFF the high speed counter will resume counting and the counter PV will be refreshed This flag will be disabled if the high speed counter s reset method is set to Phase Z signal Software reset and the Reset Bit A531 00 to A531 03 is ON CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters 7 5 Application Examples I Using a Rotary Encoder to Measure Positions e 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 High speed counters can be used for high speed processing using either target value comparison or range comparison to create interrupts Interrupt tasks are executed when the counter value reaches a specific target value or range Operation A sheet feeder is controlled to feed constant lengths in a given direction e g for vacuum packing of food products sojduiex3 uonesjddy GS 2 7 Motor speed Motor start input CIO 2960 02 Motor operation input CIO 2961 00 Motor low speed input
50. And that difference increases as the frequency increases The actual frequency can be calculated from the following equations e Pulse Output System Integer dividing ratio calculated from user s set frequency Output pulses actual frequency Source clock Frequency divider 33 330 MHz e Equations Source clock frequency Actual frequency Hz Dividingraio pividndaiosn e Set frequency Hz x 2 The INT function extracts an integer from the fraction The non integer remainder is rounded 8 82 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs e 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 9 996 to 9 998 9 997 i Combinations of Pulse Control Instructions The following tables show when a second pulse control instruction can be started if a pulse control operation is already being executed A second independent mode positioning instruction can be started if an independent mode positioning instruction is being executed and a second continuous mode speed control instruction can be started if a continuous mode speed control instruction is being executed Operation cannot be switched between the independent and continuous modes But a PLS2 887 instruc
51. CW limit sensor Connect sensor to a normal input termi input must be received as nal an input and the input status must be written to A540 08 in the lad der program Normal The external signal CCW limit sensor Connect sensor to a normal input termi input must be received as nal an input and the input status must be written to A540 09 in the lad der program Connect to the phase Z signal from the Servo INOO 1 A1 CIO 2960 00 Origin input Connect to sensor Drive INO1 CIO 2960 01 Origin proximity Connect to sensor input Not used OUT04 35 A18 CIO 2961 04 Error counter reset Not used Connect to error counter output reset ECRST of the INO4 13 A7 CIO 2960 04 Positioning com pleted signal INP Terminals numbers on the XW2D l I IG Connector Terminal Block Conversion Unit CJ2M CPU Unit Pulse I O Module User s Manual Servo Drive Connect to the phase Z signal from the Servo Drive Connect to the posi tioning completed signal INP from the Servo Drive 8 13 Qo L Oo lt D DBUuulM rv L 8 8 Pulse Outputs Connections for Pulse Output 1 Pulsel O Terminals Origin search Terminal Min Operation Operation Operation symbol mode 0 mode 1 mode 2 on the OUTO2 33 A17 CIO PV stored CW CCW CN to Servo Drive s pulse input EA 2961 02 in A278 outputs and A279 CWW Direc tion C
52. Change Changing speed the target smoothly speed fre with quency accelera during posi tion rate tioning decelera accelera tion rate tion rate decelera tion rate 8 90 Pulse frequency Specified number of pulses Specified with PULS Target frequency Frequency changes Number of pulses Specified number of Pulse frequenc a pulses Specified with does not change New target frequency Target frequency SPED Independent executed f SPED independent mode executed again to change the target frequency The target position is not changed Number of pulses specified with PULS Specified number of does not change pulses Specified with PULS Pulse frequency New target frequency Target frequency A cesleration deceleration rate ACC independent mode executed ACC independent executed again to change the target frequency The target position is not changed The acceleration deceleration rate is changed specified with PULS Specified number of pulses Specified with PLS2 Time PLS2 instruction executed The SPED 885 instruction can be executed during positioning to change raise or lower the pulse output frequency in one step The tar get position speci fied number of pulses is not changed ACC 888 can be executed during positioning to change the accel eration decelera tion rate and target frequency The target po
53. Changes the SPED Con e Port speedinone speed during frequency tinuous e Continuous step operation Target Teque higher or J Target frequency f th ower of the SPED Con resent frequency pulse output in one step fixed rate ACC instruction executed p l U m D O c ph c U 9 ct D 5 0 tinuous SPED instruction executed CJ2M CPU Unit Pulse I O Module User s Manual 8 87 8 Pulse Outputs Example Operation application Frequency changes Function Change Changing the speed speed smoothly smoothly during operation Changing the speed in a polyline curve during operation Change Not supported direction g Stopping Pulse Output Pulse out Immediate stop put stopped Stopping Immediate stop pulse output Stop pulse Decelerate to a output Stop smoothly Pulse frequency Target frequency Present frequency ACC instruction executed Pulse frequency Tarer MEAUANGY Acceleration rate 2 Acceleration ratel YY Present frequency ACC instruction executed ACC instruction executed ACC instruction executed Pulse frequency Present frequency Pulse frequency Present frequency SPED instruction executed Pulse frequency Present frequency Target frequency 0 ACC instruction executed Acceleration deceleration INI instruction executed Changes the frequency from the present fre quency at a fixed rate The frequen
54. Dispose of the product and batteries according to local ordinances as they apply ee es 7th R n Hc e f the I O Hold Bit is turned ON the outputs from the PLC will not be turned OFF and will maintain their previous status when the PLC is switched from RUN or MONITOR mode to PROGRAM mode Make sure that the external loads will not produce dangerous conditions when this occurs When operation stops for a fatal error including those produced with the FALS 007 instruction all outputs from Output Unit will be turned OFF and only the internal output status will be main tained e Unexpected operation may result if inappropriate data link tables or parameters are set Even if appropriate data link tables and parameters have been set confirm that the controlled system will not be adversely affected before starting or stopping data links e Write programs so that any data that is received for data link communications is used only if there are no errors in the CPU Units that are the sources of the data Use the CPU Unit error informa tion in the status flags to check for errors in the source CPU Units If there are errors in source CPU Units they may send incorrect data e All CPU Bus Units will be restarted when routing tables are transferred from a Programming Device to the CPU Unit Restarting these Units is required to read and enable the new routing tables Confirm that the system will not be adversely affected before transferring the routing
55. Dr XM SEIS Coa eine EU A 10 A 4 2 Pulse Output STEAM MG osa cotation D cip octo us Erat un citate desta Esci M areae e eM cera ae A 11 A 4 3 Response Times of Pulse Output Changes cccsecccecceeeeeeeeceeeeeeeaaeeeeseaeeeeeeseseeesseseeeesssases A 11 Aake c T Index 1 REVISION MISTO Y mne RU Revision 1 12 CJ2M CPU Unit Pulse I O Module User s Manual Read and Understand this Manual Please read and understand this manual before using the product Please consult your OMRON representative if you have any questions or comments Warranty and Limitations of Liability WARRANTY OMRON s exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year or other period if specified from date of sale by OMRON OMRON MAKES NO WARRANTY OR REPRESENTATION EXPRESS OR IMPLIED REGARDING NON INFRINGEMENT MERCHANTABILITY OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE OMRON DISCLAIMS ALL OTHER WARRANTIES EXPRESS OR IMPLIED LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL INDIRECT OR CONSEQUENTIAL DAMAGES LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS WHETHER SUCH CLAIM IS BASED ON CONTRACT WARRANTY NEGLIGENCE O
56. Interrupt Inputs and High speed Counters Input Time Constant Quick response Inputs default 8ms Y CJ2M CPU35 Offline Interrupt Input and Quick response Input Detaile rem wo m moz mo mo mu J Input Operati Interrupt Input Interrupt Input Interrupt Input interrupt Input Interrupt Input Interrupt Input Int Edge Rising Rising Rising Rising Rising Rising Ri Latch Da not Use Do not Use Do not Use Do not Use Da nat Use Do not Use De Defaults I ox Cancel 6 6 CJ2M CPU Unit Pulse I O Module User s Manual 6 Interrupts Interrupt Input and Quick response Input Detailed Settings Item Setting Interrupt inputs O Input Operation Select interrupt inputs to 7 Edge Select the edge to detect to generate an interrupt input e Rising Edge ON transition e Falling Edge OFF transition Latch Select how to use the software latch e Do not use e Pulse output 0 to 3 e High speed counter 0 to 3 T N 5 D c c o dnjes 21d 2 9 CJ2M CPU Unit Pulse I O Module User s Manual 6 7 6 Interrupts I 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 e PLC Setup The setting is always updated when the CPU Unit is changed from PROGRAM mode to RUN mode e MSKS 690 instruction The setting can be changed dur
57. Limit 0101 Stopped due to a CCW limit sig Stop Input Sig nal input nal was received during the origin search No Origin Input 0201 The origin input signal was not Signal received during the origin search Origin Input 0202 During an origin search in oper ation mode O the origin input signal was received during the deceleration started after the origin proximity input signal was received Signal Error Limit Inputs in 0203 The origin search cannot be Both Directions performed because the limit sig nals for both directions are being input simultaneously Simultaneous 0204 The origin proximity input signal Origin Proximity and the limit input signal in the and Limit Inputs search direction are being input simultaneously during an origin No Origin Prox 0200 The Origin Detected after Prox imity Input Sig Input parameter is set to O nal Turns ON and then OFF but no origin proximity input signal Search Limit Input Sig 0205 e When an origin search in one nal Already direction is being performed Being Input the limit input signal is already being input in the origin search direction During an origin search that does not use the proximity input the Origin Input Signal and the Limit Input Signal in the opposite direction from the search direction were ON at the same time CJ2M CPU Unit Pulse I O Module User s Manual 0100 Stopped due to a CW limit sig Move in the CCW direction Immediat
58. Manual 7 High speed Counters I Application Procedure 1 PLC Setup Interrupt task Execution of CTBL and INI Instructions for Cyclic Task Create ladder program Set the operation of the high speed counters 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 Set the counting mode reset method pulse input mode and other parameters Input terminals INO2 INO3 INO6 to INOS IN12 IN13 and IN16 to IN19 can be used for high speed counters These correspond to high speed counters O to 3 Write a program for interrupt tasks O to 255 Set the comparison values for the high speed counter and the interrupt tasks 0 to 255 to be started using the CTBL 882 instruction Start the comparison using the INI 880 instruc tion The comparison can be started simulta neously when registering the comparison values using the CTBL 882 instruction e High speed Counter Interrupts Settings Pulse I O Module No 0 on the right Setup 1 on the left High speed counter 2 High speed counter 3 I O Module Tab Page in PLC High speed counter 1 Check Box 82 Interrupt task number CTBL port specifier P High speed counter O Select Use CTBL 8 0000 0 to 255 Speci 0001 fied by user 0002 0003 I PLC Setup Click the I O Module Tab and then clic
59. Manual 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 n Pee E a atime ating an error will occur error code 0202 Origin proximity 1 i input signal 0 Origin input signal 0 Stops on origin input signal after deceleration Pulse output CCW CW Starts when ORG is executed Stopped Operation Mode 1 Set the origin proximity signal dog to 1 ensure the deceleration time or longer Origin proximity 1 D LLL input signal 0 Origin input signal 1 ft fhifh fh phase Z signal signal is ignored during deceleration EE l Stops on origin input signal I Pulse output after deceleration e co Og D h 5 3 aq on gt o O F e 3 CCW CW Starts when ORG is executed Stopped Error counter 1 reset output 0 EM Approx 20 to 30 ms Operation Mode 2 Set the origin proximity signal dog to ensure the deceleration time or longer Origin proximity 1 input signal 0 Origin input signal 1 phase Z signal 9 _ po l Origin search direction gt signal is ignored during deceleration suoneJjedo uoJjeegs UIBLO S S g Stops on origin input Pulse output signal after deceleration CCW CW Starts when ORG is executed Stopped Error counter 1 reset output 0 lt gt Approx 20 t
60. O Module User s Manual 7 High speed Counters Name Word Bit_ Function Read Write Refresh timing High speed A274 10 This flag indicates whether the Read e Setting used for high Counter O Count high speed counter is currently speed counter valid Direction being incremented or decremented during counter opera The counter PV for the current cycle tion is compared with the PV in last Refreshed each cycle cycle to determine the result during overseeing pro cess Refreshed when PRV 881 instruction is executed to read the PV OFF Decrementing ON Incrementing or status High speed A275 00 These flags indicate whether the Head Cleared when power is Counter 1 Range PV is within any of the eight ranges turned ON Comparison Con when high speed counter 1 is being e Cleared when opera dition 1 In range operated in range comparison tion starts Flag mode with upper and lower limits e Refreshed each cycle x High speed A275 01 The In range Flags however will be during overseeing pro Counter 1 Range ON whenever the comparison value cess D Comparison Con is within the range regardless of the Bereshed whe zi dition 2 In range whether the high speed counter is PRV 881 instruction is Flag set to execute the interrupt task executed for the corre c High speed A275 02 when the range is entered or left sponding counter Counter 1 Range OFF Not in range e Refreshed when i Comparison Con ON In range INI 880 instruction
61. Output 11 PWM Output 3 Normal Input Operation Input Time Constant default 8ms Interrupt Inputs and Quick response Inputs Set High speed Counters Set Set OUTOO Normal Output 00 Pulse Output OUTO Normal Output 01 Pulse Output OUTO2 Normal Output 02 Pulse Output OUTOS Normal Output 03 Pulse Output DUTO4 Normal Output 04 P WM Output 0 OUTOS Normal Output Q5 P wM Output 1 Pulse Outputs and Origin Searches Help CJ2M CPU35 allocate functions to interrupt inputs and quick response inputs The order of preference for allocating functions to inputs is as follows Origin Search High speed Counter Phase Z Reset Normal Inputs Interrupt Inputs and Quick Input Operati Edge Latch Normal Input Rising Do not Use Mormal Input Rising Do not Use response Inputs 2 4 Maormal Input Rising Do not Use Item IMUU IMUT M02 INOS IN10 IN11 Normal Input Mormallnput Mormal Input Rising Rising Rising Do not Use Do not Use Do not Use CJ2M CPU Unit Pulse I O Module User s Manual Offline IM12 Normal Inpr Rising Do not Use 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 Interru
62. Output and Origin Search Detailed Settings Dialog Box that is accessed from the I O Module Tab Page in the PLC Setup pa g e Origin Return Parameters Name Setting range Base Set Search Return Ini Sets the motor s starting speed when an origin return is O to 100 kpps A tings tial Speed pps executed Specify the speed in the number of pulses per o second pps e Origin Target Speed pps Sets the motor s target speed when the origin return is O to 100 kpps 7 Return executed Specify the speed in the number of pulses per second pps Acceleration Rate Sets the motor s acceleration rate when the origin return O to 65 535 function is accelerating Specify the amount to increase pps 4ms the speed per 4 ms interval in 1 pps increments Deceleration Rate Sets the motor s deceleration rate when the origin return O to 65 535 function is decelerating Specify the amount to decrease pps 4ms the speed per 4 ms interval in 1 pps increments ri rk O O e 2 JU D m x 2 ORIGIN SEARCH Instruction ORG 889 P Port Specifier Pulse output 0 0000 hex Pulse output 1 0001 hex oP Pulse output 2 0002 hex __ Pulse output 3 0003 hex C Control Data Origin return and CW CCW 1000 hex Origin return and pulse direction output method 1100 hex Note An instruction error will occur if the origin is not defined i e when using a relative coordinate system when the ORG 889 instruc
63. PWM put 1 2 died put 3 2 output 39 or40 A200r Output bel or 39o0r40 Output B20 COM B20 COM 1 Terminals numbers on the XW2D I Gl Connector Terminal Block Conversion Unit 2 If an origin search in operation mode 1 or 2 is used for an output port O to 3 an instruction error will occur 9 4 CJ2M CPU Unit Pulse I O Module User s Manual 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 input for outputs 35 39 40 O 9 1 4 Ladder Program Example 37 38 i Power supply amp PWM output O Specifications and Operation When the start input CIO 2960 00 turns ON in this example pulses with a duty ratio of 4096 at a frequency of 2 000 Hz are output from PWM output 0 When the stop input CIO 2960 01 turns ON PWM output O is stopped Ld LL LLL ie Duty ratio Frequency 40 200 us 2 000 Hz 500 us I Start input CIO 2960 00 Stop input CIO 2960 01 I Applicable Instructions PWM 891 INI 880 o L z O c mp o c e 0 e D a D z D J c mp lt JJ D et le U 0 O c mp o c mp 0 a ejduiex4 weibolg Jeppe p L 6 CJ2M CPU Unit Pulse I O Module User s Manual 9 5 9 PWM Outputs i Preparations PLC Setup There a
64. Phase INOB High speed Counter 0 Differential PhaseA IN13 High speed Counter 2 Differential PhaseB IN09 High speed Counter O Differential PhaseB OUT1O Normal Output 06 Pulse Output DUT11 Normal Output 07 Pulse Output OUTOO Normal Output 00 Pulse Output OUTOI Normal Output 01 Pulse Output OUT12 Normal Output 08 Pulse Output DLIT13 Normal Output 09 Pulse Output DUT14 Normal Output 10 PWM Output 2 DUT15 Normal Output 11 PWM Output 3 OUTO2 Normal Output 02 Pulse Output OUTOS Normal Output 03 Pulse Output OUTO4 Normal Output 04 PWM Output 0 OUTOS Normal Output 05 PwM Output 1 m Normal Input Operation Interrupt Inputs and Input Time Constant Quick response Inputs High speed Counters Pulse Outputs and Origin Searches default 8ms M Set C s D Se CJ2M CPU35 Offline High speed Counter Detailed Settings X Mem High speed Counter 0 Higt Input Pulse Frequency 60KHz max Input Counting Mode Linear Mode Linear Mode Line pyram Erw Reset Method Phase Z Software Reset Phase Z Software Reset Phas Comparing After Counter Stop Stop Ditte Default settings are indicated by asterisks Copy High speed Counter Settings Copy Defaults Help mea 7 4 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters High speed Counter Detailed Settings Item Settin
65. Pro Create Ladder grammer o Programming 3 Example Enable interrupts with the Special Instructions MSKS 690 instruction and program high o speed counters with the CTBL 882 instruc S tion zd Write related T S Auxiliary Area bits Example Resetting a high speed counter 3 D Refer to the informa Read related tion on the Auxiliary Auxiliary Area bits Example Reading the present value of a Area in the CJ2 CPU high speed counter Unit Software User s Manual Cat No W473 6 Transfer the PLC Setup and ladder programs Transfer the PLC from the CX Programmer to the CJ2M CPU Setup and ladder Unit programs 7 Turn OFF the power supply to the CJ2M Restart the CJ2M PLC then turn it ON again PLC 8 Start the operation of the CJ2M CPU Unit Start operation CJ2M CPU Unit Pulse I O Module User s Manual 2 3 2 I O Application Procedures and Function Allocations 2 2 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 Specify the input functions in the PLC Setup from the CX Programmer and specify the output functions in PLC Setup and programming instructions Multiple terminals are sometimes used in combination depending on the function so some functions cannot be combined Allocate function
66. The following dialog box will be displayed if the Set Button in the Pulse Outputs and Origin Searches Area is selected from 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 Origin Search Setting and Operation Mode are set Pulse Output and Origin Search Detailed Settings x Pulse Output 0 Pulse Output 1 Pulse Output2 Base Limit Input Signal Operation Search Only Search Only Search Only Se Setting Limit Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC Clear Origin at Limit Input Signal Hold Origin Hold Origin Hold Origin Hc SearchiReturn Initial Speed pps 0 0 D Speed Curve Linear Linear Linear Lir Origin Origin Search Setting Disable Disable Disable Di Search Search Direction CW ACAN ACN ET Origin Detected after Prox Input 0 Turns ON andthen 0 Turns OM and then 0 Turns ON and then 0 1 Origin Search at Limit Input 0 Reverse 0 Reverse Reverse ZU Operation Mode Mode 0 Stepping Mo Mode 0 Stepping Mo Mode 0 Stepping Mo Mc Error Counter Reset Output Mot Output Not Output Not Output Mot In position Input Do not Use Do not Use Do not Use Do Origin Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC Proximity Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC High Speed pps 0 0 0 0 Pro
67. Value Description D600 0002 Number of target values 2 D601 OBB8 Target value 1 3 000 BB8 hex D602 0000 D603 OO8F Target value 1 Interrupt task No 143 D604 ODAC Target value 2 3 500 ODAC hex D605 0000 D606 0090 Target value 2 Interrupt task No 144 so duiex3 uonesjddy S Z 7 CJ2M CPU Unit Pulse I O Module User s Manual 7 47 7 High speed Counters I Length Measurement Using Interrupts to Read Input Pulses e 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 INOO CIO 2960 00 and INO1 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 The program finds the difference between the high speed counter PVs that are latched for interrupt inputs INOO and INO1 and outputs the difference to D10 l Workpiece length PV B PV A i 1 High speed counter 1 LLEEELEEEEEE ELLE EE ELEL EL ELL Sensor input 1 Interrupt input O CIO 2960 00 PV A latched Sensor input 2 Interrupt input 1 CIO 2960 01 PV B latched Applicable Instructions MSKS 690 instruction Enables I O interrupts INI 880 instruction Changes high speed counter PVs Clears them to O e Preparations e PLC Setup The high speed counter inputs and interrupt inputs are set in the PLC Setup PLC Setup High speed Counter
68. When the output is being used as a pulse output connect a load that requires an output current between 7 and 30 mA The Unit s internal components may be damaged if the current exceeds 30 mA If the current is below 7 mA the output waveform s rising edge and falling edge will be delayed and the output frequency ratings may not be met If the load requires less than 7 mA install a bypass resistor so that the circuit draws a current greater than 7 mA 10 mA is recommended Use the following equations to determine the bypass resistor requirements R cc louT lin Vcc Output voltage V lout Output current A Power W R x 4 Tolerance in Drive input current R Bypass resistance Q Power supply Vcc Servo Drive Circuit Example Pulse I O Module Sinking Outputs Bypass resistor MO9IAJ9AQO L 8 e Connection Example for the Error Counter Reset Output Pulse I O Module Sinking Outputs OMRON R88D WT Servo bk BA 5 CJ2M CPU Unit Pulse I O Module User s Manual 8 19 8 Pulse Outputs sinking Outputs OMRON R88D WT Servo Drive Power supply input for outputs Motor Drive Connection Examples This section provides examples of connections to pulse output O or 2 Refer to 3 2 1 Connector Pin 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 us
69. after the completion of wiring to ensure proper heat dissipation Leaving the label attached may result in malfunction Use crimp terminals for wiring Do not connect bare stranded wires directly to terminals Connec tion of bare stranded wires may result in burning Do not apply voltages to the Input Units in excess of the rated input voltage Excess voltages may result in burning Always connect to a ground of 100 Q or less when installing the Units Not connecting to a ground of 100 Q or less may result in electric shock A ground of 100 Q or less must be installed when shorting the GR and LG terminals on the Power Supply Unit 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 Do not pull on the cables or bend the cables beyond their natural limit Doing either of these may break the cables Do not place objects on top of the cables or other wiring lines Doing so may break the cables Do not use commercially available RS 232C personal computer cables Always use the special cables listed in this manual or make cables according to manual specifications Using commer cially available cables may damage the external devices or CPU Unit Never connect pin 6 5 V power supply on the RS 232C port on the CPU Unit to any device other than an NT ALOO1 Link Adapter CJ1W CIF11 Converter and Programmable Terminals NV3W MI J20L The external
70. and A10121 A10122 and A10123 A10124 and A10125 A10126 and A10127 This is the CCW limit input signal for pulse out Read put O to 3 which is used in the origin search Write To use this signal write the input from the actual sensor as an input condition in the lad der program and output the result to this flag Contains the frequency of pulse output 0 to 3 e Cleared when power is when tracing pulse output O to 3 with data trac turned ON ing Valid only when the data tracing parameters are set CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs 8 9 Application Example 8 9 1 Cutting Long Material Using Fixed Feeding Specifications and Operation e Overview First jogging is used to position the material Then fixed distance feeding is repeated 10 000 Hz 2710 hex Acceleration 1 000 Hz 4 ms 1 000 Hz 03E8 hex 03E8 hex 50000 C350 hex T Jogging A Fixed distance A A A feeding E i E Y v Y Material cut Material cut Material cut with cutter with cutter with cutter e System Configuration Jogging switch 8 Noo CIO 2960 00 Positioning switch INO1 CIO 2960 01 Immediate Stop Switch INO2 CIO 2960 02 IS Cut operation finished OUTO2 CIO 2961 02 Cutter start OUTO3 CIO 2961 03 Cutter finished INO3 CIO 2960 03 g Co gt Ke 9 fo o 3 m X fo 3 ri o T Operation 1 The workpiece i
71. and Function Allocations Section 3 I O Specifications and Wiring for Pulse I O Modules Section 4 Normal I O Section 5 Quick response Inputs Section 6 Interrupts Section 7 High speed Counters Section 8 Pulse Outputs Section 9 PWM Outputs Appendices Content This section gives an overview of the Pulse I O Module and describes its features This section lists the pulse functions of the CJ2M CPU Units and describes the overall application flow and the allocation of the functions This section provides the specifications and describes the wiring of the Pulse I O Module This section describes the normal I O This section describes the quick response function that can be used to input signals that are shorter than the cycle time This section describes the interrupt input function This section describes the high speed counter inputs and high speed counter interrupts This section describes positioning functions such as trapezoidal control S curve control jogging and origin search functions This section describes the variable duty factor pulse PWM outputs The appendices provide a table of flag changes for pulse outputs a comparison table with other models and a performance table CJ2M CPU Unit Pulse I O Module User s Manual Manual Structure Page Structure The following page structure is used in this manual Level 2 heading Level 3 heading A step in a procedure Special Information See below
72. at a time WO 02 WO 04 t Lift positioning Lift positioning start completed WO 03 Lift positioning in progress A280 03 Pulse output completed Counter for number of lifts number of PCBs stored WO 04 Lift positioning completed W0 09 Lower positioning completed P_First_Cycle First Cycle Flag 8 78 Origin search in progress Origin search Port specifier Pulse output O Control data Origin search completed PCB storage enabled Lift positioning start Lift positioning in progress Positioning Port specifier Pulse output O Control data First word of setting table First starting frequency word Lift positioning completed CJ2M CPU Unit Pulse I O Module User s Manual When the stocker is not full CO OFF store PCB and repeat lift positioning after PCB storage is completed WO 05 WO 04 C000 Lift positioning Stocker full completed When the stocker is full CO 2 ON move the stocker and start lower positioning after stocker movement is completed WO 04 C000 WO 06 n E Lift positioning Stocker full completed WO 06 W0 07 1 01 Stocker Lower moved positioning 1 01 0 03 W0 07 Stocker movement Stocker movement completed output Positioning Lower to 0 position absolute pulses WO 08 WO 07 WO 09 Lower positioning start WO 08 Lower positioning completed Lower positioning in progress A280 03 Pulse output completed Im
73. confirm actual specifications of purchased products DIMENSIONS AND WEIGHTS Dimensions and weights are nominal and are not to be used for manufacturing purposes even when tolerances are shown PERFORMANCE DATA 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 ERRORS AND OMISSIONS The information in this manual has been carefully checked and is believed to be accurate however no responsibility is assumed for clerical typographical or proofreading errors or omissions CJ2M CPU Unit Pulse I O Module User s Manual 15 16 CJ2M CPU Unit Pulse I O Module User s Manual 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 could result in death or serious injury Additionally there may be severe property damage Indicates a potentially hazardous situation which if not avoided may result in min
74. e n 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 Use the PRV 881 instruction to read the latest PV of the interrupt counter Execute the following instructions to change the SV of the counter in Counter Mode e f the direction is the same direction increment decrement change the SV of the interrupt counter in the Auxiliary Area A532 to A535 and A544 to A547 and then execute the MSKS 690 SET INTERRUPT MASK instruction in the same direction increment decre ment to enable interrupt inputs e To change the direction from increment to decrement or decrement to increment disable interrupt inputs with the MSKS 690 instruction Change the SV of the interrupt counter in the Auxiliary Area and then execute the MSKS 690 instruction to enable interrupt inputs EN Additional Information In Counter Mode interrupt tasks will not be started between the execution of a DI 693 instruc tion and the corresponding EI 694 instruction Counting will be continued 6 2 4 PLC Setup Click the Set Button in the Interrupt Inputs and Quick response Inputs Area on the I O Module Tab Page of the PLC Setup Select nterrupt Input for the input operation in the Interrupt Input and Quick response Input Detailed Settings Dialog Box PLC Settings NewPLC1 Fi
75. e PLS2 887 uses a relative pulse setting This enables operation even if the origin is not defined The PV of pulse output O in A276 lower 4 digits and A277 upper 4 digits is set to O before pulse output and then contains the specified number of pulses e ACC 888 can be used instead of SPED 885 for the jog operation If ACC 888 is used acceleration deceleration can be included in the jog operation CJ2M CPU Unit Pulse I O Module User s Manual 8 65 8 Pulse Outputs 8 9 2 Palletize Two axis Multipoint Positioning I Specifications and Operation e Overview 7 IIDIDDDMD Y axis Cylinder t Workpiece is grasped and moved DID 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 50000 30000 5000 C350 hex 7530 hex 1388 hex Origin I l 2 Move to position A a7 I 3 Move to other positions AI 5000 1388 hex l l l Y axis CW l l E a Ds a cs 25000 F 61A8 hex D O 2 35000 an at ei eae cuiu 88B8 hex X axis CW Note The X and Y axes are moved independently i e interpolation is not performed 8 66 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs e Wiring Example Using SMARTSTEP A series Servo Drive XW2Z Cables and XW2B I O Terminal Origin Search Start Switch
76. fixed Section 8 Pulse Outputs duty ratio 50 at the specified frequency PWM outputs Pulse are output at the specified duty ratio Section 9 PWM Outputs variable duty ratio pulse outputs Defining the origin Defines the machine origin by actually executing 8 5 Defining the Origin pulse output based on the pattern specified in the origin search parameters using the origin proximity input and origin input signals as conditions Inputs and outputs are used in combination 1 6 CJ2M CPU Unit Pulse I O Module User s Manual 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 4 ly Rv reru yep Eu RYE 2 4 2 2 1 Specifying the Functions to Use ccc ee ees 2 4 2 2 2 Selecting Functions in the PLC Setup 2 2 4 2 2 3 Allocating Functions to Input Terminals 2 000 000005 2 5 2 2 4 Allocating Functions to Output Terminals 0000 eee eee 2 7 2 3 PLC SeluD cuiu pb eaa eee EI e uM Aa Sect iem v Red 2 8 2 3 1 Normal Input Operation Setting llle 2 9 2 3 2 Interrupt Input and Quick response Input Detailed Settings 2 9 2 3 3 High speed Counter Settings llle 2 10 2 3 4 Pulse Output and Origin Search Se
77. g Co gt Ke 9 fo o 3 m X fo 3 ri o Packaging material WO 00 positioning completed A280 03 WO 01 Material being fed Packaging material positioning completed DuipeoeJ idnueijuJ enoe BuiddejM Bulpee4 p 6 8 Immediate stop 2960 01 Pulse output completed Immediate stop switch CJ2M CPU Unit Pulse I O Module User s Manual 8 81 8 Pulse Outputs 8 10 Precautions when Using Pulse Outputs I 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 The direction CW CCW specified in an ACC 888 SPED 885 or PLS2 887 instruction is ignored Using CW CCW Limit Inputs for Pulse Output Functions other than Origin Searches Pulse outputs will stop according to the PLC Setup when either the CW or CCW limit input signals turns ON It is also possible to select whether the defined origin will be cleared when a CW or CCW limit input signal turns ON for a pulse output function I Differences between Set Frequencies and Actual Frequencies The pulse output frequency of the Pulse I O Module is determined by dividing the source clock fre quency 33 330 MHz by an integer ratio Consequently there may be a slight difference between the set frequency and the actual frequency
78. input signal origin detection method O or 1 Pulse output 3 origin input signal always Pulse output 3 origin prox imity input signal origin detection method O or 1 Pulse output 2 positioning completed signal opera tion mode 2 Pulse output 3 positioning completed signal opera tion mode 2 1 and 2 Pulse output 1 error counter reset output operation modes 1 and 2 Pulse output 2 error counter reset output operation modes 1 and 2 Pulse output 3 error counter reset output operation modes 1 and 2 Other functions that cannot be used at the same Normal inputs Normal input 10 Normal input 11 Normal input 12 Normal input 13 Normal input 14 Normal input 15 Pulse output O error counter reset output operation modes Interrupt inputs Interrupt input 4 Interrupt input 5 Interrupt input 6 Interrupt input 7 time Quick response inputs Quick response input 4 Quick response input 5 Quick response input 6 Quick response input 7 Normal out put 4 Normal out put 5 Normal out put 10 Normal out put 11 High speed counter inputs Counter 3 phase Z or reset input Counter 2 phase Z or reset input Other functions that cannot be used at the same time PWM output 0 PWM output 1 PWM output 2 PWM output 3 When using an origin search in operation mode O outputs 4 5 10 and 11 can be used as PWM
79. is g dition 3 In range executed to change PV z Flag or ring counter maxi S High speed A275 03 mum value o Counter 1 Range s sni 3 Comparison Con Ww dition 4 In range Ti Flag High speed A275 04 7 Counter 1 Range Comparison Con dition 5 In range Flag High speed A275 05 Counter 1 Range Comparison Con dition 6 In range Flag High speed A275 06 Counter 1 Range Comparison Con dition 7 In range Flag High speed A275 07 Counter 1 Range Comparison Con dition 8 In range Flag High speed A275 08 This flag indicates whether a com Read e Cleared when power is Counter 1 Compar parison operation is being executed turned ON ison In progress for high speed counter 1 Cleared when starting Flag OFF Stopped operation ON Being executed e Refreshed when start ing stopping compari son CJ2M CPU Unit Pulse I O Module User s Manual 7 37 7 High speed Counters Name Word Bit_ Function Read Write Refresh timing High speed A275 09 This flag indicates when an over Read e Cleared when power is Counter 1 Over flow or underflow has occurred in turned ON flow Underflow the high speed counter 1 PV Cleared when opera Flag Used only when the counting mode tion starts is set to Linear Mode e Cleared when the PV is OFF Normal changed ON Overflow or underflow Refreshed when an overflow or underflow occurs High speed A275 10 This flag indicates whether high Read e Setting used for high Counter 1 Count speed cou
80. ms 0 D 0 D Origin Target Speed pps 0 0 0 0 Return Acceleration Rate 0 0 0 Deceleration Rate 0 D 0 s n Default settings are indicated by asterisks sini Output Defaults HE Internal Pulse Control Cycle 4ms C 1ms Copy Cancel e DM Area Settings e Starting Frequency Setting X axis starting frequency Y axis starting frequency Do Po 0000 e PLS2 887 Settings to Move from Origin to Position A Data Setting Data X axis D10 0700 Dn 0700 Target frequency 100 000 pps 86A0 000 Number of output pulses 5 000 pulses D14 1388 D15 0000 Y axis D20 0700 D21 0700 Target frequency 100 000 pps D22 86A0 D23 0001 Number of output pulses 5 000 pulses 1388 0000 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs e Settings to Move from Position A to Position B Setting Wer Data X axis Acceleration rate 2 000 pps 4 ms D30 07D0 Deceleration rate 2 000 pps 4 ms D31 07D0 Target frequency 100 000 pps 86A0 0001 Number of output pulses 25 000 pulses D34 61A8 0000 Y axis D40 0700 D41 0700 Target frequency 100 000 pps 86A0 000 Number of output pulses 50 000 pulses D44 C350 0000 e Settings to Move from Position A to Position C Setting Wed Data X axis Acceleration rate 2 000 pps 4 ms D50 07D0 Deceleration rate 2 000 pps 4 ms D51 07D0 Target frequency 100 000 pps 86A0 000 Number of output pulses 35 000 pulses D54 8
81. not be backed up if power is turned OFF Check the user program and Unit parameter settings for proper execution before actually running them on the Unit Not checking the program and parameter settings may result in an unexpected operation When setting a Special I O Unit or CPU Bus Unit in the I O tables carefully check the safety of the devices at the connection target before restarting the Unit Do not turn OFF the power supply to the PLC when reading or writing a Memory Card Also do not remove the Memory Card when the BUSY indicator is lit Doing so may make the Memory Card unusable To remove a Memory Card first press the memory card power supply switch and then wait for the BUSY indicator to go out before removing the Memory Card When restoring data carefully check that the selected data is the correct data to be restored before executing the restore operation Depending on the contents of the selected data the con trol system may operate unexpectedly after the data is restored Some Special I O Units and CPU Bus Units operate with parameters stored in the CPU Unit e g words allocated in DM Area data link tables or Ethernet settings Information on restrictions will be displayed in the Information Area in the PLC Backup Tool if there are any restrictions for the selected CPU Bus Unit or Special I O Unit Check the restrictions and then be sure to select both the CPU Unit and the CPU Bus Unit or Special I O Unit when backing
82. nterrupt 2960 00 2960 01 2962 00 2962 01 1 on the left Correspond ing bit address Setting 0 1 4 and 5 Select one of the following e Rising Edge ON transition e Falling Edge OFF transition 8 36 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Pulse frequency Interrupt input occurs Target Specified number of pulses frequency Deceleration rate Acceleration rate Position control Speed control Time IFEED executed 8 4 4 INTERRUPT FEEDING Instruction IFEED 892 Execution condition 0100777 P Port specifier Example Interrupt input O and pulse output O 0000 F C Control data CW CCW outputs and CW direction S First word of GS setting table Acceleration rate 50 pps 4 ms S41 Deceleration rate A 20 pps 4 ms Pulse frequency is n frequency 3 pps l S 4 Number of output pulses Interrupt input O occurs S45 100 pulses 500 pps 100 pulses 20 pps 4 ms Position control control IFEED executed e Setting the Interrupt Input to Use A specified combination of pulse output and interrupt input must be used for the IFEED 892 instruc tion You cannot change the combinations The pulse output and interrupt input are specified with operand P port specifier of the IFEED 892 instruction P Interrupt input 0000 Interrupt input O 0001 Interrupt input 1 0002 I
83. number Pulse Pulse out Pulse output 28 mie for outputs num COM A20 COM Terminals numbers on the XW2D Connector Terminal Block Conversion Unit Sourcing type Pulse en Module CJ2M MD212 Pulse I O Module No 0 on the right Pulse I O Module No 1 on the left Output Output i type and Description type and Description number number Pulse OUTOO Pulse out OUTIO Pulse output output 0 OUTO put2 oUTi2 Direction output Pulse OUTO Pulse out OUTT Pulse output output 1 put 3 Direction output Power supply input V Power supply input Terminals numbers on the XW2D Connector Terminal Block Conversion Unit 8 12 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Connecting the Servo Drive and External Sensors Connections for Pulse Output 0 Pulse I O Terminals Origin search Mo dule Terminal _lerminals_ O O symbol peration peration mode 0 mode 1 CW CCW m Connect to Servo Drive s pulse input A the OUTOO 31 A16 CIO PV OUTO1 32 B16 CIO A276 and 2961 01 A277 OUTOO 31 A16 CIO PV 2961 00 stored in OUTO2 33 A17 CIO A276 and 2961 02 A277 Outputs m 1 Operation mode 2 CCW Connect to Servo Drive s pulse input CWW Pulseand Pulse Connect to Servo Drive s pulse input Direction PULS 886 Outputs Direc Connect to Servo Drive s direction input tion SIGN Normal The external signal
84. of pulses accelera l dent tion rate deceleration rate and target fre l quency PLS2 The PLS2 887 instruc tion can be executed dur ing positioning acceleration or decelera tion to change the accel eration rate or deceleration rate The PLS2 887 instruc PULS tion can be executed dur ing positioning with absolute pulse specifica AGE Indepen tion to change to absolute i dent pulses and reverse direc tion l Use Stopping Operation PLS2 for Reversal Specification in operand M of the PLS2 887 instruction to specify how to stop decelerate and stop or immediate stop the cur rent movement Settings Number of pulses Relative or absolute pulse spec ification Port Pulse direction Accelera tion rate Decelera tion rate Target fre quency Starting frequency Number of pulses Accelera tion rate Decelera tion rate Number of pulses Absolute pulse spec ification Port CW CCW or Pulse direction Accelera tion rate Decelera tion rate Target fre quency Starting frequency CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs I Stopping a Pulse Output Example Procedure Operation ee ae Frequency changes Stop pulse Immediate idle neaueney Stops the pulse output immedi PULS Stopping output stop ately Clears the current num pulse output Number of Present ber of output pulses H frequency WPu pu ACC Inde pulses set M pendent
85. output is used as the origin input signal terminal Set the Servo Drive so that the positioning completed signal is OFF when the motor is operating and 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 Pulse I O Module Sinking Outputs Operation mode 2 3 O CW output pulse output 0 131 XK KK dw O O CW output pulse output 0 32 or EI mm supply input C e for outputs N C contacts Error counter reset output Origin input signal Origin proximity input signal O d 6 0V o 0 V Positioning let ignal completed signa 13 24 VDC 39 INP L O Ld 38 INPCOM CJ1W ID211 Input Unit Qo I Oo lt D a x he DuuIM tv L 8 W limit input ME N C ad HERD contacts A N C signal contacts 24 VDC CW limit input CJ2M CPU Unit Pulse I O Module User s Manual 8 23 8 Pulse Outputs I 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 Performing trapezoidal or S Performs trapezoidal or S curve pulse out ACC 888 Refer to 8 2 Position Con curve control put control with independent acceleratio
86. pulse input seoses 7 13 INGO cU 7 31 8 24 8 44 9 5 input SDScITICdllOEIS 2 4 5 wee tS ot tees paca eon decent 3 2 interrupt feeding sese 8 35 INTERRUPT FEEDING instruction IFEED 892 8 37 PLC SCD rnc neice ace acce b ae ee 8 36 MLC PFU CMDUNS m 6 3 AXAN ATEA onn E T nse 6 13 PEG SEUD inea e a at 6 6 ees figs anro Memo co T 6 10 inire CREER 2 9 Specifications en 3 2 6 5 jagen 6 10 interrupt inputs and quick response inputs SOLDI ed adero ap ioci dase dented baton de pibe ch t con tectis 2 9 interrupts eyrsigqe odiigloru cemere Oe sulaieue is a henseleons 6 3 TV DOS sae PER 6 2 J Ogg tte T 8 32 L low speed jogging ssissucusatbbet sctutusia o set tes E PEEEN TAE Sc2MI 8 32 M manual operation eje fel ero ees TM EN eSI IP RAM 8 32 ISI SOJO vcostellutestetudciebup e a LO errors 6 11 N riormial Hp ES oucssesa ied apa eon ueste acto E 4 2 i o Em 2 9 specifications E 3 2 4 4 WNO gut TIT 4 7 normal GuUtDULS sads EP 4 5 specifications eeeeeeeeeeeeeeee 3 4 3 5 4 6 V giro Meer ERN 4 8 Index 1 O ORG GOD deterrent rearee ae at quati Menten mere 8 24 8 45 8 51 origin defining RM SER In E 8 39 origi retur cese m ME 2 14 8 51 ORIGIN SEARCH instruction ORG 889 8 45 ordin Searchissa C 2 13 8 39 operation ITiOdeS usos rere ooa e n e nahe o T 8 46 OVIQUIVY GUUIINS eet 8 51 ORIGIN SEARCH instructi
87. quencies with the data trace function of the CX PRV 881 instruction Programmer Differ Actual output fre Integer division of 33 33 MHz Integer division of 20 MHz encesin quency eye en Update timing for PLC Update timing for origin detection Update timing for origin detection Setup method When power is turned ON method When operation is started Allocation of I O termi If not using the origin search is speci If not using the origin search is speci nals fied unused terminals can be used for fied unused terminals cannot be used other functions depending on the oper for other functions regardless of the ation mode operation mode PWM outputs Number of outputs 4 outputs 2 x 2 Pulse I O Modules 2 outputs e 0 1 to 6 553 5 Hz 0 to 100 0 1 to 6 553 5 Hz 0 to 100 e 0 1 to 6 553 5 Hz 0 0 to 100 0 e 0 1 to 6 553 5 Hz 0 0 to 100 0 e 1 to 32 800 Hz 0 0 to 100 0 Output accuracy ON duty 2 096 ON duty 4 596 096 For 1 kHz 0 5 mA output For 1 kHz 0 5 mA output Differ Actual output fre Integer division of 33 33 MHz Integer division of 20 MHz encesin quency operation Timing of stopping Output stopped immediately when Output stopped one pulse period after output for INI 880 INI 880 instruction is executed INI 880 instruction is executed Output frequency duty ratio eo O Oo 3 o D D Oo 5 mp Oo oO c mh UJ nt 5 O TI c 5 O et Oo 5 0 instructi
88. se duiex3 uM Z y 4 Normal I O 4 12 CJ2M CPU Unit Pulse I O Module User s Manual Quick response Inputs SES This section describes the quick response inputs that can be used to read signals that are shorter than the cycle time S I OVENIEW sa ox mx Saeck ru R does dq xia va ocn thee Sdn tee cee 5 2 5 2 Application Procedure iis baci tbl EE EGG be eile x3 xz Rock EE 5 3 5 2 1 PEC Sea oa pessoas oa pee ea eee Bae goes eee 5 3 5 2 2 Applicable Input Terminals llle llle 5 5 5 9 WINING ouo 3 23 acd are eet S ecoute Utt duces a del doa dro iecore 5 6 5 3 1 Connector Pin Assignments 0000 lille eens 5 6 5 4 Creating Ladder Programs 000 cee eee ees 5 7 CJ2M CPU Unit Pulse I O Module User s Manual 5 1 5 Quick response Inputs 5 1 Overview By setting an input on the Pulse I O Module to quick response input operation inputs with signal widths as small as 30 us 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 Pulse I O Module CJ2M CPU Unit I O refresh Cycle time Connecting Cable Pulse signal Connector a Terminal Block Input bit Conversion Unit ON for one scan in the next cycle Pulse signal from photomicrosensor or other device Cyclic task ladder program Cycle time Can read ON signals shorter than this time I O refresh
89. signal is used for origin Limit Input Signal searches only Operation Always The CW CCW limit input signal is used by functions other than origin search NC Normally Select when using NC contacts for the limit input signal Limit Input Signal Closed Type NO Normally Select when using NO contacts for the limit input signal Open B When a limit input signal is input the pulse output is ue Clear Origin at stopped and the previous status is held Limit Input Signal When a limit input signal is input the pulse output is stopped and origin becomes undefined Search Return Ini Set the motor s starting speed when performing an origin search tial Speed pps Specify the speed in the number of pulses per second pps Linear Select this option to use trapezoidal acceleration decel eration rates for pulse output with acceleration decelera Speed Curve tion S curve Select this option to use S curve acceleration decelera tion rates for pulse output with acceleration deceleration Note The power supply must be restarted after the PLC Setup is transferred in order to enable the pulse output settings Refer to 8 5 Defining the Origin for information on the origin search settings in the PLC Setup Qo L Oo lt D suoneogioedgs 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 7 8 Pulse Outputs 8 8 Setting the Pulse Output Port Number and Assigning Pulse Output Terminals e Pulse Output Method
90. start W3 02 PLS2 887 Positioning Port specifier Pulse output 1 Positioning to A start E Control data D20 First word containing parameters O N First starting frequency word W2 00 A280 03 A281 03 E Pulse output completed Pulse output completed KH ue oV U m D a N D D D X D lt c o 5 m U Q O 3 3 Positioning to A completed CJ2M CPU Unit Pulse I O Module User s Manual 8 71 8 Pulse Outputs Positioning to B Start and Completion for X and Y Axes W1 01 PLS2 887 Positioning Port specifier Pulse output 0 Control data First word containing parameters DO First starting frequency word PLS2 887 Positioning 8 O Port specifier Pulse output 1 1 Control data 1 1 First word containing parameters First starting frequency word W2 01 A280 083 A281 03 E I Positioning to B completed Pulse output completed Pulse output completed Positioning to C Start and Completion for X and Y Axes W1 02 Positioning to B start PLS2 887 Positioning Port specifier Pulse output O First word containing parameters 1 Positioning to C start Control data D First starting frequency word PLS2 887 Positioning 4 Port specifier Pulse output 1 Control data First word containing parameters First starting frequency word A280 08 A281 03 E M7 M
91. temperatures or humidity outside the range specified in the specifications Locations subject to condensation as the result of severe changes in temperature Locations subject to corrosive or flammable gases Locations subject to dust especially iron dust or salts Locations subject to exposure to water oil or chemicals Locations subject to shock or vibration e Take appropriate and sufficient countermeasures when installing systems in the following locations Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies CJ2M CPU Unit Pulse I O Module User s Manual Regulations and Standards Conformance to EC Directives Applicable Directives e EMC Directives Low Voltage Directive i Concepts e 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 EMC related performance of the OMRON devices that comply with EC Directives will vary depend ing on the configuration wiring and other conditions of the equipment or control pan
92. the MODE CONTROL INI 880 instruction i PWM Outputs Lighting and power control can be performed by outputting variable duty ratio pulse PWM output sig nals from the outputs of the Pulse I O Module Up to two PWM outputs can be used for each Pulse I O Module four for the entire CJ2M PLC CJ2M CPU Unit Pulse I O Module User s Manual 1 5 suonoung y JO MSlAJ9AQ 2 1 Oo oO a N U E o o O 1 Overview 1 3 Functions of CJ2M Pulse I O The following functions of the CJ2M can be used by installing a Pulse I O Module EN 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 CU2 CPU Unit Hard ware User s Manual Cat No W472 item Function O Reference stored in I O memory during the I O refresh period Direct Mode turns ON or OFF Interrupt inputs in The number of ON transitions or OFF transitions in Counter Mode the input signal is counted and an interrupt task is started when the specified count is reached High speed High speed counter inputs can be used to count Section 7 High speed counter inputs high speed pulse signals Interrupt tasks can also Counters be started Outputs Normal outputs Outputs according to the content of the I O memory 4 2 Normal Outputs and refresh timing Pulse outputs The specified number of pulses are output at a
93. three ways e Reading the PV Refreshed at the I O Refresh Timing gt Read from the Auxiliary Area e Reading the PV during Program Execution Head by executing the PRV 881 instruc tion e Reading the PV When an Interrupt Input Occurs gt Use the software latch and read the value from the Auxiliary Area I 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 Mod Read PV Auxiliary Area word ule No 0 on the right Pulse output O A277 upper digits and A276 lower digits Pulse output 1 A279 upper digits and A278 lower digits 1 on the left Pulse output 2 A323 upper digits and A322 lower digits Pulse output 3 A325 upper digits and A324 lower digits r x o r 7 Reading the PV during Program Execution e Reading the Pulse Output PV with a PRV 881 Instruction Execution condition mese P Port specifier Example Pulse output O TEN C Control Data to read PV HERR D First destination word 15 0 D100 PV lower word D101 PV upper word I Reading the PV When an Interrupt Input Occurs LPV 893 reads the pulse output PV each time an interrupt input occurs and stores the value in the Auxiliary Area It reads the PV immediately before the interrupt input task is started LPV 893 reads the PV more in realtime than starting an interrupt task and using the PRV 881 inst
94. tion mov ement data Target fre quency Acceler ation de celera tion rate Starting fre quency Starting fre quency No No Output method m E E D i i li i E a ul i h i ui i i i Yes Can be executed No Instruction Error will occur Error Flag ON Ignored Instruction error won t occur Only possible for a target frequency of 0 CJ2M CPU Unit Pulse I O Module User s Manual Appendices A 3 Comparison to CJ1M Built in I O Functions Specification performance Input response time ON response time 8 ms max ON response time 8 ms max MEN OFF response time 8 ms max OFF response time 8 ms max Update timing for PLC Update timing for input constants Update timing for input constants When power is turned ON When operation is started Differ ences in operation Normal outputs Number of outputs 12 outputs 6 x 2 Pulse I O Modules 6 outputs Output response time ON response time 0 1 ms max ON response time 0 1 ms max SE T OFF response time 0 1 ms max Maximum switching 4 75 to 26 4 VDC 4 75 to 26 4 VDC Output type Sinking CJ2M MD21 1 Sinking aA Sourcing CJ2M MD212 Input response time ON response time 30 us max ON response time 30 us max OFF response time 150 us max Interrupt modes Direct Mode and Counter Mode Direct Mode and Counter Mode Software latching for Supported Not supported PVs of high speed counters and pulse ou
95. value when changing the PV C 0002 new PV or when changing the ring counter maximum value C 0006 Example 1 Target Value Comparison In this example high speed counter O operates in linear mode and starts interrupt task 10 when the PV reaches 30 000 0000 7530 hex and starts interrupt task 11 when the PV reaches 20 000 0000 4E20 hex 1 Set high speed counter 0 on the I O Module Tab Page in the PLC Setup Item Setting Counter setting Input pulse frequency 60 kHz max Counting Mode Linear mode Ring Counter Max Value Reset Method Software reset Comparing After Counter Reset Stop Pulse Input Mode Up Down pulses CJ2M CPU Unit Pulse I O Module User s Manual 7 31 s dn113 U 191uno poeeds uBiH amp 7 7 suononaisu 1dnujeiu Jejuno peeds ufiiH e 7 7 High speed Counters 2 Set the target value comparison table in words D1000 to D1006 Word 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 D1003 000A Target value 1 Bit 15 O incrementing Bits 00 to 07 A hex interrupt task number 10 D1004 4E20 Rightmost 4 digits of the target value 2 data 20 000 Target value 20 000 D1005 0000 Leftmost 4 digits of the target value 2 data 20 000 D1006 800B Target value 2 Bit 15 1 decrementing Bits 00 to 07 B hex interrupt task number
96. ve MOVL Clear the PV of high speed counter O to 0 e Z CD e 0010 Specifies high speed counter O 0002 PV change New PV data Clears PV to 0 CTBL Specifies high speed counter 0 Specifies comparison with target values and starts comparison O o D600 First word of comparison table m Motor operation reset 2961 00 Confirm that the stop position is correct after the motor stops WO 02 2961 02 The stop position is normal if the present value of the high speed Normal stop counter A270 is between 3500 position ODAC hex and 3550 ODDE hex Motor stopped pele An error stop will occur if the present value of the high speed counter A270 is Error stop higher than 3550 ODDE hex position When the present value of the high speed counter matches target value 1 3 000 interrupt task 143 is executed P On Interrupt task SET number 143 Turns ON motor low 2961 01 speed output 7 46 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters When the present value of the high speed counter matches target value 2 3 500 interrupt task 144 is executed RSET 2961 00 RSET 2961 01 Motor operation reset Interrupt task number 144 Motor low speed reset Turns ON motor stop output DM Area Settings The comparison table for the CTBL 882 REGISTER COMPARISON TABLE instruction is set in D600 through D606 Word
97. when the specified number of pulses has been output Accelerates and decelerates at a fixed rates The pulse output is stopped when the specified number of pulses has been output The target position specified number of pulses can be changed during positioning Procedure PULS J SPED Indepen dent PULS l ACC Indepen dent Number of pulses Helative or absolute pulse speci fication Port Pulse direction Independent Target fre quency Number of pulses Helative or absolute pulse speci fication Port Pulse direction Independent Accelera tion and decelera tion rate Target fre quency Number of pulses Helative or absolute pulse speci fication Port Pulse 4 direction Accelera tion rate Decelera tion rate Target fre quency Starting fre quency p l U m D O c ph c U 9 ct D 5 0 8 89 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 Target frequency ACC instruction executed I Changing Settings Example Operation application Change Changing speed in the speed in one step one step during oper ation
98. 00 kHz for up to 2 axes can be used for each Pulse I O Module up to 4 axes for the entire CJ2M PLC Use the Linear Mode or Ring Mode for the Counting Mode The maximum value of the ring counter can be changed during operation using the MODE CON TROL INI 880 instruction e Start Interrupt Tasks Using Target Value Comparison or Range Comparison for High speed Processing Interrupt tasks can be started when the PV reaches a target value for target value comparison or when it enters a specified range for range comparison e Frequency Measurement The input pulse frequency can be measured by executing the HIGH SPEED COUNTER PV READ PRV 881 instruction Applicable only to high speed counter O It is possible to convert the fre quency to a rotational speed by executing the COUNTER FREQUENCY CONVERT PRV2 883 instruction CJ2M CPU Unit Pulse I O Module User s Manual 1 Overview e 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 i 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 Each Pulse I O Module provides 100 kHz pulse outputs for up to 2 axes up to 4 axes for entire CJ2M PLC e Trapezoidal or S curve A
99. 1 8 Pulse Outputs 0 9 Application Example 0 cio ecu ERU CEP use d Race ee ees 8 63 8 9 1 Cutting Long Material Using Fixed Feeding 0000 eee eees 8 63 8 9 2 Palletize Two axis Multipoint Positioning llle 8 66 8 9 3 Vertically Conveying PCBs Multiple Progressive Positioning 8 74 8 9 4 Feeding Wrapping Material Interrupt Feeding llus 8 80 8 10 Precautions when Using Pulse Outputs 8 82 8 11 Pulse Output Patterns leeelee ee 8 87 8 11 1 Speed Control Continuous Mode 0 0 ees 8 87 8 11 2 Positioning Control Independent Mode CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs 8 1 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 Pulse I O CJ2M CPU Unit e Trapezoidal Control e S curve Control Module Frequency speed Frequency speed Connecting Cable Connector Terminal EHHH Block Conversion Unit Travel distance Travel distance Time Time Output es Pulse outputs eJogging e Jogging Frequency speed Frequency speed L Servo Drive or r seen E Time Time eOrigin Search eOrigin Search Servomotor or Frequ
100. 1 pps Stopping pulse output O pps Acceleration deceleration rate Set in increments of 1 pps from 1 to 65 535 pps every 4 ms Direction specification Set to CW or CCW Mode specification Set to continuous mode EN Additional Information Jogging can also be performed with S curve acceleration deceleration 8 3 2 Low speed Jogging Start pulse output without acceleration or deceleration using the SPED 885 instruction Set the target frequency of the SPED 885 instruction to O pps to stop the pulse output Target frequency Pulse output started Pulse output stopped Target frequency Starting pulse output 1 pps to 100 kpps in increments of 1 pps Stopping pulse output O pps Direction specification Set to CW or CCW Mode specification Set to continuous mode 8 32 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs 8 3 3 Application Example i 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 e Clockwise low speed jogging will be executed from pulse output 1 while CIO 2960 00 is ON e Counterclockwise low speed jogging will be executed from pulse output 1 while CIO 2960 01 is ON CW Target frequency 1 000 pps Pulse frequency CCW CW low speed jogging CIO 2960 00 ER S CCW low speed jogging ClO 2960 01 a A The example shows jogging with acceleration an
101. 10 ClO left 2962 IN11 01 IN12 02 IN13 03 CJ2M CPU Unit Pulse I O Module User s Manual Interrupt input 4 Interrupt input 5 Interrupt input 6 Interrupt input 7 reset input Counter O phase Z or reset input Counter 3 phase Z or reset input Counter O phase Z or reset input Normal input 3 Normal input 10 Normal input 11 Normal input 12 Normal input 13 input 2 Quick response input 3 Quick response input 4 Quick response input 5 Quick response input 6 Quick response input 7 Pulse output 1 origin proximity input signal Pulse output 2 origin input sig nal Pulse output 2 origin proximity input signal Pulse output 3 origin input sig nal Pulse output 3 origin proximity input signal 6 9 P da A U r O ep 2 Cc O 6 Interrupts 6 2 5 Wiring I Connector Pin Assignments Pulse I O Module No 0 on the right Pulse I O Module No 1 on the left Input Input type T type and number 0 Description zu C Description number Interrupt INOO i 24 VDC input IN10 24 VDC input Interrupt INO1 B1 24 VDC input IN11 24 VDC input coil ll nol a Interrupt INO2 24 VDC input input 2 11 A6 lov didis IN12 24 VDC input 11 A6 0V IN13 24 VDC input idu Terminals numbers on the XW2D l I GL Connector Terminal Block Conversion Unit Interrupt INOS3 input 3 6 2 6 Creating Ladder Programs I Writing the Interrupt
102. 10 Original production CJ2M CPU Unit Pulse I O Module User s Manual Revision 1 Revision 2 CJ2M CPU Unit Pulse I O Module User s Manual Authorized Distributor
103. 17 A5 Phase Z LD High speed INO8 25 A13 Phase A E speed N18 A counter O input 24 V ieee 2 input 24 V Phase A Phase A LD LD INO9 Phase B IN19 Phase B input 24 V input 24 V 32a B Phase B ae B Phase B LD LD INOS3 Phase Z Phase Z input 24 V input 24 V Phase Z Phase Z LD LD High speed INOG Phase A High speed IN16 Phase A counter 1 input 24 V counter 3 input 24 V Phase A LD Phase B input 24 V Phase B LD Phase B Phase B inputOV LD B ma Phase Z LD 11 A6 Phase Z Phase Z Phase Z Phase Z inputOV LD inputOV LD 1 Terminals numbers on the XW2D LILIGL_ Connector Terminal Block Conversion Unit 2 OC Use these connections for a device with open collector outputs LD Use these connections for a device with line Phase A Phase A 29 A15 Phase A Phase A inputOV LD inputOV LD IN13 Phase Z Phase Z Phase Z Phase Z inputOV LD inputOV LD Phase Z input 24 V driver outputs CJ2M CPU Unit Pulse I O Module User s Manual 7 7 M9IAJ9AQ L Z 7 DuulM GS L Z 7 High speed Counters e Pulse Direction Inputs Pulse I O Module No 0 on the right Pulse I O Module No 1 on the left Input type Terminal Description Inputtype Terminal i Description 1 1 and number symbol oc we and number symbol LD High speed INO8 25 A13 Counter High speed IN18 25 A13 Counter counter 0 input 24 V counter 2 input 24 V 1 2 High speed INO6 19 counter 1 a
104. 2 4 Use the CTBL 882 instruction to start the comparison operation with high speed counter 1 and interrupt task 12 CJ2M CPU Unit Pulse I O Module User s Manual 7 33 7 High speed Counters 7 34 W0 00 Uses high speed counter 1 Registers a target value comparison table and starts comparison First comparison table word When execution condition WO0 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 When interrupt task 12 execution is completed execution of the interrupted cyclic task resumes Example Executing the Interrupt Task When Entering a Range WO 00 CIO 2960 06 PALF LA LALA LALA tL PN CIO 2960 07 High speed counter 1 PV in A272 and A273 Upper limit value 25 500 639C hex Lower limit value 25 000 6148 hex ES Starts comparison Cyclic task Interrupted Cyclic task Interrupted Cyclic task processing processing processing Interrupt task Interrupt task 12 processing 12 processing CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters 7 4 Related Auxiliary Area Words and Bits i Related Auxiliary Area Words and Bits Name Word Bit Function ReadWrite Refresh timing High speed A270 to Contain the PVs of high speed Read e Cleared when power is counter 0 PV A271
105. 26 4 VDC 20 mA min a supply input V for outputs Refer to 4 3 2 Wiring Examples for details on suppressing the load s inrush current and modify the circuit if nec essary e Pulse Outputs OUTOO to OUTO3 and OUT10 to OUT13 Item Specifications Rated voltage 5 to 24 VDC Allowable voltage range 4 75 to 26 4 VDC Maximum switching capacity 30 mA Minimum switching capacity 7 mA Maximum output frequency 100 kHz Output waveform ON ESTNE once E ee IE ames OFF 0 M 00 4us min gt 2 us min Note The ON OFF status given above is for the output element CJ2M CPU Unit Pulse I O Module User s Manual 3 5 3 I O Specifications and Wiring for Pulse I O Modules EN Additional Information e 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 Due to distortions in pulse waveforms resulting from connecting cable impedance the pulse widths in actual operation may be smaller than the values shown above e PWM Outputs OUT04 OUTO5 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 PWM output accuracy for ON ON duty at 6 5535 kHz or less 0 5 ON duty at 32 8 kHz pulse width of 2 us or longer 2 5
106. 3 648 to 2 147 483 647 pulses Value Once the origin has been detected in an origin search the number of pulses specified in the ori gin compensation is output the present position is reset to O and the pulse output s No origin Flag is turned OFF Origin ae Acceleration Setting range 0 to Sets the motor s acceleration rate when the origin search is executed Rate 65 535 pps 4 ms Specify the amount to increase the speed pps per 4 ms interval Setting range 0 to Sets the motor s deceleration rate when the origin search function is Deceleration Rate 65 535 pps 4 ms decelerating Specify the amount to decrease the speed pps per 4 ms interval Setting range 0 to When the operation mode is set to mode 2 this setting specifies how 9 999 ms long to wait in ms for the positioning completed signal after the posi Positioning tioning operation has been completed i e the pulse output has been Monitor Time completed ms A Positioning Timeout Error error code 0300 will occur if the motor drive s positioning completed signal does not turn ON within the speci fied time Target Speed Setting range 1 to Sets the motor s target speed when the origin return is executed pps 100 kpps Specify the speed in the number of pulses per second pps Setting range 0 to Sets the motor s acceleration rate when the origin return operation Acceleration 65 535 pps 4 ms starts Origin Rate Specify the amount to increase the speed per 4 m
107. 3 A17 Output 2 Normal OUT12 33 A17 Output 2 output 2 output 8 Normal OUTO3 34 B17 Output 3 Normal OUT13 34 B17 Output 3 output 3 output 9 Normal OUT04 35 A18 Output 4 Normal OUT14 35 A18 Output 4 output 4 output 10 Normal OUTO5 B18 Output 5 Normal OUT15 36 B18 Output 5 output 5 output 11 37 A9 A19 Power supply input Terminals numbers on the XW2D Power supply input V A19 9 i for outputs Eom for outputs COM COM Connector Terminal Block Conversion Unit e Sourcing type Pulse I O Module CJ2M MD212 Pulse I O Module No 0 on the right Pulse I O Module No 1 on the left Output Output type and Description type and Description number number Normal OUTOO 31 A16 Output 0 Normal OUT10 31 A16 Output 0 output O output 6 Normal OUTO1 32 B16 Output 1 Normal OUT11 32 B16 Output 1 output 1 output 7 Normal OUTO2 33 A17 Output 2 Normal OUT12 33 A17 Output 2 output 2 output 8 Normal OUTOS 34 B17 Output 3 Normal OUT13 34 B17 Output 3 output 3 output 9 Normal OUT04 35 A18 Output 4 Normal OUT14 35 A18 Output 4 output 4 output 10 Normal OUTO5 36 B18 Output 5 Normal OUT15 36 B18 Output 5 output 5 output 11 Terminals numbers on the XW2D I G CON COM Power supply input V Power supply input V for outputs for outputs Connector Terminal Block Conversion Unit CJ2M CPU Unit Pulse I O Module User s Manual 4 Normal I
108. 4 Range 1 upper limit upper word TB 5 Range 1 interrupt task number j 0000 0000 to FFFF FFFF hex 0000 0000 to FFFF FFFF hex 0000 0000 to FFFF FFFF hex Interrupt task number 15 12 11 8 7 4 3 0 Interrupt task execution condition OFF When value enters range ON When value leaves range AAAA hex Do not execute interrupt task FFFF hex Ignore the settings for this range Interrupt task No 00 to FF hex 0 to 255 decimal CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters MODE CONTROL Instruction INI 880 The INI 880 instruction is used for the following items e 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 If the comparison is started simultaneously with registering the comparison table and the high speed counter interrupts are always enabled the INI 880 instruction is not required e Changing the PV of a High speed Counter Execution condition Q INI pp Jesse P Port Specifier misuse C Control Data NV N me NV First word with new PV Operand Setting P Port specifier 0010 High speed counter 0 High speed counter 1 High speed counter 2 High speed counter 3 C Control data Starts comparison Stops comparison Changes the PV 0006 Changes the maximum ring count NV First word of Stores the new
109. 45 A10147 Latched PV A10153 A10149 A10151 A10153 A10155 Interrupt Input5 A10154and A10157 and A10159 Latched PV A10155 Interrupt Input 6 A10156 and Latched PV Interrupt Input 7 A10158 and Latched PV A10159 CJ2M CPU Unit Pulse I O Module User s Manual 6 13 6 6 2 7 Application Example 6 14 Sensor input 3 Interrupts 1 PLC Setup Sensor input interrupt Sensor input 1 Sensor input 2 Sensor input interrupt input 2 CIO 2960 02 Sensor input 1 CIO 2960 00 Sensor input 2 CIO 2960 01 Sensor input 3 CIO 2960 03 Reset input CIO 2960 04 OK output CIO 2961 00 NG output 1 CIO 2961 01 NG output 2 CIO 2961 02 NG output 3 CIO 2961 03 NG output 4 CIO 2961 04 In this example bent parts are detected in a moving workpiece such as an IC component When the sensor input terminal INO2 address CIO 2960 02 turns ON the interrupt task is executed Interrupt task processing Interrupt task processing Interrupt task processing Set IN2 to nterrupt Input in the Interrupt Input and Quick response Input Detailed Settings Dia log Box that is accessed from the I O Module Tab Page Interrupt Input and Quick response Input Detaile Input Operati Latch Normal Input Edge Rising Do not Use Normal Input Rising Do not Use Normal Input Rising Do not Use Do not Use Do not Use Normal Input Normal Inpe Rising Rising 2 E OK Cancel
110. 5 500 0000 639C hex The ring counter maximum value is set to 50 000 0000 C350 hex 1 Set high speed counter 1 on the I O Module Tab Page in the PLC Setup Item Setting Counter setting Input pulse frequency 100 kHz max Counting Mode Ring mode Ring Counter Max Value 50 000 Reset Method Software reset Comparing After Counter Continue Reset Pulse Input Mode Up Down pulses 2 Set the range comparison table starting at word D2000 Even though range 1 is the only range being used all 40 words must still be dedicated to the range comparison table Word D2000 61A8 Rightmost 4 digits of range 1 lower Lower limit value 25 000 limit D2001 0000 Leftmost 4 digits of range 1 lower limit Description Ph T amp T D D D Q O O 5 D 5 D c 5 p 0 D2002 639C Rightmost 4 digits of range 1 upper Upper limit value 25 500 limit D2003 0000 Leftmost 4 digits of range 1 upper limit y D2004 000C Range 1 Interrupt task 12 C hex when entering range leftmost bit ON D2005 to All 0000 Range 2 lower and upper limit values Range 2 settings D2008 Not used and do not need to be set D2009 FFFF Disables range 2 l Set the 5th word for ranges 3 to 8 listed at left to FFFF hex range settings are invalid to disable those ranges D2014 D2019 D2024 D2029 D2034 D2039 suononuaisu dn118 U Jejuno p ds yfIH amp e 7 3 Create the program for interrupt task 1
111. 7 7 EM e CJ2M CPU Unit Pulse I O Module User s Manual 4 3 I 1 ci o 3 m 5 xe c INp dOId uoiedjddy z L p 4 Normal I O Pulse I O Terminal Module SEI No y 1 on the CIO Normal input left 2962 10 IN14 IN15 IN16 IN17 IN18 IN19 Normal input 11 Normal input 12 Normal input 13 Normal input 14 Normal input 15 Normal input 16 Normal input 17 Normal input 18 Normal input 19 Other functions that cannot be used at the same time High speed counter inputs Counter 3 phase Z or reset input Counter 2 phase Z or reset Counter 3 phase A increment or count input Counter 3 phase B decrement or direction input Counter 2 phase A increment or count input Counter 2 phase B decrement or direction input Quick response inputs Interrupt inputs Quick response input 4 Interrupt input 4 Quick response input 5 Interrupt input 5 Quick response input 6 Interrupt input 6 Quick response input 7 Interrupt input 7 Origin search inputs for pulse outputs 0 to 3 Pulse output 2 origin input sig nal Pulse output 2 origin proximity input signal Pulse output 3 origin input sig nal Pulse output 3 origin proximity input signal Pulse output 2 positioning completed sig nal Pulse output 3 positioning completed sig nal i Specifications Specifications Item Number of inputs 20 inputs
112. 8 37 8 5 Defining the OFIGIn isss E eue eas a a ea E aa 8 39 8 5 1 ONIGIN Searches ise osteitis eee a a a a RA 8 39 8 5 2 Setting PIOCCCUIC NONI TOR NL a a a e 8 40 8 5 3 PLEO SOUL 0 uien a a ese eee ee eee 8 40 8 5 4 Origin Search Instructions ied salient antes Ede rat aec ode sea Lebe dua ne si ose edd dun aseead nod uud esten 8 45 8 5 5 ORIGIN SEACM ODEIATION NR E TM 8 46 8 5 6 ONOM SICURA EE T IEEE 8 51 8 5 7 Changing the PV of the Pulse Output ssesssssssesseseeeeeenn nennen 8 52 8 5 8 PNeellteciiieiaic ciego ccr PH 8 52 8 6 Reading the Pulse Output Present Value 1 eeeLeeeee eere eere nnne 8 56 8 7 Reading the Pulse Output Frequency 1 eeeeeeeee esee eese enne enne nnn nnn nnn 8 57 8 8 Helated Auxilidry Area BINS iiit oii ioci t Eo Eier aiucss re Ee ta EE a ER oo acce Ee peer ep Ee Eee nueve iE Vu ARa 8 58 9 9 Application Example ui ouioieo eai usc eei prix oni cepa com Eoi dies ue losbesko eux ias ten AE a EAA 8 63 8 9 1 Cutting Long Material Using Fixed Fee ding cccccssseeeeeceeeeeeeceaeeeeeenaseeeeseeseeeesseeeessaaaeees 8 63 8 9 2 Palletize Two axis Multipoint Positioning eeeeseseeeeseseeeneeeennnennnnnennnnnrennns 8 66 8 9 3 Vertically Conveying PCBs Multiple Progressive Positioning scccceeeeeeeeeeeeeeeesseeeeeeeees 8 74 8 9 4 Feeding Wrapping Material Interrupt Feeding cccecseeees
113. 8B8 0000 Yaxis Acceleration rate 2 000 pps 4ms D60 070 ZI 070 Target frequency 100 000 pps 86A0 0001 Number of output pulses 50 000 pulses D64 C350 0000 e Settings to Move from Position A to Position D Setting Word Data X axis Acceleration rate 2 000 pps 4 ms D70 07D0 Deceleration rate 2 000 pps 4 ms D71 07D0 e gt Ke 9 f pm o 3 m X Q 3 ri D Target frequency 100 000 pps D72 86A0 0007 Number of output pulses 25 000 pulses D74 61A8 0000 Y axis D80 0700 D8 0700 Target frequency 100 000 pps 86A0 000 Number of output pulses 30 000 pulses D84 7530 0000 Duiuonisog 1urodnjnj SIXe OML eznelled Z 6 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 69 8 Pulse Outputs I Ladder Program Origin Search for X and Y Axes 0 00 T Origin Search Switch WO 00 W1 15 Origin search completed Operation 1 Positioning to A WO 00 l WO 01 W2 00 Positioning to A completed Operation 2 Positioning to B WO 01 WO 02 W2 01 Positioning to B completed Operation 2 Positioning to A WO 02 WO 03 W2 00 Positioning to A completed Operation 3 Positioning to C WO 03 WO 04 W2 02 Positioning to C completed 8 70 MIN 4 Setting Bit address Origin search start Resetting Bit address Setting Bit address Positioning to A start Resetting Bit address Setting Bit address
114. A10140 and A10142 Upper four digits A10137 A10139 A10141 and A10143 When the reset method is set to a phase Z signal software reset the corresponding high speed counter s PV will be reset if the phase Z sig nal is received while this flag is ON When the reset method is set to a software reset the corresponding high speed counter s PV will be reset in the cycle when this bit turns ON CJ2M CPU Unit Pulse I O Module User s Manual Head Read e Refresh timing Setting used for high speed counter valid during counter opera tion Cleared when power is turned ON Cleared when opera tion is started Refreshed each cycle Overseeing process ing Refreshed when com parison is executed for 1 to 32 ranges Refreshed when PRV 881 instruction is executed to read the results of range compar ison Refreshed when INI 880 instruction is executed to change PV or ring counter maxi mum value Reset Cleared when power is turned ON Cleared when opera tion starts Refreshed when INI 880 instruction is executed to change ring counter maximum value Cleared when power is turned ON 7 41 Sig pue sp1oM eaJy Auelixny paly p 7 7 High speed Counters 7 42 Name High speed Counter O Gate Bit High speed Counter 1 Gate Bit High speed Counter 2 Gate Bit High speed Counter 3 Gate Bit WordBit Function Read Write Refresh timing A531 08 A531 09
115. Allocated bit CIO 2960 and CIO 2962 bits 00 to 09 Input time constant ON OFF response time 4 4 Default 8 ms The following settings can be made in the PLC Setup O ms no filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms or 32 ms CJ2M CPU Unit Pulse I O Module User s Manual 4 Normal I O 4 2 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 e Functions are assigned to output terminals when an instruction such as OUT ORG 889 or PWM 891 is 1 Determine the normal outputs to use executed for an output bit gt N Oo 3 D O c c 09 Execute the OUT instruction or other instructions 2 Write the ladder program Use OUT instructions and other immediate refreshing version of instructions when immediate refreshing is required Note Immediate refreshing cannot be performed by the IORF 097 instruction MOeIAJOAQ L Z CJ2M CPU Unit Pulse I O Module User s Manual 4 5 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
116. CATIONS 2 2 auxi b aoreet eb e br teer te iade a te nee des 3 2 3 1 2 Output Specifications for Sinking Transistor Outputs 3 4 3 1 3 Output Specifications for Sourcing Transistor Outputs 3 5 352 WNO cnini rad ore dei iier a fe M acude c oec a o ee neo due 3 7 3 2 1 Connector Pin Allocations 2 20628 rd ame CR eR Odo ox S doc eai 3 7 3 2 2 VO Circuit COMNGUIAIIONS s 244 23 2 71a wes ae de wed seed ets wa hee 3 8 deos WNO sence haps ber bo hee ees hae urea Ro uos eae XE eee GE 3 8 CJ2M CPU Unit Pulse I O Module User s Manual 3 1 3 I O Specifications and Wiring for Pulse I O Modules 3 1 I O Specifications 3 1 1 Input Specifications e Normal Inputs Pore INOO to INO5 and INO6 to INO9 and INOO to INO5 and INO6 to INOS and P IN10 to IN15 IN16 to IN19 IN10 to IN15 IN16 to IN19 Input form 24 VDC input Line driver inputs Input current 6 0 mA typical 5 5 mA typical 13 mA typical 10 mA typical Input voltage 24 VDC 10 15 RS 422A line driver range AM26LS31 or equivalent 1 Input impedance 3 6 KQ 4 0 KQ Number of cir 1 common 1 circuit cuits ON voltage cur 17 4 VDC min 3 mA min rent OFF voltage cur 1 mA max at 5 VDC max rent ON response 8 ms max The input time constant can be set to 0 0 5 1 2 4 8 16 or 32 ms time OFF response 8 ms max The input time constant can be set to 0 0 5 1 2 4 8 16 or 32 ms time 1 The power supply voltage on th
117. CIO 0 00 9 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 200J B5 2 m XW2Z 100J A26 1 m XW2B 40J6 9A X axis CW limit input CIO 2960 08 Servo Drive RUN input CCW limit input CIO 2960 09 Origin proximity input d JEN O O Origin proximity input CCW limit input CIO 2960 07 O O Servo Drive RUN input CW limit input CIO 2960 06 Servo Drive Servo Drive Servo Drive brake interlock Servo Drive brake interlock 24 VDC power alarm output output alarm output output supply Servo Drive Servo Drive alarm reset input alarm reset input Operation 1 An origin search is performed using the Origin Search Start Switch CIO 0 00 2 When the origin search is finished the following operations are performed continuously Move in to A Move to B and return to A Move to C and return to A Move to D and return to A 3 An immediate stop is executed to stop pulse output with the Immediate Stop input CIO 0 01 CJ2M CPU Unit Pulse I O Module User s Manual 8 67 e gt Ke ri o fo zt o 3 m X fo 3 ri o Duiuonisog 1urodniniy SIXe OML ezneled 2 6 8 8 Pulse Outputs I Preparations e PLC Setup Setting Origin Sear
118. Cat No W486 E1 01 SYSMAC CJ Series CJ2M CPU T CJ2M MD21 Pulse I O Module CJ2M CPU Unit Pulse I O Module USER S MANUAL OMRON 2010 All rights reserved No part of this publication may be reproduced stored in a retrieval system or transmitted in any form or by any means mechanical electronic photocopying recording or otherwise without the prior written permission of 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 Every precaution has been taken in the preparation of this manual Nevertheless OMRON assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained in this publication SYSMAC CJ Series CJ2M CPUL _ CJ2M CPUL _ Pulse I O Module CJ2M CPU Unit Pulse I O Module User s Manual Produced July 2010 Introduction Thank you for purchasing a CJ2M CPUL JL CPU Unit for a CJ series Programmable Controller This manual provides information that is necessary to use a CU2M 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 Intended Audience This manual is intended
119. Counters EN 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 7 3 3 High speed Counter Interrupt Instructions REGISTER COMPARISON TABLE Instruction CTBL 882 The CTBL 882 instruction compares the PV of a high speed counter 0 to 3 to target values or ranges and executes the corresponding interrupt task 0 to 255 when the specified condition is met Execution condition CTBL ae ee eesss P Port Specifier GC seme C Control Data Tanan TB First comparison table word Operand Setting P Port specifier 0000 High speed counter 0 0001 High speed counter 1 0002 High speed counter 2 0003 High speed counter 3 Control data 0000 Registers a target value comparison table and starts compari Son starts the comparison operation 0001 Registers a fixed length range comparison table 8 ranges and 0002 Registers a target value comparison table 0003 Registers a fixed length range comparison table 8 ranges 0004 Registers a variable length comparison table 1 to 32 ranges and starts comparis
120. D5 NV 6 D6 000A Compensation value Example Initial speed 100 pps High speed 500 pps Proximity speed 200 pps NV 7 D7 NV 8 D8 NV 9 D9 NV 10 D10 Origin NV 11 D11 ilu NV 12 D12 NV 13 D13 The following table shows whether a parameter can be changed in comparison with the PLC Setup Acceleration rate 50 pps 4 ms Deceleration rate 50 pps 4 ms Target speed 500 pps Acceleration rate 50 pps 4 ms Deceleration rate 50 pps 4 ms Can be changed Yes Cannot be changed No Pulse Output and Origin Search Detailed Settings Changing origin search return settings with INI 880 instruc tion can be changed during operation Origin Search Return Initial Speed Parameters Dialog Box in PLC Setup enabled when power is turned ON Limit Input Signal Operation Yes No Limit Input Signal Type Base Setting Clear Origin at Limit Input Signal Search Return Initial Speed pps Yes NV NV 1 Speed Curve No Origin Search Setting No Search Direction Origin Detected after Prox Input Origin Search at Limit Input Operation Mode Origin Input Signal Type Origin Search Proximity Input Signal Type High Speed pps Proximity Speed pps Correction Value Acceleration Rate Deceleration Rate Positioning Monitor Time ms Target Speed pps Yes NV 2 NV 3 Yes NV 4 NV 5 Yes NV 6 NV 7 Yes NV 8 Yes NV 9 No Yes NV 10 NV 11 8 44 Origin Return Accel
121. INI 880 instruction to change the PV Origin has been defined by an origin search Conditions Coordinate sys Absolute coordinate system tem of pulse output PV Refer to 8 5 1 Origin Searches for details on origin searches e Relationship between the Coordinate System and Pulse Specifications The following table shows the pulse output operation for the four possible combinations of the coor dinate systems absolute or relative and the pulse output absolute or relative specified when the PULS 886 or PLS2 887 instruction is executed Pulse output Relative coordinate system Absolute coordinate system specified in j m i PULS 886 or Origin not defined Origin defined PLS2 887 The No origin Flag will be ON The No origin Flag will be OFF Relative pulses Positions the system to another position relative to the present position specified Number of movement pulses Number of pulses setting The pulse output PV after instruction execution The pulse output PV after instruction execution PV Number of movement pulses Number of pulses set Number of movement pulses ting The following example shows the number of pulses The pulse output PV is reset to O just before pulses setting 100 counterclockwise are output After that the specified number of pulses is output Number of pulses setting l Number of movement pulses Oo The following example shows the number of CCW N pulses setting 100 counter
122. In progress Flag Pulse Output 3 Interrupt Feed ing In progress Flag A327 07 puts O to 3 is started with the IFEED 892 instruction OFF Interrupt feeding not in progress ON Interrupt feeding in progress These flags are turned ON when an interrupt Read e input is received after output from pulse out Pulse Output O A280 07 This flag will be ON when an error has Read e Cleared when power is Output Stopped occurred while outputting pulses in the pulse turned ON Error Flag uud output O to 3 origin search function Cleared when an origin Pulse Output 1 A281 07 The Pulse Output 0 to 3 Output Stop Error search is started Output Stopped code will be written to A444 Refreshed when a fatal Error Flag OFF No error pulse output error occurs put is set to be always enabled in the PLC Setup and pulse output is stopped due to the limit input Cleared when both limit inputs are disabled and a fatal pulse output error code is stored Cleared when power is turned ON Cleared when operation is started or stopped Cleared during oversee ing processing after com pleting interrupt feeding Turned ON when interrupt input is received after starting pulse output with IFEED 892 instruction CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Name Refresh timing Pulse Output O A280 09 These flags will turn ON if an overflow or Interrupt Feed underflow occurs when an interrupt input is
123. O 4 3 2 Wiring Examples I Examples for DC Input Devices e Two wire DC Sensor e Device with Contact uIP Ute l O IN 24 VDC 9 IN 0 V Input in Pulse I O l Input in Pulse I O A i IN 0V Module I O Module I O Power Supply I e Device with NPN Open sonectar Output e Device with NPN SUME Output do fn 5 bd ower oupply i H i Rated gt Output current Q Output O Q IN 0 V circuit t O Q IN 0 V Input in Pulse I O Input in Pulse I O E Module I O AOV i IN 24 VDC diia desc OY To IN 24 VDC l power supply Device with PNP Current decas e Device with Voltage a Sk OO Sensor LM NM d m E power supply t O IN 24 VDC P a z N t i cl IN 24 VDO Output IN 0 V Input in Pulse I O Input in Pulse VO E Module lO oV Module I O O o NAW Sensor m i power supply as d L2 LLL eee eee eee eect ee 9 D o IN 24 VDC Input in Pulse I O IN 0 V Module I O Precautions for Correct Use The Pulse I O Module inputs have polarity The inputs will not go ON if the wiring is reversed Always double check the wiring before turning ON the power CJ2M CPU Unit Pulse I O Module User s Manual 4 9 4 Normal I O I 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 thes
124. 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 Each Pulse I O Module provides up to 10 inputs and 6 outputs The input time constant can be set to O ms no filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms or 32 ms The same setting is used for all 20 inputs Chattering and the effects of external noise can be reduced by increasing the input time con stant i Quick response Inputs By setting an input on the Pulse I O Module to quick response input operation inputs with signal widths as small as 30 us can be read with certainty regardless of the cycle time Up to four quick response inputs can be used for each Pulse I O Module eight for the entire CJ2M PLC I Interrupt Inputs An interrupt task can be started when an input on the Pulse I O Module turns ON or OFF Direct Mode Alternatively the rising or falling edge of the inputs can be counted When the count reaches a specified value an interrupt task can be started This is called Counter Mode Up to four interrupt inputs can be used for each Pulse I O Module eight for the entire CJ2M PLC fi High speed Counters A rotary encoder can be connected to the Pulse I O Module input to accept differential phase or single phase high speed pulse counter inputs High speed counter inputs differential phase 50 kHz single phase 1
125. OUTO2 Normal Output 02 Pulse Output OUT13 Normal Output 09 Pulse Output OUTOS Normal Output 03 Pulse Output OUT14 Normal Output 10 PwM Output 2 OUTO4 Normal Output 04 P M Output 0 OUT15 Normal Output 11 P4M Output 3 OUTOS Normal Output 05 PWM Output 1 Normal Input Operation Interrupt Inputs and High speed Counters Pulse Outputs and ponse Inp Origin Searches Input Time Constant Quicktespers uts Set Help CJ2M CPU35 Offline High speed Counter Detailed Settings x tem High speed Counter High speed Counter High speed Count Do net Use Linear Mode RingCounterMax Ci o Phase Z Software Stop Differential Phase 4 sojduiex3 uonesjddy G Z E Defaults Help ceca Copy High speed Counter Settings Copy Default settings are indicated by asterisks 7 Interrupt Input and Quick response Input Detailed Settings wem i m5 m ST FpU Operati ferruni rau Norme npa Ede Reng Remp Feng Reng Reng Do not se Mormal Rising Do not ini Defaults L e Cancel CJ2M CPU Unit Pulse I O Module User s Manual 7 49 7 High speed Counters e Ladder Program Cyclic Task Task 0 P First Cycle First Cycle Flag Always ON Flag BSET 071 J MOVL 498 MSKS 690 x MSKS 690 0101 e INI 880 0011 o o e J O O PO e o ome o o O o INOO interrupt Task interrupt Task
126. Operands N and C 1 Specifying Whether to Detect ON or OFF Signals Operand N Operand C Pulse I O Terminal Correspond Interrupt OU Lu 1s 35 Interrupt identi iui ei is No symbol Address task number Hid detect ON ob 0 on the Interrupt input O 110 0000 Detect Sweibolg Jeppe7 Huneal 9 2 9 onthe en CJ2M CPU Unit Pulse I O Module User s Manual 6 11 6 Interrupts 2 Enabling Interrupt Inputs Operand N Operand C Interrupt Specifying to Pulse I O Correspond Terminal Interrupt Module ing bit symbol task number hg No address identifier detect ON or OFF 0 on the Interrupt input O 140 100 0000 Enable id 101 ea on the i 0002 Enable left IN11 CIO 2962 01 Interrupt input 5 interrupt Counter IN12 CIO 2962 02 Interrupt input 6 Mode decrement IN13 CIO 2962 03 Interrupt input 7 0003 Enable interrupt Counter Mode increment h e o i O o o o oi o N OJI O AJ OJIN Example 1 Specify detecting ON or OFF input signals For interrupt input 2 specify 112 Specifies detecting ON signals Cyclic task 2 Enabling interrupts For interrupt input 2 specify 102 Enables interrupt in Direct Mode 3 Input received at IN02 4 Starting the interrupt task Interrupt task number 142 Reading the PV of an Interrupt Input Counter in Counter Mode The present value of an interrupt input counter can be read in the following two ways
127. Pee Application Precautions Observe the following precautions when using a CJ series PLC e Power Supply e 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 e Take appropriate measures to ensure that the specified power with the rated voltage and fre quency is supplied Be particularly careful in places where the power supply is unstable An incor rect power supply may result in malfunction e Always turn OFF the power supply to the PLC before attempting any of the following Not turning OFF the power supply may result in malfunction or electric shock e Mounting or dismounting Power Supply Units I O Units CPU Units Option Boards Pulse I O Modules or any other Units e Assembling the Units e Setting DIP switches or rotary switches e Connecting cables or wiring the system e Connecting or disconnecting the connectors When cross wiring terminals the total current for all the terminal will flow in the wire Make sure that the current capacity of the wire is sufficient Observe the following precautions when using a Power Supply Unit that supports the Replace ment Notification Function e Replace the Power Supply Unit within six months if the display on the front of the Power Sup ply Unit alternates between 0 0 and A02 or if the al
128. Positioning to B start Resetting Bit address Setting Bit address Positioning to A start Resetting Bit address Setting Bit address Positioning to C start Resetting Bit address CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Operation 3 Positioning to A W0 04 i SET Setting W0 05 Bit address W3 01 W0 05 Positioning to A start W2 00 RSET Resetting Positioning to A completed WO 05 Bit address Operation 4 Positioning to D W0 05 il SET Setting WO 06 Bit address W1 03 WO0 06 Positioning to D start W2 03 RSET Resetting Positioning to D completed W0 06 Bit address Operation 5 Positioning to A ORG 889 Origin Search 1 Port specifier Pulse output 1 W0 06 l SET Setting WO 07 Bit address W3 02 W0 07 Positioning to A start W2 00 HSET Resetting Positioning to A completed WO 07 Bit address D Origin Search Start and Completion for X and Y Axes W1 14 e ORG 889 Origin Search m Origin search n o start Port specifier Pulse output 0 3 Control data m 0 j p o i e Control data pes mes O1 A280 05 A281 05 Origin search completed No Origin Flag No Origin Flag Positioning to A Start and Completion for X and Y Axes W1 00 PLS2 887 Positioning Positioning to A Xt O Port specifier Pulse output 0 Control data D10 First word containing parameters C2 e eo First starting frequency word Positioning to A
129. R 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 INNO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY REPAIR OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED STORED INSTALLED AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION ABUSE MISUSE OR INAPPROPRIATE MODIFICATION OR REPAIR CJ2M CPU Unit Pulse I O Module User s Manual 13 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 This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product machine system or other application or use The following are some examples of applications for which particular attention must be given This is not intended to be an exhaustive list of all possible uses of the products nor is it intended to imply that the uses listed may be suitable for the products e Outdoor use uses involving potential chemical contamination or electrical interference or conditions or us
130. Search High Speed Deceleration Rate Origin Search Proximity Speed Stop CW I PLC Setup PLC Setup Pulse Output 0 Origin Search Setting Pulse Output 0 Operation Mode Pulse Output 0 Error Counter Reset Output Pulse Output O In position Input Pulse Output O Origin Search at Limit Input Pulse Output O Origin Detected after Prox Input Pulse Output 0 Search Direction Pulse Output 0 Search Return Initial Speed pps Pulse Output 0 High Speed pps Pulse Output 0 Proximity Speed pps Pulse Output O Correction Value Pulse Output O Acceleration Rate Pulse Output 0 Deceleration Rate Pulse Output O Limit Input Signal Type Pulse Output O Proximity Input Signal Type Pulse Output 0 Origin Input Signal Type Setting example Enable 1 Servo Output Disable Reverse Turns ON and then OFF CW 100 pps 2000 pps 1000 pps 0000 hex 50 pps 4 ms 50 pps 4 ms 1 NO 1 NO 1 NO CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs I Ladder Program CW limit sensor CW limit input signal 0 00 A540 08 CCW limit sensor CCW limit input signal 0 01 A540 09 _ _ Execution condition Origin search 0 0000 hex Origin search and CW CCW 0000 hex ju e a D 3 3 gt D O 3 a 5 ejiduiex3 uoneoiuddy 8 9 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 55 8 Pulse Outputs 8 6 Reading the Pulse Output Present Value The present value of a pulse output can be read in the following
131. Signal is received the motor stops without deceleration reverses direction and accelerates Method 2 Proximity Input Not Used 1 The origin input signal is accepted Origin input signal 4 Lb co without using the origin proximity input necs E E d signal Pulse output i O Only the origin search proximity speed CCW on ee R Cw 2 is used for the origin search speed Start Stop D I pe fs 2 CCW CW O oO D Stop Start CW limit input signal See note z I l o CCW CW Stop Start Note When the Limit Input Signal is received the motor stops without deceleration reverses direction and accelerates CJ2M CPU Unit Pulse I O Module User s Manual 8 49 8 Pulse Outputs 8 50 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 Method 0 Turns ON and then OFF The origin input signal is accepted after the origin proximity input signal turns ON and then OFF Method 1 Turns ON The origin input signal is accepted after the origin proximity input signal turns ON Method 2 Proximity Input Not Used The origin input signal is accepted without using the origin proximity input signal Only the origin search proximity speed is used for the origin search speed Operation pattern Origin proximity input signal 0 Origin input signal Pulse output i CCW CW Start Stop CCW Stop C
132. Task s Ladder Program Create ladder programs for interrupt tasks 140 to 147 which are executed for the corresponding interrupt inputs Right click the program set as the interrupt task in the CX Programmer and select Properties Select interrupt tasks 140 to 147 in the Task Type Field of the Program Properties Dia log Box x a General Protection Comments Name NewProgram2 Task type Interrupt Task 140 Size 25 Steps 6 10 CJ2M CPU Unit Pulse I O Module User s Manual 6 Interrupts I 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 1 Specifying whether to detect ON or OFF signals 2 Enabling interrupts e Enabling interrupt inputs in Direct Mode e Enabling the interrupt input counter in Increment or Decrement Counting Mode Execution condition 1 Specifying whether to detect ON or OFF signals 2 Enables the interrupt input The MSKS 690 instruction must be executed only once to make the settings so in general execute MSKS 690 in just one cycle using the upwaraly differentiated variation of the instruction The first MSKS 690 instruction can be omitted If it is omitted the edge setting that is set in the PLC Setup will be used e N D c c T Specifying MSKS 690
133. U r O o D mp c o Dunes uonejedo indu guJuON L Z 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 High speed Counter Detailed Settings Counter Setting Do not Use Counting Mode Linear Made Ring Counter Max W 0 Reset Method Phase 2 Software K Comparing After Cou Stop Pulse Input Mode Differential Phase Default settings are indicated by asterisks Item High speed Counter 0 High speed Counter 1 High speed Counter 2 High s x Do not Use Do not Use tOo nat Linear Mode Linear hode Linear n Phase 2 Software R Phase 2 Software K Phase Stop Stop top Differential Phase Differential Phase Differel Copy High speed Counter Settings Copy Defaults Help l Cancel Parameter Description Related Auxiliary P Area words and bits Not Use Input pulse fre quency 60 kHz max Not Use Linear mode Counter Setting Input pulse fre quency 100 kHz max Counting Mode Linear mode Ring mode Ring Counter Max Value 0 to 4 294 967 295 Reset Method Z phase soft ware rese
134. U35 7 44 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters High speed Counter Detailed Settings X Item High speed Counter 0 High speed Counter 1 High speed Counte Counter Setting Input Pulse Frequency BUkHz max Do not Use Do not Use Counting Mode Linear Made Linear Made Linear Mode Ring Counter Max W 0 Reset Methad Software Reset Phase Z Software K Phase Z Software F Comparing After Cou Continue Stop Stop Pulse Input Made Differential Phase Differential Phase Differential Phase Default settings are indicated by asterisks Copy High speed Counter Settings Defaults Help coy F Select an input frequency of 100 kHz max for the counter setting for high speed counter O 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 Transfer the PLC Setup to the CJ2M CPU Unit Close the PLC Settings Dialog Box so duiex3 uoneoiddy S Z DN OD G W ND Turn the power supply to the PLC OFF and then back ON The changes made to the PLC Setup will be applied 7 CJ2M CPU Unit Pulse I O Module User s Manual 7 45 7 High speed Counters e Ladder Program The CTBL 882 instruction is used to execute interrupt tasks when the target positions are reached 2960 02 i RSET Reset when motor stops Start motor
135. Update timing in CPU Unit Refreshed when power is turned ON Refreshed when power is turned ON or operation is started Refreshed when power is turned ON or operation is started Refreshed when power is turned ON Refreshed when power is turned ON Refreshed when power is turned ON CJ2M CPU Unit Pulse I O Module User s Manual 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 1 Click the Copy High speed Counter Settings Button in the High speed Counter Detailed Set tings Dialog Box The Copy High speed Counter Settings Dialog Box will be displayed 2 Select a high speed counter to be copied in the box in the Copy Source Area and select another high speed counter in the Copy Destination Area Y e U r O o D mp c o Copy High speed Counter gt X Copy Source Copy Destination High speed Counter T gt LI Hligeosd courier High speed counter 1 Highspeed counter 2 High speed counter 3 i Cancel 3 Click the OK Button The settings in the High speed Counter Detailed Settings Dialog Box will be updated To initialize the settings of the high speed counters click the Defaults Button in the High speed Counter Detailed Settings Dialog Box 2 3 4 Pulse Output and Origin Search Settings sBunes uoJeeg ulbUuC pue 1ndino esind p e z
136. VDC power supply White Phase B Orange Phase Z Q Example Nec E6B2 CWZ6C O NPN open collector output Shielded twisted pair cable oe EU uo 25 M9IAJ9AQ L Z 7 BuulM S L Z CJ2M CPU Unit Pulse I O Module User s Manual 7 11 High speed Counters Encoders with Line Driver Outputs Conforming to AM26LS31 Pulse I O Module Q Orange striped Z Example E6B2 CWZ1X Line driver outputs Do not use the same I O power supply as other equipment Power supply Encoder y y Shielded twisted pair cable Pulse I O Module D rn 7 1 6 Creating Ladder Programs 7 12 Execution Program Reference Generating interrupts for the Specify interrupt tasks with 7 3 High speed high speed counter PV num CTBL 882 instructions Counter Interrupts ber of pulses and perform high speed processing Reading the high speed Read the high speed counter PV from 7 2 4 Reading the counter PV number of the Auxiliary Area or using the Present Value pulses PRV 881 instruction and convert it to position or length data using instruc tions or measure the length using comparison instructions such as lt and gt Reading the high speed Execute a PRV 881 instruction 7 2 5 Frequency counter frequency speed Measurement Reading the rotational speed Execute a PRV2 883 instruction 7 2 6 Measuring the Rotational Speed or Total Rotations or total number of pulses from the high speed co
137. W limit input signal See note Start CCW CW Note When the Limit Input Signal is received the motor stops Start Limit stop without deceleration error code 0200 Origin proximity input signal 0 i I 1 Origin input signal r I Pulse output I CCW CW CW limit input signal See note CCW CW Note When the Limit Input Signal is received the motor Start Limit stop stops without deceleration error code 0200 1 Origin input signal 9 Origin Search Proximity Speed Pulse output K CCW E CW Start Stop CCW CW Stop Start CW limit input signal See note CCW CW Note When the Limit Input Signal is received the motor Start Limit stop stops without deceleration error code 0201 CJ2M CPU Unit Pulse I O Module User s Manual 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 Pulse frequency _ Origin Return Origin Return Target Speed Deceleration Rate Origin Return Acceleration Rate Ne Search Return Initial Soeed pps Time Start Execution of ORG I PLC Setup Set the origin return parameters in the Pulse
138. W limit sensor OUT03 34 B17 CIO 2961 03 OUTO1 32 B16 CIO BUNTE OUTOS 34 B17 CIO 2961 03 Normal The external signal input must be received as an input and the input sta Normal input A541 09 in the ladder program INO2 IN CIO 2960 02 Origin input tus must be written to PV stored in A278 and A279 Pulse and Direction Outputs PULS 886 SIGN nal A541 08 in the ladder program The external signal must be received as an input and the input sta tus must be written to CCW limit sensor nal Connect to Sensor Error counter reset output OUTO05 wee CIO 2961 05 Not used INO5 CIO 2960 05 Terminals numbers on the XW2D l I GL Connector Terminal Block Conversion Unit Positioning com pleted signal INP 8 14 eom to Servo Drive s pulse input Connect to Servo Drive s pulse input Connect to Servo Drive s direction input Connect sensor to a normal input termi Connect sensor to a normal input termi Connect to the phase Z signal from the Servo Drive Connect to the phase Z signal from the Servo Drive Im CIO 2960 03 Origin proximity Connect to sensor input Connect to error counter reset ECRST of the Servo Drive Not used Connect to the posi tioning completed signal INP from the Servo Drive CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Connections for Pulse Output 2 Pulsel O Terminals
139. XW2Z LILILIJ B17 ervo Drive Connecting Cable 1 m XW2Z 100J A26 SMARTSTEP A series Connecting Cable XW2Z J B5 SMARTSTEP A series SMARTSTEP Junior Connecting Cable or Junior Servomotor XW2Z LI JL J B17 Two axis Servo Relay Unit SMARTSTEP A series XW2B 40J6 9A See Sor TER unc ervo Drive mm 40 point terminal block e Four normal inputs IN6 to INQ Two origin proximity inputs etc SMARTSTEP A series or Junior Servomotor CJ2M CPU Unit Pulse I O Module User s Manual 3 13 3 I O Specifications and Wiring for Pulse I O Modules Connecting to OMNUC W series Servo Drives CJ2M CPU Unit OMNUC W series W series Connecting Cable Servo Drive XW2Z LIL IL J B4 Connecting Cable 1 m XW2Z 100J A27 W series Connecting Cable OMNUC W series XW2Z L 1 1 1J B4 Servomotor OMNUC W series Two axis Servo Relay Unit Seno Drive 2 z TTT RTT TTT TTT nt nat A EDAR OD 6 0 6 40 point terminal block Four normal inputs IN6 to IN9 OMNUC W series Servomotor Two origin proximity inputs etc Connecting to OMNUC G series G5 series or SMARTSTEP 2 series Servo Drives CJ2M Pulse CPU Unit G series Connecting Cable XW2Z LJLIL J B31 G5 series Connecting Cable XW2Z LJLIL J B31 aaa Connecting an OMNUC G series pelea gaa G5 series or SMARTSTEP XW2Z LILIL J B32 2 series Servo Drive G seri
140. again the high speed counter will resume counting and the counter PV will be refreshed Lal Precautions for Correct Use The Gate Bit will be disabled if the high speed counter reset method is set to a phase Z signal software reset and the Reset Bit is ON i e waiting for the phase Z input to reset the counter PV EN Additional Information Even if a Gate Bit is ON the INI 880 instruction can be used to change the PV or execute a soft ware reset 7 20 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters 7 3 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 An interrupt task between 0 and 255 can be allocated with the CTBL 882 instruc tion Pulse I O CJ2M CPU Unit Module Connecting Cable N do 1 T L__ Connector Terminal E HHHH HH Block Conversion Unit 3 e O e Rotary Encoder 3 9 2 Present value Present value matches set target value 3 0 7 Time Interrupt task P Cyclic task E ladder program Interrupt occurs Pacer program Q D Cycle END I O refresh CJ2M CPU Unit Pulse I O Module User s Manual 7 21 7 22 High spee counter 7 High speed Counters Target value comparison The specified interrupt task can be started when
141. al Pulse output left counter 3 counter 3 counter 3 counter 3 input 12 response 3 origin input phase Z reset reset reset input 6 signal High speed High speed High speed High speed Normal Pulse output counter 2 counter 2 counter 2 counter 2 input 13 response 3 origin prox phase Z reset reset reset imity input signal High speed counter 3 phase A High speed counter 3 phase B High speed counter 2 phase A High speed counter 2 phase B High speed counter 3 count High speed counter 3 direction High speed counter 2 count High speed counter 2 direction High speed counter 3 increment High speed counter 3 decrement High speed counter 2 increment High speed counter 2 decrement High speed counter 3 count Normal input 17 High speed counter 2 count Normal input 19 Normal input 16 Normal input 17 Normal input 18 Normal input 19 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters 7 1 5 Wiring Connector Pin Assignments e Phase Inputs Pulse I O Module No 0 on the right Pulse I O Module No 1 on the left Input type Terminal 1 a Input type Terminal 1 m e and number symbol 6 RE and number symbol 6 Phase A LD Phase A Phase A inputOV LD INO7 20 Phase B input 24 V 22 Phase B LD Phase B Phase B inputO V LD INO2 7 A4 Phase Z input 24 V 28 B14 Phase B Phase B LD LD Phase A Phase A input O V LD IN
142. and CIO 2962 can be allocated as normal inputs Select the inputs in the PLC Setup 4 1 2 Application Procedure 1 PLC Setup 2 Write the ladder program 4 2 The input terminals that are used for normal inputs on a Pulse I O Module are also used for interrupt inputs quick response inputs high speed counter inputs and origin searches In the default settings for the PLC Setup all input termi nals are set for use as normal inputs The input terminals that can be used as normal inputs can be checked in the Pulse I O Module 0 or 1 assign ments on the I O Module Tab Page Set the Normal Input Operation Setting Input Time Constant Setting in the PLC Setup to set the input time constant ON OFF response time The settings are the same for INOO to INO9 and IN10 to IN19 The default is 8 ms Select from O ms no filter 0 5 ms 1 ms 2 ms 4 ms 8 ms 16 ms and 32 ms Read the status using the LD instruction or other instructions Use LD instructions and other immediate refreshing version of instructions when immediate refreshing is required Note Immediate refreshing cannot be performed by the IORF 097 instruction CJ2M CPU Unit Pulse I O Module User s Manual 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
143. and origin searches The same input terminal can be used for only one of these functions For example if normal output 2 is used the high speed counter 1 phase Z signal software reset quick response input 2 interrupt input 2 and pulse output 1 origin input when performing origin searches cannot be used Other functions that cannot be used at the same time Counter 1 phase A increment or count input Counter 1 phase B decrement or direction input Normal input Normal input Counter 0 phase A increment or count input Counter 0 phase B decrement or direction input Normal input Normal input Pulse I O Terminal Quick Origin search Module High speed Interrupt inputs for symbol response No counter inputs inputs pulse outputs inputs 0 to 3 0 on the INOO CIO Normal input Quick response Interrupt Pulse output O right 2960 0 input O input O origin input sig nal INO1 01 Normal input Quick response Interrupt Pulse output O 1 input 1 input 1 origin proximity input signal INO2 02 Normal input Counter 1 phase Quick response Interrupt Pulse output 1 2 Z or reset input input 2 input 2 origin input sig nal INO3 03 Normal input Counter O phase Quick response Interrupt Pulse output 1 3 Z or reset input input 3 input 3 origin proximity input signal INO4 04 Normal input Pulse output O 4 positioning completed sig nal INO5 05 Normal input Pulse output 1 5 positioning completed sig nal EM 0
144. arm output automatically turns OFF e Keep the alarm output cable separated from power line and high voltage lines Do not apply a voltage or connect a load exceeding the specifications to the alarm output e When storing the Power Supply Unit for more than three months store it at 20 to 30 C and 25 to 70 humidity to preserve the Replacement Notification Function e f the Power Supply Unit is not installed properly heat buildup may cause the replacement noti fication signal to appear at the wrong time or may cause interior elements to deteriorate or become damaged Use only the standard installation method Do not touch the terminals on the Power Supply Unit immediately after turning OFF the power supply Residual voltage may cause electrical shock Observe the following precautions to prevent failure due to difference in electrical potential if the computer is connected to the PLC e Before connecting a laptop computer to the PLC disconnect the power supply plug of the computer from the AC outlet Residual current in the AC adaptor may cause difference in elec trical potential to occur between the computer and the PLC After you connect the computer and PLC supply the power again from the AC adaptor e f the computer has an FG terminal make the connections so that it has the same electrical potential as the FG GR terminal on the PLC If the computer is grounded to a separate location difference in electrical potential may occur
145. ase A Phase B Count value Incremented ON Incremented Phase B i ON OFF Incremented 7 OFF Incremented e ffslefsTsTeTrTe o poe se fibdele z e s s sfe 2 a s e z s Re Decrement OFF ON Decremented ON Decremented ON OFF Decremented I Up Down Pulse Inputs The up down pulse input method uses two signals an increment pulse and a decrement pulse Conditions for Incrementing Decrement ing the Count Up pulse dULTITITITITL 7 Down pulse Up pulse Count value Down pulse ON Incremented ON OFF No change OFF No change OFF Incremented OFF ON Decremented ON No change ON OFF No change The count is incremented for each increment pulse and decremented for each decrement pulse Only rising edges are counted CJ2M CPU Unit Pulse I O Module User s Manual 7 13 sindu 193uno5 peeds ybipy Z Z 7 sBunes spouie N 1ndu easing L 2 7 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 ese TITUITULTUITULTAITIT LTITITUTITITITUITL Te meme Direction A OFF ON No change ON OFF gt ON Incremented ON OFF No change OFF No change OFF Decremented OFF ON No change ON No change ON OFF No change The count is incremented when the dir
146. ation Example aces tate ae Poon ote eee oe oe tie aaa 8 30 JOGGING eT EE 8 32 8 3 1 High speed Jogging s iot ve CERE P Reha ee eres eati rares 8 32 8 3 2 Low speed Jogging 1 5 1x 2 m deat ed aoe ERREUR a Pn Be Ra ate he Re 8 32 S350 Applicatiom Example xscinu s io ea m Ce ek etm eden duc Soe te 8 33 Implementing Interrupt Feeding leere 8 35 8 4 1 Using the IFEED 892 INTERRUPT FEEDING Instruction 8 35 8 4 2 Setting Procedure s 423 vxo dra e Nov rete ordeo o debe rites dated Be 8 35 94 3 PEE SEUD 2 nuc dv sofa feb centes das ee we cu IU I A OU Ten UE 8 36 8 4 4 INTERRUPT FEEDING Instruction IFEED 892 8 37 Defining the Origin is 22222005 LA EE m EE eR Re Beet aot oe toe S 8 39 8 5 1 Qrin SCAICNES pL P 8 39 8 5 2 Setting Procedure ce eee eee 8 40 occ ER Gio nn scence bese ccm 8 40 8 5 4 Origin Search Instructions llle 8 45 8 5 5 Origin Search Operations 0 0c eee 8 46 6 0 0 Ondin REUT ouod Eve Sed ada aca eed d oo toate ete erate elas 8 51 8 5 7 Changing the PV of the Pulse Output 0 00 eee ees 8 52 9S8 JApplicallon Example x32 usu ut e bem eto weakest ead b eei 8 52 Reading the Pulse Output Present Value 8 56 Reading the Pulse Output Frequency 8 57 Related Auxiliary Area Bits leleeleeees 8 58 CJ2M CPU Unit Pulse I O Module User s Manual 8
147. be continued with Decelera compensation val tion rate ues specified with Target fre the ACC 888 or quency PLS2 887 param Starting fre eter change opera quency tion or the original target position must be specified as a PLS2 887 operand in absolute coordi nates Qo Change Change the The PLS2 887 PULS Number of target target posi with PULS changea instruction can be pulses 2 position tion during number of pulses executed during Relative or 2 iae BE ACC Inde positioning positioning to absolute O pendent c multiple change the target pulse speci E start func position number of Y fication ad tion PLS2 instruction executed pulses PLS2 Port 2 PLS2 executed to change the target position D The target frequency and Pulse 5 acceleration deceleration rates are not changed o direction Accelera tion rate Decelera tion rate Target fre quency Starting fre quency CJ2M CPU Unit Pulse I O Module User s Manual 8 91 P no U O 2 o 2 C O 2 m x 2 3 Q D O D 2 Q D 2 m I Q Q 2 8 Pulse Outputs Operation Change target posi tion and speed smoothly Change direction 8 92 Example applica tion Change the target position and target speed fre quency during positioning multiple start func tion Change the accel eration and decelera tion rates during positioning multiple start func tion Chan
148. ber The specified interrupt task will be exe cuted when the high speed counter PV matches the registered target value e When using target values comparisons are made for all of the target values in the comparison table regardless of the order of the target values in the table The following examples show the operation of an interrupt task for a comparison table High speed Counter PV Comparison Table No of target values 4 value1 p 43RB A Comparison iS Target value 4 Target value 1 when counting up executed Interrupt task number 000 0000 hex regardless of Target value 2 when incrementing th Interrupt task number 001 0001 hex e order of Target value 2 the ranges in Target value 3 when decrementing Interrupt task number 020 8014 hex h le i the table Targetvale a Target value 4 when incrementing Interrupt task number 015 OOOF hex No 000 No 020 No 015 Interrupt task number to execute No 001 Between 1 and 48 target values can be registered in the comparison table e A different interrupt task can be registered for each target value e f the PV is changed the changed PV will be compared with the target values in the table even if the PV is changed while the target value comparison operation is in progress CJ2M CPU Unit Pulse I O Module User s Manual 7 25
149. cable to 3 m or less in length CJ2M CPU Unit Pulse I O Module User s Manual 3 3 Q L b O o o e O e et O 5 o suoneoyioedg ndul 1 3 I O Specifications and Wiring for Pulse I O Modules 3 1 2 Output Specifications for Sinking Transistor Outputs e Normal Outputs OUTOO to OUTO5 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 1 8 A Unit Number of circuits 6 outputs 6 outputs common Maximum inrush current 3 0 A output 10 ms max Leakage current 0 1 mA max Residual voltage 0 6 V max ON response time 0 1 ms max OFF response time 0 1 ms max Fuse None External power supply power 10 2 to 26 4 VDC 20 mA min supply input V for outputs Refer to 4 3 2 Wiring Examples for details on suppressing the load s inrush current and modify the circuit if nec essary e Pulse Outputs OUTOO to OUTO3 and OUT10 to OUT13 Item Specifications Rated voltage 5 to 24 VDC Allowable voltage range 4 75 to 26 4 VDC Maximum switching capacity 30 mA Minimum switching capacity 7 mA Maximum output frequency 100 kHz Output waveform Note The ON OFF status given above is for the output element ES Additional Information e 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 Due to distortions in puls
150. cceleration and Deceleration for Positioning Trapezoidal or S curve acceleration and deceleration can be used for position control using the PULSE OUTPUT PLS2 887 instruction e Triangular Control for Pulse Outputs If the target frequency cannot be reached when the setting is changed with a PLS2 887 or ACC 888 instruction triangular control will be performed If the target position is exceeded using the specified deceleration ratio the deceleration ratio will be automatically corrected e Jogging Can Be Performed Jogging can be performed by executing the SPED 885 or ACC 888 instruction Pulse Output Frequency Tracing Changes in the pulse output frequency can be checked graphically by using the CX Programmer s Data Trace Window e Easy Interrupt Feeding An interrupt input can be used as a trigger to switch from speed control to position control and out put the specified number of pulses then decelerate to a stop using the INTERRUPT FEEDING IFEED 892 instruction e Origin Searches and Origin Returns Can Be Performed Using the ORIGIN SEARCH Instruction An accurate origin search combining all I O signals can be executed with a single instruction It is also possible to move directly to an established origin using the ORIGIN SEARCH ORG 889 instruction It is also possible to perform origin returns by directly moving to a defined origin The origin search and origin return settings can be changed during operation using
151. celeration Specified number frequency Deceleration M A uu of pulses rate E ane Starting Starting Ne Specified number C frequenc frequency 5 of pulses Tim 100 pps Target frequency 1 pps to 100 kpps in increments of 1 pps Starting frequency O pps to 100 kpps in increments of 1 pps Set in increments of 1 pps from 1 to 65 535 pps every 4 ms Set in increments of 1 pps from 1 to 65 535 pps every 4 ms Set to CW or CCW Relative coordinates 0000 0000 to 7FFF FFFF hex Accelerating or decel erating in either direction 2 147 483 647 Absolute coordinates 8000 0000 to 7FFF FFFF hex 2 147 483 648 to 2 147 483 647 Acceleration rate Deceleration rate Direction specification Specified number of pulses If S curve acceleration deceleration is specified the starting frequency will be 100 pps Pulse Output and Origin Search Detailed Settings x Pulse Output 0 Pulse Output 1 Pulse Output 2 Base Limit Input Signal Operation Search Only Search Only Search Only Se Setting Limit Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC Clear Origin at Limit Input Signal Hold Origin Hold Origin Hold Origin Hc SearchiReturn Initial Speed pps 0 0 0 0 Specify with the Acceleration Deceleration 1 Weisen ano Dude um e Xx Pu Disa Dis Curve Specifications in the PLC Setup SCA EN zm ZU Origin Detected after Prox Input 0 Turns ON andthen
152. ch Detailed Settings for pulse output O Note The setting of the option to use the origin search is read from the PLC Setup when the power supply is 8 68 turned ON Pulse Output and Origin Search Detailed Settings x item Pulse Output 1 Base Limit Input Signal Operation Search Only Search Only Search Only SE Setting Limit Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC Clear Origin at Limit Input Signal Hold Origin Hold Origin Hold Origin Hc Search Return Initial Speed pps 0 0 0 Speed Curve Linear Linear Linear Lir Origin Origin Search Setting Enable Enable Disable Dis Search Search Direction AA AOAN AOA CV Origin Detected after Prox Input 0 Turns ON and then 0 Turns ONandthen 0 Turns OM and then 0 1 Origin Search at Limit Input y Reverse Reverse 0 Reverse 0 Operation Mode Mode 0 Stepping Mo Mode 0 Stepping Mo ModeO Stepping Mo Mc Error Counter Reset Output Not Output Not Output Not Output Not In position Input Do not Use Do not Use Do not Use Do Origin Input Signal Type Proximity Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC Normally Closed MC Normally Closed INC NC Normally Closed NC High Speed pps 100000 100000 Proximity Speed pps 50000 50000 0 0 Correction value 0 0 0 0 Acceleration Rate 2000 2000 0 0 Deceleration Rate 2000 2000 0 0 Positioning Monitor Time
153. clockwise E 3 Number of pulses setting 100 2 Number of movement pulses Pulse output o 0 Target position Present position PV 5 lt O 100 Pulse output PV range 8000 0000 to 7FFF FFFF hex 9 m ET e mm Z Pulse Output PV Number of pulses setting range 0000 0000 to 7FFF o FFFF hex Pulse output PV range 8000 0000 to 7FFF FFFF hex Number of pulses setting range 0000 0000 to 7FFF FFFF hex Absolute Absolute pulses cannot be used when the origin loca Positions the system to an absolute position relative pulses speci tion is undefined i e when the system is operating to the origin The number of movement pulses and fied with a relative coordinate system An instruction exe movement direction are calculated automatically from cution error will occur CJ2M CPU Unit Pulse I O Module User s Manual the present position pulse output PV and target posi tion The following example is for a number of pulses set ting of 100 200 O Target position Present position Setting of number of pulses Origin Pulse output PV Number of movement pulses Number of pulses set ting Pulse output PV when instruction is executed The movement direction is determined automatically Pulse output PV when instruction is executed Num ber of pulses setting Pulse output PV range 8000 0000 to 7FFF FFFF hex Number of pulses setting range 8000 0000 to 7FFF FFFF hex 8 29 Duiuonisog einjosqy pue Buiuoni
154. counters 0 to 3 turned ON High speed Lower four digits A270 A272 e Cleared when opera counter 1 PV A273 A316 and A318 tion starts High speed Upper four digits A271 A273 Refreshed each cycle counter 2 PV A317 A317 and A319 during overseeing pro cess Refreshed when PRV 881 instruction is executed to read the PV or status Refreshed when PRV2 883 instruction is executed to convert high speed counter PV to total number of pulses Refreshed when INI 880 instruction is executed to change PV or ring counter maxi mum value e Sig pue sp1oM eaJy Auelixny paly p High speed A318 to counter 3 PV A319 7 CJ2M CPU Unit Pulse I O Module User s Manual 7 35 7 High speed Counters Name WordBit Function Read Write Refresh timing High speed A274 00 These flags indicate whether the Read e 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 Cleared when opera dition 1 In range operated in range comparison tion starts Flag mode with upper and lower limits e Refreshed each cycle High speed A274 01 The In range Flags however will be during overseeing pro Counter 0 Range ON whenever the comparison value cess Comparison Con is within the range regardless of the e Refreshed when dition 2 In range whether the high speed counter is PRV 881 instruction is Flag set to execute the interrupt task executed to read the Hig
155. cy can be acceler ated or decel erated Changes the acceleration or deceleration rate during acceleration or deceleration Stops the pulse output immediately Stops the pulse output immediately Decelerates the pulse out put to a stop Procedure ACC or SPED Con tinuous l ACC Contin uous ACC Contin uous i ACC Contin uous Settings Port Continuous Target frequency Acceleration deceleration rate Port Continuous Target frequency Acceleration deceleration rate Procedure Example Operation application Frequency changes LS SPED or ACC Contin uous l INI SPED or ACC Continuous l SPED Continuous ACC Contin uous J ACC Contin uous If ACC 888 started the operation the original acceleration deceleration rate will remain in effect lf SPED 885 started the operation the acceleration deceleration rate will be invalid and the pulse output will stop immedi ately 8 88 Settings Port Pulse output stop Port Continuous Target frequency 0 Port Continuous Target frequency 0 CJ2M CPU Unit Pulse I O Module User s Manual 8 11 2 Positioning Control Independent Mode 8 Pulse Outputs The following operations can be performed in Independent Mode by combining instructions I Starting Pulse Output Operation Outputting the specified speed Simple trape zoidal control Complex trapezoidal control
156. d allocations e Wiring the Power Wiring Supply Unit Connecting e Wiring Basic I O Units and external I O Online to de ae the PLC e Wiring methods between Pulse I O Modules and external I O devices CX Programmer Support Procedures for connecting Software Software Connecting the CX Programmer Setup Cables Support Software Software setting methods for the CPU Unit including I O memory allocation PLC Setup settings Special I O Unit parameters CPU Bus Unit parameters and routing tables For details on built in EtherNet IP port refer to the EtherNet IP Unit Operation Manual W465 Creating the Program Software setting procedures for Pulse I O Modules I O memory allocations and PLC Setup settings e Program types and basic information e CPU Unit operation e Internal memory e Data management using file memory in the CPU instructions Checking Unit and e Built in CPU functions e Settings Debugging Operation Detailed information on programming Pulse I O functions e Checking I O wiring setting the Auxiliary Area settings and performing trial operation e Monitoring and debugging with the CX Programmer Maintenance and 7 Troubleshooting Error codes and remedies if a problem occurs CJ2M CPU Unit Pulse I O Module User s Manual Manual Configuration The CJ2 CPU manuals are organized in the sections listed in the following tables Refer to the appropr
157. d deceleration executed using an ACC 888 instruc tion It is used for high speed jogging e Clockwise high speed jogging will be executed from pulse output 1 while CIO 2960 04 is ON e Counterclockwise high speed jogging will be executed from pulse output 1 while CIO 2960 05 is ON Cw Target frequency 100 000 pps Acceleration rate 100 pps 4 ms Pulse frequency eL es ee Acceleration rate 100 pps 4 ms EM e c Oo amp e 3 CCW CW high speed jogging ClO 2960 04 CCW high speed jogging ClO 2960 05 I Preparations e PLC Setup There are no settings that need to be made in the PLC Setup ejiduiex3 uoneoruddy 9 DM Area Settings e Settings to Control Speed while Jogging DO to D1 and D10 to D15 Setting Word Data Target frequency low speed 1 000 pps Acceleration rate 100 pps 4 ms DIO 0064 Target frequency high speed 100 000 pps Acceleration deceleration rate 100 pps 4 ms Not used D13 0064 Target frequency stop 0 pps CJ2M CPU Unit Pulse I O Module User s Manual 8 33 8 Pulse Outputs 8 34 I Ladder Program 2960 00 A281 04 ecc Low speed Pulse output CW start in progress lt Pulse output 1 lt Specifies pulse direction output method CW and continuous mode lt Target frequency SET WO 00 WO 00 2960 00 E Low speed Low speed CW output CW start in progres
158. depending on the grounding conditions e Installation Do not install the PLC near sources of strong high frequency noise Before touching a Unit be sure to first touch a grounded metallic object in order to discharge any static build up Not doing so may result in malfunction or damage CJ2M CPU Unit Pulse I O Module User s Manual 21 22 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 It may not be possible to achieve proper functionality if the sliders are not locked e Wiring Follow the instructions in this manual to correctly perform wiring Double check all wiring and switch settings before turning ON the power supply Incorrect wiring may result in burning Be sure that all terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Mount terminal blocks and connectors only after checking the mounting location carefully Leave the label attached to the Unit when wiring Removing the label may result in malfunction if foreign matter enters the Unit Remove the label
159. determine the pattern to use for the origin proximity input signal 0 Turns ON and then The origin input signal is accepted after the origin proximity input signal OFF turns ON and then OFF 1 Turns ON The origin input signal is accepted after the origin proximity input signal turns ON 2 Proximity Input Not The origin input signal is accepted without using the origin proximity Used input signal Search Direc tion Origin Detected after Prox Input Only the origin search initial speed and origin search proximity speed are used for the origin search speeds Select one of the following two modes for the origin search operation pattern Tm 0 Reverse The direction is reversed when the limit input signal is received while Origin Search AY Led e Jn moving in the origin search direction at Limit Input 1 Stop with Error An error occurs and operation is stopped if the limit input signal is received while moving in the origin search direction This parameter determines if a stepping motor or a Servomotor is used Set whether to use positioning completed input signals when using a Servomotor Mode 0 Stepping Error counter reset output Not used Operation Motor Positioning completed input Not used Mode Mode 1 Servomotor Error counter reset output Used Positioning completed input Not used Mode 2 Servomotor Error counter reset output Used with INP Positioning completed input Used Specifie
160. device or the CPU Unit may be damaged e Handling The Power Supply Unit may possibly be damaged if the entire voltage for a dielectric strength test is applied or shut OFF suddenly using a switch Use a variable resistor to gradually increase and decrease the voltage Separate the line ground terminal LG from the functional ground terminal GR on the Power Supply Unit before performing withstand voltage tests or insulation resistance tests Not doing so may result in burning Make sure that the DIP switches and DM Area are set correctly before starting operation After replacing the CPU Unit a Special I O Unit or a CPU Bus Unit make sure that the required data for the DM Area Holding Area and other memory areas has been transferred to the new Unit before restarting operation Confirm that no adverse effect will occur in the system before attempting any of the following Not doing so may result in an unexpected operation e Changing the operation mode of the PLC including the setting of the startup operation mode e Force setting force resetting any bit in memory CJ2M CPU Unit Pulse I O Module User s Manual e Changing the present value of any word or any set value in memory e Do not attempt to disassemble repair or modify any Units Any attempt to do so may result in mal function fire or electric shock e Do not drop the PLC or subject abnormal vibration or shock to it e The life of the battery will be reduced if t
161. during the next I O refresh period ri I O Q fo ct 3 r fo Q o D U O re fo j D s u wu Issy Uld JOJOBUUOD G CJ2M CPU Unit Pulse I O Module User s Manual 5 7 5 Quick response Inputs CJ2M CPU Unit Pulse I O Module User s Manual Interrupts SSS 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 or INIGMUDIS lt oz E ew ee dete sate wed MEME EFE RES be ee 6 2 6 1 1 e M 6 2 6 2 Interrupt IDDUIS 5 5 iege Prien tele S EE etek ee er eai ps eR dea 6 3 6 2 1 OVebVIOW seser pde y le ui qebs mag eU Qe diee da bw d Nate 6 3 62 2 Application Procedure x 3 oua ERE ec oua me zw he bodes eee bx v ew ao 6 5 6 2 3 SDSCIICAllOlIS x oie eoo ee ae e eoo este ene eub ese ee ah Potes E RE 6 5 6 2 4 PEOC Seip 25 eio eei ds eects teh iege dee ees e Sot eed eno e End 6 6 O 2 5 WENO sehen gare Rate re suia TR Ecc RARO C Ed ee hare icu Ea RECEN 6 10 6 2 6 Creating Ladder Programs 0 0 c cee eee 6 10 6 2 7 Application Example eeeeee Rn 6 14 CJ2M CPU Unit Pulse I O Module User s Manual 6 1 6 Interrupts 6 1 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 sta
162. e and num Termina mn Description and num Terminai mn Description symbol symbol ber ber Quick INOO Quick IN10 24 VDC input response 5 A3 OV response 5 A3 IOV input O input 4 Quick INO1 24 VDC input Quick IN11 24 VDC input response B3 OV response B3 IOV n S LL mes sil d Quick INO2 24 VDC input Quick IN12 24 VDC input response 11 A6 fov response 11 A6 OV input 2 input 6 Quick INO3 8 B4 24 VDC input Quick IN13 8 B4 24 VDC input response 12 OV response 12 0 V npa Pm rear tI Terminals numbers on the XW2D 5 6 JL IGL I Connector Terminal Block Conversion Unit CJ2M CPU Unit Pulse I O Module User s Manual 5 Quick response Inputs 5 4 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 Example Setting INO2 to Quick response Input in the PLC Setup Even if the signal that is input to input terminal 02 is shorter than the cycle time the signal will be latched in one cycle and the status will be stored in CIO 2960 02 2960 02 e The minimum pulse width ON time that can be read for a quick response input is 30 us e The status of the input that is stored in the I O memory for a short input will be cleared
163. e CJ2M with Pulse I O Module 4 counters 2 x 2 Pulse I O Modules Line driver 50 kHz x4 24 VDC power supply pulse 35 kHz x4 4 counters Line driver 100 kHz 24 VDC power supply pulse 100 kHz 4 counters Line driver 100 kHz 24 VDC power supply pulse 100 kHz Target value comparison Number of target values 48 Range comparison Number of ranges 8 or 32 Interrupt task execution condition Entering or leaving range Linear mode or ring mode 32 bits 2 147 483 648 to 2 147 483 647 0 to 4 294 967 295 e PLC Setup when power is turned ON e When INI 880 instruction is executed If high frequency mode is selected and the PV is changed or reset during a sampling interval the results of the instruction will not be dependable and the P CY Flag will turn ON If the new PV exceeds the ring counter maximum value the P ER Flag will turn ON when the instruction is exe cuted CJ1M built in I O 2 counters Line driver 50 kHz x4 24 VDC power supply pulse 30 kHz x4 4 counters Line driver 100 KHz 24 VDC power supply pulse 60 kHz 2 counters Line driver 100 KHz 24 VDC power supply pulse 60 kHz Target value comparison Number of target values 48 Range comparison Number of ranges 8 Interrupt task execution condition Entering range Linear mode or ring mode 32 bits 2 147 483 648 to 2 147 483 647 0 to 4 294 967 295 PLC Setup when power is turned ON If high
164. e Terminal 1 T 2 and number symbol C E and number symbol oc High speed INO8 25 A13 Up input bo speed IN18 25 A13 Up a counter O 24 V bo 2 24 V 27 A14 Up input 27 A14 Up input LD LD 29 A15 Up input Up input 29 A15 Up input Up input OV LD OV LD INO9 26 B13 Down input IN19 26 B13 Down 24 V input 24 V 28 B14 Down input 28 B14 Down LD input LD 30 B15 Down input Down input 30 B15 Down Down OV LD input O V input LD INO3 B4 Reset input IN13 Reset 24 V input 24 V 10 B5 Reset input Reset LD input LD 12 Reset input Reset input Reset Reset OV LD input O V input LD High speed INO6 19 A10 Up input Up input counter 1 24 V 24 V 21 A11 Up input Up input LD LD High speed IN16 counter 3 23 A12 Up input Up input n input Up input OV LD LD INO7 20 B10 Down input IN17 Down 24 V input 24 V 22 B11 Down input 22 B11 Down LD input LD 24 B12 Down input Down input 24 B12 Down Down OV LD input O V input LD INO2 A4 Reset input IN12 A4 Reset 24 V input 24 V Reset input Reset LD input LD 11 A6 Reset input Reset input 11 A6 Reset Reset OV LD input O V input LD 1 Terminals numbers on the XW2D l I GL Connector Terminal Block Conversion Unit 2 OC Use these connections for a device with open collector outputs LD Use these connections for a device with line driver outputs M9IAJ9AQ L Z 7 DuulM GS L Z CJ2M CPU Unit Pulse I O Module U
165. e Positioning with relative pulse specification Outputs the specified number of pulses after set ting the present position to O CJ2M CPU Unit Pulse I O Module User s Manual 8 39 8 Pulse Outputs 8 5 2 Setting Procedure 2 PLC Setup Create ladder program 8 5 3 PLC Setup To perform an origin search or to use a limit input signal as an input to a function other than origin search set the parameters on the Pulse Output and Origin Search Detailed Settings Dialog Box that is accessed from the I O Module Tab Page in the PLC Setup e Set the origin search parameters in the Pulse Output and Origin Search Detailed Settings Dialog Box that is accessed from the I O Module Tab Page of the PLC Setup using the CX Programmer e Set pulse output ports O to 3 e Output the status of the limit signal inputs and positioning completed signal to Auxiliary Area bits e Execute ORG 889 Specify an origin search icii Fie Options Help Startup Settings Timings SIOU Refresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module 10 Module 1 Allocations 140 Module 0 Allocations INIO Memalnpt i f INO Nomalnpu O IN11 Momalnpui INO MomalnpuO IN12 Nomalnpti2 WO Nomalput2 SS IN13 Nomallnpt3 S INOS Nomalnpt 3 INIM Memalnpti4 O INOS NomallmptO4 IN15 Nomalnpui5 WO Nomalput5 sst S INI amp Nomalnpui6
166. e Reading the PV Refreshed at the I O Refresh Read from the Auxiliary Area Refer to Related Timing or When the Interrupt Task Is Started Parameters in the Auxiliary Area on page 6 13 e Value updated when a ladder program is exe Read PV by executing a PRV 881 instruction cuted Execution condition ase P Port specifier Example Interrupt input O C Control Data to read PV D First Destination Word 15 0 D100 PV Counter PV that was read 6 12 CJ2M CPU Unit Pulse I O Module User s Manual 6 Interrupts i Related Parameters in the Auxiliary Area Name Word Funcion 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 Interrupt Counter which to start the interrupt task When ON 1 Counter SV an interrupt counter 0 to 7 counts the e Retained when interrupt Counter A534 specified number of rotations the inter operation starts 2 Counter SV i rupt task 140 to 147 will be started Interrupt Counter A535 3 Counter SV Interrupt Counter A544 4 Counter SV Interrupt Counter A545 5 Counter SV Interrupt Counter A546 6 Counter SV o Interrupt Counter A547 dig 7 Counter SV zi Interrupt Counter A536 These words contain the interrupt Read Write Cleared when 2 O Counter PV counter PVs for interrupt inputs operat power is turned E Interrup
167. e conditions may result in operating errors 1 Relation between voltage when the input is ON and the sensor residual voltage Von lt Vcc VR 2 Relation between current when the input is ON and the sensor control output load current lout min lon lour max lon Vcc Vpr 1 5 Internal residual voltage of input Riw When lon is smaller than loy min connect a bleeder resistor R The bleeder resistor con stant can be calculated as follows R lt Vcc Vg y lour min low Power W gt Vcc Vp 2 R x 4 allowable margin 3 Relation between current when the input is OFF and the sensor leakage current loFF 2 lleak Connect a bleeder resistor if lleak is greater than loff Use the following equation to calculate the bleeder resistance constant R Rin x VorrF lieak x Rin Vorr Power W Vcc Vp 2 R x 4 allowable margin Module Voc Power supply voltage Vr Sensors output residual voltage Von Input s ON voltage Vorr Input s OFF voltage lon Input s ON current lout Sensors control current load current lore Input s OFF current leak Sensors leakage current Rin Input s impedance R Bleeder resistance 4 Precautions on Sensor Inrush Current An incorrect input may occur due to sensor inrush current if a sensor is turned ON after the PLC has started up to the point where inputs are possible Determine the time required for sensor operation to stabilize after the sensor is
168. e line driver side is 5 V 5 2 The input time constant can be set in the PLC Setup When it is set to O ms the delay due to internal compo nents results in an ON delay of 30 us max for INOO to INO5 and IN10 to IN15 2 us max for INO6 to INO9 and IN16 to IN19 and an OFF delay of 150 us max for INOO to INO5 and IN10 to IN15 2 us max for INO6 to INO9 and IN16 to IN19 e Interrupt Input and Quick response Input Specifications INOO to INO3 and IN10 to IN13 Item Specifications ON response time 30 us max OFF response 150 us max time Response pulse 150 us min ON OFF 3 2 CJ2M CPU Unit Pulse I O Module User s Manual 3 I O Specifications and Wiring for Pulse I O Modules e High speed Counter Input Specifications INO6 to INO9 and IN16 to IN19 Set to 60 kHz Set to 100 kHz Phase Zlreset input 24 VDC input Phase A Phase B encoder input Single phase 60 kHz pulse input with 50 duty ratio Rise time and fall time 3 0 us max 16 6 us min 3 us max 3 us max Phase A Phase B encoder inputs Differential phases 30 kHz Changes in phases A and B must be separated by at least 4 0 us 33 3 us min 11 T2 T3 T4 T1 T2 T8 T4 4 0 us min Phase A Phase B encoder input Single phase 100 kHz pulse input with 5096 duty ratio Rise time and fall time 2 5 us max 10 0 us min 2 5 us max 2 5 us max Phase A Phase B encoder inputs Differential phases 50 kHz Changes in phases
169. e m ien eh previous eine indi P P ji E Signal When a limit input signal is input the pulse output is stopped and origin e Base becomes undefined E Setting Set the motor s starting speed when performing an origin search or origin return Search Return Initial Speed pps Specify the speed in the number of pulses per second pps Setting range 0 to 100 kpps The origin search will not be performed in these cases Origin search high speed lt Origin search proximity speed Origin search proximity speed lt Origin search initial speed Select using S curve or trapezoidal linear acceleration deceleration rates for pulse output with acceleration deceleration Linear Trapezoidal acceleration deceleration is performed S curve S curve acceleration deceleration is performed Speed Curve ri rh do U r O CD D c o CJ2M CPU Unit Pulse I O Module User s Manual 8 41 8 Pulse Outputs 8 42 Origin Search Item Selection Description Select whether to use the origin search function A AN The origin search function is not used 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 ing in the origin search direction Performs origin search in the clockwise direction Performs origin search in the counterclockwise direction Set one of the following three methods to
170. e stop nal input No effect on other 8 Pulse Outputs Pulse output 3 A280 07 A281 07 A326 07 A327 07 A444 A445 A438 A439 Operation after error Corrective action Move in the CW direction port Check the wiring of the origin proximity input signal as well as the PLC Setup s Origin Proximity Input Signal Type setting NC or NO and execute the origin search again Immediate stop No effect on other port Check the wiring of the origin input signal as well as the PLC Setup s Origin Input Signal Type setting NC or NO and execute the ori gin search again Take one or both of the following steps so that the origin input signal is received after deceleration is completed Deceleration stop No effect on other port e Increase the distance between the origin proximity input signal sensor and origin input signal sensor Decrease the origin search high speed Check the wiring of the limit signals in both directions as well as the PLC Setup s Limit Signal Type setting NC or NO and execute the origin search again Operation will not start No effect on other port Check the wiring of the origin proximity input Emergency stop signal and the limit input signal Also check the PLC Setup s Origin Proximity Input Sig nal Type and Limit Signal Type settings NC or NO and then execute the origin search again Check the wiring of the limit input signal and the PLC Setup s I O settings Also check the
171. e waveforms resulting from connecting cable impedance the pulse widths in actual operation may be smaller than the values shown above 3 4 CJ2M CPU Unit Pulse I O Module User s Manual 3 I O Specifications and Wiring for Pulse I O Modules e PWM Outputs OUT04 OUTO5 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 PWM output accuracy for ON ON duty at 6 5535 kHz or less 0 296 to 1 ON duty at 9 pulse width of 2 us or longer 32 8 kHz 1 to 5 at switching current of 30 mA 7 O Output waveform OFF a UO i i o Oo 5096 4 i l l O d ON S tony ton o T 2 ON duty 1 X 100 lt gt Note The ON OFF status given above is for the output element Co 3 1 3 Output Specifications for Sourcing Transistor Outputs D O c e Normal Outputs OUTOO to OUTO5 and OUT10 to OUT15 Output OUTO to OUT5 3 Rated voltage 5 to 24 VDC si Operating load voltage range 4 75 to 26 4 VDC si Maximum switching current 0 3 A output 1 8 A Unit S Number of circuits 6 outputs 6 outputs common Maximum inrush current 2 0 A output 10 ms max Leakage current 0 1 mA max a Residual voltage 0 6 V max i ON response time 0 1 ms max D OFF response time 0 1 ms max S Fuse None z External supply power power 10 2 to
172. ea range Specifying an element number that exceeds the maximum range of the memory area specified for the symbol will result accessing data in a different memory area and may result in unexpected operation If a symbol or address is specified for an offset in a ladder diagram program so that the memory area of the start address is not exceeded when the offset is specified indirectly using a word address or symbol If an indirect specification causes the address to exceed the area of the start address the system will access data in other area and unexpected operation may occur CJ2M CPU Unit Pulse I O Module User s Manual e External Circuits e 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 e Install external breakers and take other safety measures against short circuiting in external wiring Insufficient safety measures against short circuiting may result in burning CJ2M CPU Unit Pulse I O Module User s Manual 25 Operating Environment Precautions 26 e 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
173. eco eeu o se EU s Ua Eun E Obu CUu v ax CU eus E eco Sueno Dd vE ess Ese ieE o ens Deo aaa 7 43 Section 8 Pulse Outputs 2 HE OV OR VIO W occ OT 8 3 8 1 1 a rst Sk Saco Scar e es P 8 3 8 1 2 Application Procedure oerein e ten ce teacaass setae aa a R e aaa Rena Laaah 8 4 8 1 3 SSI CAM ONS ea a a ace aS 8 5 8 1 4 lago cser exe 8 11 0 2 POSIMON CONO 8 27 8 2 1 Position Control Configuration ccccccseeeececeseeeceeseeseeeeeeeeeeeeesauseeeeseaeeeseaseeeeeesseeeessaaeeeeeeeeaas 8 27 8 2 2 Relative Positioning and Absolute Positioning ceceeeeeeee ee eter reese eee terse eee e eee eaaaeeeeeeaaeeeeeas 8 28 8 2 3 PAO DIIC AU OMMEXAIM DIC seann eaea a an e S a Dean Urbis Cute dtm Duae Cei Esp eR ci E 8 30 8 3 OC CIING eet 8 32 8 3 1 PUM SOCCO J OGOING ar tL PET 8 32 8 3 2 LOW SDOOd JOO GING ssc sawcensetineeawaalseiiseee hota a Las oto dad tnb p M qd otsmr o dos duiden dG educate cet 8 32 8 3 3 ADDIICalor is xatiplO aissnsit ie sso bivtatuin fud rec Mdetetastau io ene tien Ucbumb nis and fosa teer e NS 8 33 8 4 Implementing Interrupt Feeding eese eere erre eere eene nnn nnn 8 35 8 4 1 Using the IFEED 892 INTERRUPT FEEDING Instruction seeesesreeeeeereeen 8 35 8 4 2 Seting Procedure ROREM a 8 35 8 4 3 gieEc oH a aa a a ek 8 36 8 4 4 INTERRUPT FEEDING Instruction IFEED 892 riii ai esee
174. ection signal is ON and decremented when it is OFF Only rising edges are counted EN Additional Information The count of a high speed counter can be monitored to see if it is currently being incremented or decremented The count direction can be read from the Auxiliary Area The count in the current cycle is compared with the count in the previous cycle to determine if it is being incremented or decremented The results are reflected in the High speed Counter Count Direction Flags Pulse I O Module Hinhtenced counter Address of High speed No g rsp Counter Count Direction Flag 0 on the right High speed counter O A274 10 High speed counter 1 A275 10 1 on the left High speed counter 2 A320 10 High speed counter 3 A321 10 The counter direction can also be monitored by using the PRV 881 instruction to read counter status 7 2 2 Counting Mode Settings 7 14 The following counting modes can be selected for high speed counters Linear Mode which counts ina fixed range and Ring Mode which counts in a set range to a specified maximum value I 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 underflow overflow will occur and counting will stop e Increment Mode 0 4294967295 000000 hex FFFFFFFF hex PV overflow e Up Down Mode 2147483648 0 2147483647 80000000 hex 00000000 hex 7FFFFFFF he
175. ed and only the origin signal is used to perform the origin search Stops when Origin Input Signal turns ON Origin input signal 2 O LL Origin Search Pulse output Proximity Speed Acceleration N Initial Speed Starts when ORG is executed Stop 8 48 CJ2M CPU Unit Pulse I O Module User s Manual 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 Origin Detected after Prox Input Operation pattern Method 0 Turns ON and then OFF u 4 Origin proximity rT The origin input signal is accepted after input signal 3 the origin proximity input signal turns Origin input signal 5 1 MOLN N ON and then OFF Origin Search High Speed Pulse output an Origin Search Proximity Speed x I CEN L S NNNM m CCW CCW Note When the Limit Input Signal is received the motor stops without deceleration reverses direction and accelerates Method 1 Turns ON 1 es Origin proximity 4 The origin input signal is accepted after input signal i Pen the origin proximity input signal turns Origin input signal o m pi Tl 1 1 ON Pulse output CCW e io w o 5 3 aq F gt o O F e 3 CCW Stop Start Note When the Limit Input
176. ee note TB 3 Range 1 upper limit upper word Range 1 interrupt task number Range 8 lower limit lower word Hees ITI 0000 0000 to FFFF FFFF hex See note 0000 0000 to FFFF FFFF hex See note TB 37 Range 8 upper limit lower word Interrupt task number 12 11 8 7 4 3 0 15 c jooo a E Interrupt task number 00 to FF hex 0 to 255 Interrupt task execution condition OFF When value enters range ON When value leaves range 0000 0000 to FFFF FFFF hex See note AAAA hex Do not execute interrupt task FFFF hex Ignore the settings for this range Note Always set the upper limit greater than or equal to the lower limit for any one range CJ2M CPU Unit Pulse I O Module User s Manual 7 29 sidnuje1u 191uno peeds uBiH E Z 7 suononaisu 1dnuedu Jejuno peeds ufiiH e 7 7 High speed Counters 7 30 e 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 Set the ranges using upper and lower limits TB Number of ranges 0001 to 0020 hex TB 1 Range 1 lower limit lower word 0000 0000 to FFFF FFFF hex TB 2 Range 1 lower limit upper word TB 3 Range 1 upper limit lower word TB
177. el on which the OMRON devices are installed The customer must therefore perform the final check to confirm that devices and the overall machine conform to EMC standards Applicable EMC Electromagnetic Compatibility standards are as follows EMS Electromagnetic Susceptibility EN 61000 6 2 EMI Electromagnetic Interference EN 61000 6 4 Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 VAC and 75 to 1 500 VDC meet the required safety standards for the PLC EN 61131 2 e 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 e The CJ series PLC must be installed within a control panel e You must use reinforced insulation or double insulation for the DC power supplies connected to DC Power Supply Units and I O Units e CJ series PLCs complying with EC Directives also conform to the Common Emission Standard EN 61000 6 4 Radiated emission characteristics 10 m regulations may vary depending on the configuration of the control panel used other devices connected to the control panel wiring and other conditions You must therefore confirm that the overall machine or equipment complies with EC Directives CJ2M CPU Unit Pulse I O Module User s Manual 27 Conformance to Shipbuilding Standa
178. ency speed Frequency speed stepping motor Travel distance Travel distance Time Time Positioning is performed with a servomotor or stepping motor in the following configuration Pulse I O Module Trapezoidal control with a PLS2 instruction PLS2 Jogging with a SPED instruction Servo Drive or stepping driver MN m Jogging with an ACC Pulse output instruction ACC mg Pulse output PV in Auxiliary Area T Origin input Origin Proximity Input Origin search with ORG phase Z instruction Positioning CW limit input completed CCW limit input pg Error counter reset output CJ2M CPU Unit Pulse I O Module User s Manual 8 3 Qo L Oo lt D MOSIAJ9AQ L 8 8 Pulse Outputs 8 1 2 Application Procedure e When executing origin searches PLC Setup e When using the limit input signal for functions other than origin searches N Execute instructions related to pulse outputs Set pulse outputs 0 to 3 and the modes Create ladder program Applicable Output Terminals The outputs listed in the following table can be used as pulse outputs The output terminals that are used for pulse outputs are also used for normal outputs and PWM out puts The same output terminal can be used for only one of these functions For example if pulse output 1 is used with pulse and direction outputs normal output 1 cannot be used UEM Other functions that cannot Pul
179. ensor input OUT15 wm CIO 2963 05 IN15 CIO 2962 05 Error counter reset Not used Connect to error counter output reset ECRST of the Servo Drive Positioning com Not used Connect to pleted signal INP the posi tioning completed signal INP from the Servo Drive Terminals numbers on the XW2D L I GL Connector Terminal Block Conversion Unit CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs I 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 When the direction output is OFF it indicates a CCW output Do not share the pulse output s power supply 24 VDC or 5 VDC with any other I O applications ON Output transistor OPE Pulse output in progress CW CCW Pulse Output CW CCW cw UU Pulse and Direction Outputs CW CCW Pulse JuuluL Oulu Direction Output ON Output OFF e CW CCW Pulse Outputs and Pulse plus Direction Outputs e Using a Motor Drive with 24 VDC Photocoupler Inputs co L Oo lt D Motor drive 24 V input type Input of power supply for outputs BuMIM t L 8 CW pulse output pulse output CCW pulse output direction outpu
180. ent specifi cation Target fre quency Output method Output method Output method fre quency Acceler ation de celera tion rate ACC Indepen ACC Contin uous ORG Output No Output Output Output No method method method method Direc No Yes Fre No Search tion quency quency return specifi or accel or accel cation era era tion dec tion dece eleration leration Posi Yes Posi No tion mov tion mov ement ement data data Acceler Starting Starting gee ation de fre fre celera quency quency tion rate Output No Output Output Output No method method method method Direc Fre Yes Fre No Search tion quency quency return specifi or accel or accel cation era era tion dec tion dece eleration leration Posi Yes Posi No ee tion mov tion mov ement ement data data Acceler Starting Starting Pet ation de fre fre celera quency quency tion rate Output Output Output Output No method method method method Fre Yes Fre No Search quency quency return specifi or accel or accel cation era era tion dec tion dece eleration leration Posi Yes Posi No tion mov tion mov ement ement data data Acceler Starting Starting ation de fre fre celera quency quency tion rate Output Output Output Output No method method method method Fre Yes Fre No Search quency quency return specif
181. er reset ECRST of the Servo Drive Not used Connect to the posi tioning completed signal INP from the Servo Drive 8 15 Qo L Oo lt D BULIM v L 8 8 Pulse Outputs 8 16 Connections for Pulse Output 3 Pulse I O pees onthe OUT12 33 A17 CIO PV stored a 2963 02 in A324 OUT13 34 B17 Clo and A325 2963 03 OUT11 32 B16 CIO PV stored 2963 01 in A324 OUT13 34 B17 CIO and A325 2963 03 Normal The external signal inputs must be received as an input and the input status must be written to A543 08 in the lad der program Normal The external signal inputs must be received as an input and the input status must be written to A543 09 in the lad der program IN12 CIO 2962 02 Origin input Connect to sensor Origin search TEE Terminals ini symbol Operation Operation Operation mode 0 mode 1 mode 2 CW CCW P wal Cone to Servo Drive s pulse input CCW Pulse and Pulse Connect to Servo Drive s pulse input Direction inel PULS 886 Outputs Direc Connect to Servo Drive s pulse input tion SIGN CW limit sensor Connect sensor to a normal input termi nal e to Servo Drive s pulse input Connect sensor to a normal input termi nal CCW limit sensor Connect to Connect to the phase the phase Z signal Z signal from the from the Servo Servo Drive Drive E CIO 2962 03 Origin proximity Connect to s
182. eration Rate Deceleration Rate Yes NV 12 Yes NV 13 la Precautions for Correct Use When changing the parameters with the INI 880 instruction an instruction error will occur if the new values are out of range If any of the parameters specified with the instructions is out of range none of the new parameters will be used and the origin search operation will use the val ues in the PLC Setup CJ2M CPU Unit Pulse I O Module User s Manual 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 DELI Pulse output 2 0002 hex Pulse output 3 0003 hex C Control data Origin search and CW CCW method 0000 hex Origin search and pulse direction output method 0100 hex l Precautions for Correct Use Limit Sensor Application Create a program that can detect the limit sensor when performing an origin search 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 A540 08 to A543 08 Normal input from CCW Limit Input Signal CCW limit sensor A540 09 to A543 09 Bits Written in the Auxiliary Area Auxiliary Area bi
183. errupts 6 2 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 Interrupt Input in Counter Mode A corresponding interrupt task can be executed when the number of times the Pulse I O Module input turns ON or turns OFF reaches the set value A532 to A535 and A544 to A547 in Increment Mode or when it reaches zero in Decrement Mode The number of the interrupt tasks started by interrupt inputs must be between 140 and 147 Interrupt input O Connector Terminal Block p Conversion Unit Pulse I O Module e N D c c T CJ2M CPU Unit Connecting Cable Interrupt input turns ON or OFF Direct Mode MOSIAJ9AQ Z 9 Or when the ON or OFF count is counted out for Increment or Decrement Mode Interrupt task Cyclic task ladder program Ladder program Interrupt occurs END Cycle I O refresh CJ2M CPU Unit Pulse I O Module User s Manual 6 3 6 Interrupts e Direct Mode Interrupt enable HUM condition Example INO2 l ee interrupt input 2 A MSKS instruction executed to enable interrupts Cyclic task execution
184. es Connecting Cable Connecting Cable 1 m XW27 LI J B81 XW2Z 100J A33 G5 series Connecting Cable XW2Z LILIL J B31 SMARTSTEP 2 series Connecting Cable OMNUC G series or G5 series Servomotor XWe2Z LILILI J B32 Two axis Servo Connecting an OMNUC G series Relay Unit Page ce ee eee eero SMAR TSTER XW2B 40J6 9A CHH 2 series Servo Drive 40 point terminal block OMNUC G series or e Four normal inputs IN6 to IN9 G5 series Servomotor Two origin proximity inputs etc 3 14 CJ2M CPU Unit Pulse I O Module User s Manual 3 I O Specifications and Wiring for Pulse I O Modules I Directly Connecting a Self made Cable with a Connector e Types of Connectors MIL Flat Cable Connectors 40 pin Pressure fitted Connectors Strain relief Socket LM N a 5 Name OMRON model number Daiichi Electronics model number Socket XG4M 4030 FRC5 A040 3TON Strain Relief XG4T 4004 m Set model number XGAM 4030 T FRC5 AO40 3TOS Recommended Flat Cable XY3A 400L BuuIM E Z MIL Connectors with Loose Wires 40 pin Pressure fitted Connectors Partial Cover Socket Name OMRON model number Socket AWG24 XG5M 4032 N AWG 26 to 28 XG5M 4035 N Contacts AWG24 XG5W 0031 N AWG 26 to 28 XG5W 0034 N Hood Cover XG5S 4022 Semi cover 2 XG5S 2001 2 required for each socket 1 Contacts are included with the Socket 2 Select either the Hood Cover or the Partial Co
185. es not described in this manual e Nuclear energy control systems combustion systems railroad systems aviation systems medical equipment amusement machines vehicles safety equipment and installations subject to separate industry or government regulations e Systems machines and equipment that could present a risk to life or property Please know and observe all prohibitions of use applicable to the products NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE HISKS AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM PROGHAMMABLE PRODUCTS OMRON shall not be responsible for the user s programming of a programmable product or any consequence thereof 14 CJ2M CPU Unit Pulse I O Module User s Manual Disclaimers CHANGE IN SPECIFICATIONS Product specifications and accessories may be changed at any time based on improvements and other reasons It is our practice to change model numbers when published ratings or features are changed or when significant construction changes are made However some specifications of the products may be changed without any notice When in doubt special model numbers may be assigned to fix or establish key specifications for your application on your request Please consult with your OMRON representative at any time to
186. es the range defined by the upper and lower limit values e 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 The specified interrupt task will be executed once when the high speed counter PV enters or leaves the range High speed Counter PV Comparison Table Lower limit value 1 Upper limit 1 Lower Comparison is limit 1 executed regardless of the order of the ranges Upper Interrupt task number 255 00FF hex in the table inue Lower limit 2 Time No 255 No 000 No000 No255 here are two ways to register comparison tables for range comparison You can register a fixed length comparison table with eight ranges or you can register a variable length comparison table with 1 to 32 ranges If you register a fixed length table the programming and data for CJ1M PLCs can be used without modifications If you register a variable length comparison table you can register up to 32 ranges or you can regis ter only the required number of ranges so that less memory is used e he ranges can overlap e A different interrupt task can be registered for each range e The leftmost bit bit 15 of the word containing the interrupt task number specifies if the interrupt task is to be executed when the range is entered or left Bit 15 OFF The interrupt task will be executed when the range is entered Bit 15 ON
187. example if normal output 4 is used PWM output O and the error counter reset for pulse output O when performing origin searches cannot be used Other functions that cannot be used at the same time Pulse outputs PWM out Cw CCW PUE iJ Origin search direction puts outputs outputs outputs O onthe OUTOO CIO Normal CW pulse Pulse output OUTO1 01 Normal CCW pulse Pulse output output 1 output O 1 OUTO2 02 Normal CW pulse Direction out output 2 output 1 put O OUTOS3 03 Normal CCW pulse Direction out output 3 output 1 put 1 OUT04 04 Normal Pulse output O PWM out output 4 error counter put O reset output OUTO5 05 Normal Pulse output 1 PWM out output 5 error counter put 1 reset output Pulsel O Termi Module No 1 onthe OUT10 CIO Normal CW pulse Pulse output left 2963 output 6 output 2 2 OUT 11 01 Normal CCW pulse Pulse output output 7 output 2 3 OUT12 02 Normal CW pulse Direction out output8 output 3 put 2 OUT13 03 Normal CCW pulse Direction out output9 output 3 put 3 OUT14 04 Normal Pulse output 2 PWM out output 10 error counter put 2 reset output OUT15 05 Normal Pulse output 3 PWM out output 11 error counter put 3 reset output j Specifications Item Specifications Number of outputs 12 outputs Allocated bit CIO 2961 and CIO 2963 bits 00 to 05 4 6 CJ2M CPU Unit Pulse I O Module User s Manual 4 Normal I O 4 3 Wiri
188. for MSKS 690 EN Additional Information The power supply must be restarted after the PLC Setup is transferred in order to validate the software latch settings CJ2M CPU Unit Pulse I O Module User s Manual 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 For example if interrupt input 2 is used normal input 2 the phase Z reset method for high speed counter 1 quick response input 2 and the origin input signal for pulse output 1 when performing origin searches cannot be used Other functions that cannot be used at the same time Pulse Ju Ww O Terminal High Quick Origin search Module speed Normal inputs for symbol response No counter inputs i pulse outputs 0 inputs inputs to 3 O onthe INOO CIO Interrupt Normal Quick Pulse output O right 2960 input O input O response origin input sig input O nal i INO1 01 Interrupt Normal Quick Pulse output 0 gt input 1 input 1 response origin proximity D input 1 input signal INO2 02 Interrupt Counter 1 Normal Quick Pulse output 1 input 2 phase Zor input 2 response origin input sig nal d Interrupt input 3 INOS 03 1 onthe IN
189. for the following personnel who must also have knowledge of electrical sys tems an electrical engineer or the equivalent e Personnel in charge of installing FA systems e Personnel in charge of designing FA systems e Personnel in charge of managing FA systems and facilities Applicable Products CJ series CP2 CPU Units e CJ2M CPU3L e CJ2M CPU1L Note This manual refers to one or more CPU Units using the generic model number CJ2M CPUL I CJ2 Series NSJ Series CS Series CJ2 CPU Units 4 NSJ Controllers L CS1 H CPU Units Guan GPU Units NSJ5 TQUIL B G5D CS1H CPU Gioaspiio NSJ5 SQUIL1 B G5D CS1G CPU CJ2H CPU6 NSJ8 TVLIL B GSD RERRERRERERERRERRERERNNM a NSJ10 TV B G5D CS1D CPU Units CJ2M CPU Unit NSJ12 T B G5D iis s Aa REER j CS1D CPU Units s CJ2M CPU3 for Duplex Systems n CJ2M CPU1 NSJ Controllers CS1D CPUOOH g Pulse I O Module for p l Losmwcuuwe JE nsista nu p NSJ5 S B M3D nummmmmmmumummumummMEMNEMNENMNINM Q B CS1D CPU S CJ1 H CPU Units NSJ8 TVLI B M3D CJ1H CPU CJ1H CPU CJ1G CPU CJ1G CPU Loop CPU Units H R koo o o CPU Units
190. frequency mode is selected and the PV is changed or reset during a sampling interval the results of the instruction will not be dependable If the new PV exceeds the ring counter maximum value the instruction will be ignored CJ2M CPU Unit Pulse I O Module User s Manual Appendices Specification performance Item CJ2M with Pulse I O Module CJ1M built in I O Pulse output Number of control 4 axes 2 x 2 Pulse I O Modules 2 axes axes Pulse output method CW CCW or Pulse direction CW CCW or Pulse direction Numeric range 32 bits 32 bits 2 147 483 648 to 2 147 483 647 2 147 483 648 to 2 147 483 647 0 to 4 294 967 295 0 to 4 294 967 295 Output frequency 1 pps to 100 kpps 1 pps to 100 kpps Acceleration decelera Trapezoidal linear or S curve Trapezoidal linear or S curve tion control Internal pulse control 1 or 4 ms Set in the PLC Setup frequency Defining the origin Origin search with ORG 889 instruc Origin search with ORG 889 instruc tion tion Changing PV with INI 880 instruction Changing PV with INI 880 instruction Changing origin e PLC Setup when power is turned PLC Setup when power is turned ON search parameters ON e When INI 880 instruction is executed Interrupt feeding e Combining ACC 888 PLS2 887 Combining ACC 888 PLS2 887 instructions instructions e FEED 892 instruction Monitoring output fre Trend monitoring of output frequencies Reading output frequencies with
191. g Use high Counter setting Select one of the following speed e Do not use alli 9 e Input pulse frequency 60 kHz max e Input pulse frequency 100 kHz max The frequency of the noise filter will change Counting Mode Select one of the following e Linear mode e Ring mode Ring Counter If a ring counter is selected set the maximum ring count to between 0 and Max Value 4 294 967 295 decimal The ring counter maximum value will be 4 294 967 295 if O is set Reset Method Select one of the following e Z phase software reset e Software reset Comparing After Select one of the following Counter Reset e Stop e Continue Pulse Input Mode Select one of the following Differential Phase e Pulse Direction e Up Down pulse e Increment pulse M9IAJ9AQ L Z Note The power supply must be restarted after the PLC Setup is transferred in order to enable the high speed counter settings 7 dnjes 21d t L Z CJ2M CPU Unit Pulse I O Module User s Manual 7 5 High speed Counters i 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 The same input terminal can be used for only one of these functions For example if high speed counter 1 is used interrup
192. g Z v Y CJ2M CPU Unit Pulse I O Module User s Manual A 11 Appendices CJ2M CPU Unit Pulse I O Module User s Manual Index A absolute coordinates eese 8 28 absolute positioning 35 2 wuecidce ere Ip fs ca be Scu cU EE ERES s 8 28 AGCG BOB ads ttti a ac et alee le 8 24 allocating functions Input TOMMINGlS 3 5 aieco rasa feed e 2 5 output terminals 2 adc Peat ct aie dt sedan as fep edet eres 2 7 PLEG S8lUDsuis uda iia ticae aod aged eee ic hark 2 4 setting method fcecsactead sia ncune Pancue det aedianseiedeeeumpetaveenenys 2 4 B Daso SOLUS usitas dtd Ro ixud eM es mud ERES 2 12 C cables wiring with self made cable 3 15 connector pin allocations eeeeseeeeeseeeeee 3 7 Connector Terminal Block Conversion Units 3 9 Counter Mode sees 6 4 C TBL 882 2 tust epa tinet eee iade 7 28 D differential phase inputs eeeeesseesesss 7 13 Direct Loro zt cS 6 4 G gate UNCON scosssceticcu si kexe ose t ra HA ERo UU LL DER ER MEQUE 7 20 H high speed counter interrupts 7 21 MODE CONTROL Instruction INI 880 7 31 PEGS SC UU disini idus oubli fe 7 23 present value comparison essessss 7 25 9 gole 1 100 j 9 siririna E 7 24 REGISTER COMPARISON TABLE CTBL 882 instruction
193. g normal I O quick response inputs interrupt inputs PWM outputs or pulse outputs to stepping motors or other manufacturer s Servo Drives e Using Servo Relay Units Servo Relay Units are used when using OMRON s Servo Drives e 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 3 8 CJ2M CPU Unit Pulse I O Module User s Manual 3 I O Specifications and Wiring for Pulse I O Modules Precautions for Safe Use Never apply a voltage that exceeds the input voltage of the I O circuits or the maximum switch ing capacity of the output circuits When the power supply has positive and negative terminals always wire them correctly Use reinforced insulation or double insulation for the DC power supplies used for I O to comply with the EC Low Voltage Directive Always double check the connector wiring before turning ON the power Do not pull on the cable Doing so will damage the cable Do not bend the cable past its natural bending radius Doing so will damage the cable The connector pin allocation of the CJ1W ID232 262 and OD233 263 connectors is not com patible The Unit s internal circuits may be damaged if one of these connectors is connected Do not connect a 24 VDC output device to a line driver input Doing so may damage the inter nal circuits Do not connect a line driver output device to the DC input Doing so will not damage the inter nal circuits bu
194. g so may result in electric shock Do not touch any of the terminals or terminal blocks while the power is being supplied Doing so may result in electric shock 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 Programmable Controller or another external factor affecting the operation of the Programmable Control ler Programmable Controller indicates the CPU Unit and all other Units and is abbreviated PLC in this manual Not doing so may result in serious acci dents e Emergency stop circuits interlock circuits limit circuits and similar safety measures must be provided in external control circuits e The PLC will turn OFF all outputs when its self diagnosis function detects any error or when a severe failure alarm FALS instruction is executed Unexpected operation however may still occur for errors in the I O control section errors in I O memory and other errors that cannot be detected by the self diagnosis function As a countermeasure for all such errors exter nal safety measures must be provided to ensure safety in the system e The PLC outputs may remain ON or OFF due to deposition or burning of the output relays or destruction of the output transistors As a countermea sure for such problems external safety measures must be provided to ensure safety in the system e P
195. gain setting Check the port positioning completed signal wiring correct it if necessary and then execute the origin search again CJ2M CPU Unit Pulse I O Module User s Manual 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 Continuous Mode is used for speed control and Independent Mode is used for posi tioning 8 11 1 Speed Control Continuous Mode The following operations can be performed in Continuous Mode by combining instructions I Starting a Pulse Output l Example Procedure Operation application Frequency changes Instructions Settings Output with Changing the Pulse frequency Outputs SPED e Port specified speed fre pulses at a Continuous e Pulse direction speed quency in one ereettrequenoy specified fre e Continuous step quency e Target frequency SPED instruction executed Output with Accelerating the Pulse frequency Outputs ACC e Port specified speed fre pulses and Continuous e Pulse direction acceleration quency ata Target frequency Acceleration changes the s Comme and speed fixed rate iau nd frequency at a Acceleration deceleration rate Target frequency Changing Settings Procedure Operation exemple Frequency changes Change Changing the Pulse Requeney
196. ge Flag High speed A320 05 Counter 2 Range Comparison Con dition 6 In range Flag High speed A320 06 Counter 2 Range Comparison Con dition 7 In range Flag High speed A320 07 Counter 2 Range Comparison Con dition 8 In range Flag 7 38 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters Name WordBit Function Read Write Refresh timing High speed A320 08 This flag indicates whether acom Read e 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 OFF Stopped operation ON Being executed Refreshed when start ing stopping compari son High speed A320 09 This flag indicates when an over Head e Cleared when power is Counter 2 Over flow or underflow has occurred in turned ON flow Underflow the high speed counter 2 PV e Cleared when opera Flag Used only when the counting mode tion starts is set to Linear Mode e Cleared when the PV is OFF Normal changed Refreshed when an overflow or underflow OCCUIS High speed A320 10 This flag indicates whether high Head Setting used for high Counter 2 Count speed counter 2 is currently being speed counter valid Direction incremented or decremented The during counter opera counter PV for the current cycle is tion compared with the PV in last cycle Refreshed each cycle to determine the result during overseeing pro OFF Dec
197. ge 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 Interrupts can thus be used to perform high speed processing that is not restricted by the cycle time The CJ2M CPU Unit performs the following 1 When an interrupt occurs execution of the ladder programs in cyclic tasks is interrupted 2 The ladder program in the interrupt task is executed 3 When the interrupt task is finished the ladder program that was being executed is returned to CJ2M CPU Unit 2 Interrupt task executed Cyclic task ladder program Ladder program 1 Interrupt occurs Cycle END 3 When the interrupt task is finished the ladder diagram that was being executed is returned to I O refresh I Interrupt Factors and Types of Interrupts Interrupts are classified by the interrupt factor There are the following three types of interrupts e Changes in status of inputs on Pulse I O Module 6 2 Interrupt Inputs e PVs of high speed counters 7 3 High speed Counter Interrupts e Specified time interval for timer in the CPU Unit Scheduled interrupts Refer to the CJ2 CPU Unit Software Manual Cat No W473 EN Additional Information For information on using interrupt tasks refer to the CU2 CPU Unit Software User s Manual Cat No W473 6 2 CJ2M CPU Unit Pulse I O Module User s Manual 6 Int
198. ge the direc tion during positioning Frequency changes Number of pulses specified Pulse frequency with PULS changed Specified number New target frequency Of pulses Target frequency Acceleration deceleration ACC independent mode executed PLS2 executed The target position target frequency and acceleration deceleration rates are changed Pulse frequency Acceleration deceleration rate n Number of pulses specified with PLS2 changed New target frequency Target frequency Acceleration rate 2 Acceleration rate 1 PLS2 instruction executed PLS2 instruction executed PLS2 instruction executed PLS2 instruction executed Perform one of the following operations by setting the stop operation for reversal in operand M of PLS2 887 e Stopping Operation for Reversal Specification Deceleration Stop Pulse frequency Specified number of pulses Change of direction at the specified deceleration rate Number of pulses specified with PLS2 changed PLS2 instruction executed Target frequency PLS2 instruction executed e Stopping Operation for Reversal Specification Immediate Stop Pulse frequency Specified number of Target frequency Number of pulses spec with PLS2 changed PLS2 instruction executed PLS2 instruction executed Procedure The PLS2 887 instruc PULS tion can be executed dur ing positioning to change ACC the target position num Indepen ber
199. gether when using interrupt inputs with the INTERRUPT FEEDING IFEED 892 instruction For details refer to 8 4 4 INTER RUPT FEEDING Instruction IFEED 892 f Prohibition of Duplicated Use of Input Terminal Numbers The bits 00 to 09 of CIO 2960 and CIO 2962 are used for interrupt inputs quick response inputs high speed counters origin searches and normal inputs The same input terminal can be used for only one of these functions For example if quick response input 2 is used then input terminal 02 cannot be used for normal input 2 interrupt input 2 counter 1 phase Z reset or pulse output 1 origin input signal CJ2M CPU Unit Pulse I O Module User s Manual 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 n9 N gt o Oo fo E 3 ae o Tl c gt Oo zm o 3 o0 Pulse outputs Normal Pulse igi PWM output outputs CW CCW direction Origin search p QUIputs outputs right 2961 00 outputO output O put O 2961 01 output 1 output O put 1 2961 02 output2 output 1 output O
200. h speed A274 02 when the range is entered or left results of range compar Counter 0 Range OFF Not in range ison Comparison Con ON In range e Refreshed when dition 3 In range INI 880 instruction is Flag executed to change PV or ring counter maxi mum value Refreshed when the counter is reset High speed A274 04 Counter 0 Range Comparison Con dition 5 In range Flag High speed A274 05 Counter 0 Range Comparison Con dition 6 In range Flag High speed A274 06 Counter 0 Range Comparison Con dition 7 In range Flag High speed A274 07 Counter 0 Range Comparison Con dition 8 In range Flag High speed A274 03 Counter 0 Range Comparison Con dition 4 In range Flag High speed A274 08 This flag indicates whether a com Read e Cleared when power is Counter 0 Compar parison operation is being executed turned ON ison In progress for high speed counter 0 e Cleared when starting Flag OFF Stopped operation ON Being executed e Refreshed when start ing stopping compari Son High speed A274 09 This flag indicates when an over Head e Cleared when power is Counter 0 Over flow or underflow has occurred in turned ON flow Underflow the high speed counter 0 PV Cleared when opera Flag Used only when the counting mode tion starts is set to Linear Mode e Cleared when the PV is OFF Normal changed ON Overflow or underflow e Refreshed when an overflow or underflow occurs 7 36 CJ2M CPU Unit Pulse I
201. he PLC is left for a period of time without a battery installed and without power supply and then a battery is installed without turning ON the power supply e Replace the battery as soon as a battery error occurs or as soon as the specified battery backup time expires Be sure to install a replacement battery within two years of the production date shown on the battery s label Before replacing the battery turn ON power for at least 5 minutes before starting the replacement procedure and complete replacing the battery within 5 minutes of turning OFF the power supply Memory contents may be corrupted if this precaution is not obeyed e f the Battery Error Flag is used in programming the application confirm system safety even if the system detects a battery error before you replace the battery while the power is ON e Do not short the battery terminals or charge disassemble heat or incinerate the battery Do not subject the battery to strong shocks Doing any of these may result in leakage rupture heat gen eration or ignition of the battery Dispose of any battery that has been dropped on the floor or oth erwise subjected to excessive shock Batteries that have been subjected to shock may leak if they are used e UL standards require that only an experienced engineer can replace the battery Make sure that an experienced engineer is in charge of battery replacement Follow the procedure for battery replacement given in this manual e
202. hen Set Flag PULS 886 instruction is Pulse Output 2 A326 02 executed Output Amount Set Flag Pulse Output 3 A327 02 Output Amount Set Flag Pulse Output O A280 03 This flag will be ON when the number of output Read Cleared when power is Output Com pulses set with the PULS 886 PLS2 887 or turned ON pleted Flag IFEED 892 instruction has been output e Cleared when operation is output is stopped Refreshed when pulse Pulse Output 1 A281 03 through pulse output 0 to 3 started or stopped Output Com OFF Output not completed Refreshed when pulse pleted Flag ON Output completed output is started or Pulse Output 2 A326 03 Output Com pleted Flag Pulse Output 3 A327 03 Output Com pleted Flag stopped in Independent Pulse Output O A280 04 This flag will be ON when pulses are being Output In output from pulse output O to 3 Mode progress Flag OFF Stopped Head e Cleared when power is turned ON e Cleared when operation is Pulse Output 1 ON Outputting started or stopped Refreshed when start progress Flag ing stopping pulse output Pulse Output 3 A327 04 Output In progress Flag P co JJ D D D 2 gt c X lt gt D D UJ 0 Turned ON when an origin search is started e Turned ON when a limit input is received and clear ing is set e Turned ON when an over flow or underflow occurs Turned OFF when an ori gin search is completed
203. hen opera tion is started or stopped Relationship between Flag Changes and Refresh Timing _ Accel Decel Flags Pulse output completed Pulse output in progress Oo S LL 9 t To c b o 9 e i gt O Setting the number of pulses Aus 85 SeT senes orrs 4 1 ACCU aen So SG 4 FEEDS Pw i IE a ne a Cei ons Operation starts PO i i t1 Operation stops ENIM GN NC Power ON a Stop at limit input with Changes Stop at limit input with undefined origin ea ee gt gt gt gt gt gt gt gt gt gt gt No origin Flag At origin Flag Pulse Output Stopped Error Flag PWM output in progress Interrupt Feeding In progress Flag Interrupt Feeding Error Flag ei wo gt oO P P fT T P t P P t r gt eye e e KATSETEST pe t e ope e ea es a ee i ee ee ee No change T J Both ON and OFF T ON Only 4 OFF Only 0 Cleared to 0 1 Operation is according to the Clear Origin at Limit Input Signal setting in the PLC Setup 2 The PV and Overflow Underflow Flags are cleared when a limit input turns ON and the origin is set to be unde fined 8 Ifthe limit input function is set in the PLC Setup to always be enabled even when the limit input signal is set to be used for a function other than the origin search function an error will occur if the origin input AR turns ON CJ2M CPU Un
204. hen the input turns ON and then it is used to unmask the interrupt input OK output NG output 1 NG output 2 NG output 3 NG output 4 OK output NG output 1 NG output 2 NG output 3 NG output 4 CJ2M CPU Unit Pulse I O Module User s Manual High speed Counters SSS This section describes the high speed counter inputs high speed counter interrupts and the frequency measurement function Fel COVOEIVIB W 014 45 xo dex ek eR Ie Bd xc a bsc Sheen 42 SERRA E eee 7 2 7 1 1 eru M P 7 2 7 1 2 Application Procedure seeeeeeee nnn 7 3 Tela SDSOGIICallollS s i234 sub vedi deep UIIES pu rd n dtes 7 3 fsb4d PEG Sellpouasibetee niiheiaekes5EaidLD ete ERG tei He eee Se 7 4 Fao MVIEIDIO einer wets aire e ore en RE ee AST hee ares ee 7 7 7 1 6 Creating Ladder Programs 00 0 cece eee eee 7 12 7 2 High speed Counter Inputs lel 7 13 7 2 1 Pulse Input Methods Settings llle 7 13 7 2 2 Counting Mode Settings 0 0 cee 7 14 1 2 3 Reset Methods PCT mm 7 16 7 2 4 Reading the Present Value 0 cc eect eens 7 16 7 2 5 Frequency Measurement 0 0c cece eee eee eee 7 17 7 2 6 Measuring the Rotational Speed or Total Rotations 7 18 7 2 7 Reading the Count Direction llle 7 19 7 2 8 Temporarily Stopping Input Signal Cou
205. hese bits is turned ON CJ2M CPU Unit Pulse I O Module User s Manual 8 25 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 If more than 99 words are specified for one of them pulse output will not be predicable and may stop momentarily Transferring 120 Words of Data Started at DO to Words Starting at D1000 Processing separated 8 26 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs 8 2 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 The target frequency is set in an operand of the PLS2 instruction Whether to use trapezoidal or S curve acceleration deceleration is set in the PLC Setup Trapezoidal Acceleration Deceleration S curve Acceleration Deceleration Pulse frequency Target frequency Acceleration Deceleration S curve rate rate acceleration deceleration d a o paa SA De
206. i ate section in the manuals as required Hardware User s Manual Cat No W472 Section Section 1 Overview Section 2 Basic System Configu ration and Devices Section 3 Nomenclature and Functions Section 4 Support Software Section 5 Installation Section 6 Troubleshooting Section 7 Inspection and Mainte nance Section 8 Backup Operations Appendices Content This section gives an overview of the CJ2 CPU Units and describes the features and specifications This section describes the system configuration for the CJ2 CPU Unit This section describes the part names and functions of the CPU Unit and Configuration Units This section describes the types of Support Software to use to perform programming and debugging and how to connect the PLC to the Support Software This section describes the installation locations and how to wire CPU Units and Configu ration Units This section describes how to check the status for errors that occur during system opera tion and the remedies for those errors This section describes periodic inspection the service life of the Battery and Power Sup ply Unit and how to replace the Battery This section describes the procedure to back up PLC data The appendices provide Unit dimensions details on fatal and non fatal errors informa tion on connecting to serial ports on the CPU Unit the procedure for installing the USB driver on a computer and information on load short circuit pr
207. i or accel or accel cation era era tion dec tion dece eleration leration Posi Yes Posi No ae tion mov tion mov ement ement data data Acceler Starting Starting E ation de fre fre celera quency quency tion rate CJ2M CPU Unit Pulse I O Module User s Manual Appendices Instruc Starting instruction factor tion being SPED Inde SPED Con ACC Indepen ACC Contin ORG exe pendent tinuous uous cuted PLS2 Steady Output No Output No Output Output Output Output Output No speed method method method method method method method i No i No Direc Fre Search tion tion quency return specifi specifi specifi specifi or accel cation cation cation cation Target Target No Target fre fre fre fre quency quency quency quency Acceler Acceler ation de ation de celera celera tion rate tion rate Output Output No Output Output method method method method Direc Direc No Direc Direc tion tion tion tion specifi specifi specifi specifi cation cation cation cation Target Target No Target Target fre fre fre fre quency quency quency quency ement data li li i Acceler Yes Acceler No Starting Starting ation de ation de fre fre celera celera quency quency tion rate tion rate Output Output No Output Output No Output Output method method method li li li quency or accel era tion dec eleration era tion dece leration Posi tion mov eme
208. ims M rea 8 76 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs DM Area Settings e Settings for PLS2 887 for Fixed distance Positioning DO to D7 operation number of PCBs in stocker Setting Word Data Acceleration rate 1 000 pps 4 ms DO 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 D 0000 0000 e Settings for PLS2 887 to Return to Start D10 to D17 Setting Word Data Acceleration rate 300 pps 4 ms 012C Deceleration rate 200 pps 4 ms 00C8 Target frequency 50 000 pps C350 0000 Number of output pulses 0 pulses D14 0000 0000 Starting frequency 100 pps DIG 0064 0000 e Number of Repeats of Fixed distance Positioning Operation D20 Setting Data S Number of repeats of fixed distance positioning 000F 5 o Buiuonisog eAissejBoJg ejidninjN sgod Huanu Aj eonJeA 6 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 77 8 Pulse Outputs p Ladder Program Jogging 0 00 A Origin search WO 01 Origin search start completed WO 00 40000 0000 Origin search in progress A280 05 O No origin Flag 1 WO 01 WO 02 4 Origin search completed WO 05 A PCB stored Lift positioning start 0 02 WO 02 4 PCB storage completed 1 00 PCB storage enabled Positioning Lift 10 000 pulses relative
209. ing a Servo Relay Unit refer to Using Servo Relay Units Sinking Outputs Only on page 3 11 When connecting to a stepping motor or a servo drive from another company refer to Using Con nector Terminal Block Conversion Units on page 3 9 or Directly Connecting a Self made Cable with a Connector on page 3 15 la Precautions for Correct Use e Any NC input terminals for unused inputs should be connected to the power supply and turned ON e Use shielded cable for connections to stepping motor drives and servo drives Attach the shield to the FG terminals at both the Position Control Unit end and drive end of the cable e The length of the cable connecting the motor drive must not exceed 3 m 8 20 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Connection Example for Operation Mode 0 In operation mode O 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 drive is used and a sensor is connected to the origin input signal terminal Stepping motor driver mE 5 V input type Pulse I O Module Sinking Outputs Operation mode 0 O Q Output COM 439 40 Origin Proximity 9 O O 19 0 V E2R AO01 Proximity Sensor NPN output Origin input signal 24 VDC C Q p AN 5 0 V Signal Q Switch circuit N C
210. ing operation I Using Software Latches The PV of a pulse output or high speed counter can be latched when the interrupt input that starts the interrupt task is received The latched value is stored in the Auxiliary Area Correspond ing bit Pulse I O Terminal Module No symbol Interrupttask Latched PV storage words number address 0 on the right INOO CIO 2960 00 Interrupt input O INO1 CIO 2960 01 Interrupt input 1 INO2 CIO 2960 02 Interrupt input 2 INO3 CIO 2960 03 Interrupt input 3 143 A10151 A10150 1 on the left IN10 CIO 2962 00 Interrupt input 4 144 A10153 A10152 A10145 A10144 A10147 A10146 A10149 A10148 upper digits and lower digits upper digits and lower digits upper digits and lower digits upper digits and lower digits upper digits and lower digits upper digits and lower digits IN 11 CIO 2962 01 Interrupt input 5 A10155 A10154 IN12 CIO 2962 02 Interrupt input 6 A10157 IN13 CIO 2962 03 Interrupt input 7 A10156 Application Procedure upper digits and lower digits A10159 A10158 upper digits and lower digits om mm lec em em em lj Set the terminals to use for interrupts as interrupt inputs 1 Select the PV to read Set the edge setting in the PLC Setup to specify whether to read the PV on an ON transition or OFF transition 2 Execute the MSKS 690 instruction to enable the interrupt input Refer to page 6 11 for the settings
211. interrupt tasks O to 255 which are executed for the corresponding high speed counter interrupts Right click the program set as the interrupt task in the CX Programmer and select Properties Select any interrupt task in the Task type Field of the Program Properties Dialog Box e Executing CTBL 882 and INI 880 Instructions in Cyclic Task Execute the instructions in the following order Execute the CTBL REGISTER COMPARISON TABLE instruction Specify the interrupt task numbers in the table Register the comparison table Register the comparison table with the CTBL COMPARISON TABLE LOAD or INI MODE CONTROL instruction Here high speed counter interrupts will be valid Start comparison Stop with the INI MODE CONTROL instruction Hefer to 7 3 2 Present Value Comparison for details 7 24 CJ2M CPU Unit Pulse I O Module User s Manual 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 I Target Value Comparison The specified interrupt task is executed when the high speed counter PV matches a target value regis tered in the table e The comparison conditions target values and counting directions are registered in the comparison table along with the corresponding interrupt task num
212. io ENT E mere Se ne a Vea nen RR d 5 3 5 2 2 Applicable INUIT Terminals econ teat aes acietetue Set mete vdiecu pensive Rus abono euet ket qute uda doses trades Suae tuia rop etui ult 5 5 WI Ido esc M M 5 6 5 3 1 Connector Pin ASSICMING INS seti ey fol cape sr use ecd E 5 6 54 Creating Ladder Programs i ecicss cioe E pae essa ves sio aba Eo Saone cca eei ore Eee siae cos ia adab ee Eso ce aaaeaii 5 7 Section 6 Interrupts 6 1 TYPES OF IMLSHFUPUS eter 6 2 6 1 1 ON GTN tL rH LEM 6 2 6 2 LIMTERPUDE IM OUNS eer 6 3 6 2 1 GU PH HEROUM 6 3 6 2 2 Application Procedu onem nrc dE 6 5 6 2 3 SSC IEIC AU I OIN Sorat RE RII MC rc 6 5 6 2 4 PEG SEUDinuen tastes US 6 6 6 2 5 MIU IGU Meese seer eee eee M c CREE IEEE TR TRECE 6 10 6 2 6 Creating Ladder PIOGF amp lTiS s ciu ico suat a a n aE rA RA 6 10 6 2 7 Application Example sinis Semis ear er e a A A a A E EEEa 6 14 Section 7 High speed Counters T OVETVIEW EN 7 2 7 1 1 OVENI EW a oa a a a a a ee 7 2 7 1 2 Application PTOCCOUNG iere i E E E a esses 7 3 7 1 3 SPECIICALIONS e oo sents Sua ee A a 7 3 7 1 4 PEG OCD m 7 4 7 1 5 irem eauaumedes 7 7 7 1 6 Creating LadderProgramMS 14 59 ordo bitis aerei oto aoc estf oio toon Maren 7 12 7 2 High Speed Counter InpHls uioiioc be doit aeos ecol ae
213. ion Unit CJ2M Pulse I O Module CPU Unit XW2Z LILILIK Connecting Cable for Connector Terminal Block Conversion Unit L L IL I Indicates the cable length Examples 100 1 m 150 1 5 m XW2L1 40GU7 Connector Terminal Block Conversion Unit Normal outputs quick response inputs interrupt inputs PWM outputs and e N a 5 pulse outputs to stepping motors or other manufacturer s Servo Drives BuuIM E Z 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 Connecting Cable for Servo Relay Units Connecting Cable for Connecting Cable for OMRON Servo Drive Pulse I O Module to Servo Relay Unit Servo Relay Unit to Servo Relay Unit Servo Drive SMARTSTEP A Series Connecting one axis 1 m XW2Z 100J B5 pulse string input XW2B 20J6 8A 2 m XW2Z 200J B5 SMARTSTEP Junior 1 m XW2Z 100J A26 1 m XW2Z 100J B17 pulse string input b 2 m XW2Z 200J B17 W Series 0 5 m XW22 050J A27 1 m XW2Z 100J B4 pulse string input Connecting two axes 2 m XW2Z 200J B4 G Series 0 5 m XW2Z 050J A33 XW2B 40J6 9A 1 m XW2Z 100J B31 pulse string input E 2 m XW2Z 200J B31 G5 Series 0 5 m XW2Z 050J A33 C Me pulse string input R SMARTSTEP 2 Series 0 5 m XW2Z 050J A33 pulse string input
214. ion can be control to Pulse frequency used fixed dis Targa tance posl frequency tioning during operation ACC continuous executed PLS2 instruction executed Fixed dis Pulse frequency tance feed Present interrupt frequency ACC continuous executed Execution of PLS2 with the following settings Number of pulses number of pulses until stop Relative pulse specification Target frequency present frequency Acceleration rate Not 0 Deceleration rate target deceleration rate High speed Interrupt Pulse frequency feeding Interrupt input occurs Target Specified number V frequency of pulses Acceleration Speed Position Deceleration rate 7 control control rate IFEED executed The starting frequency is ignored 8 94 The PLS2 887 instruc tion can be executed dur ing a speed control operation started with ACC 888 to change to positioning operation When an interrupt input occurs during speed con trol for the IFEED 892 instruction operation changes to positioning An interrupt task is not used There is no delay for the starting time of the inter rupt task improving the feeding accuracy CJ2M CPU Unit Pulse I O Module User s Manual hae s n ed Con tinuous l PLS2 Settings Port Acceleration rate Deceleration rate Target fre quency Number of pulses Port Acceleration rate Target fre quency Pulse output set value Deceleration rate
215. ional speed or total number of revolutions can be performed with high speed counter O only 7 2 7 Reading the Count Direction The count direction of a high speed counter that was stored during the I O refresh can be read from the Auxiliary Area Reading the PV Refreshed at the VO Refresh Timing The PV that is stored in the following words can be read using the MOVL 498 instruction or other instructions Direction ON Incrementing Direction em Direction High speed Counter 3 Count Direction sindu 193uno5 peeds uBiH Z Z 7 uonoeurq JUNOD y Bulpeay 7 z Z CJ2M CPU Unit Pulse I O Module User s Manual 7 19 7 High speed Counters I Reading the Value from the Ladder Program e Reading the High speed Counter Status with a PRV 881 Instruction Execution condition P Port specifier Example High speed counter input 0 7 777 C Control data for reading status D First destination word for status Comparison operation OFF Stopped ON Being executed PV overflow underflow OFF Normal ON Overflow or underflow Count direction OFF Decrementing ON Incrementing 7 2 8 Temporarily Stopping Input Signal Counting Gate Function If a Gate Bit A531 08 to A531 11 of a high speed counter O to 3 is turned ON the high speed counter will not count even if pulse inputs are received and the counter PV will be maintained at its current value When the Gate Bit of the high speed counter is turned OFF
216. it Pulse I O Module User s Manual Appendices A 2 Combinations of Pulse Control Instructions Instruc Starting instruction factor tion being SPED Inde SPED Con ACC Indepen ACC Contin PLS2 ORG exe pendent tinuous dent uous cuted SPED Steady Output Output No Output Output Output Output No Output No method method method Contin speed method method method method Fre Fre Search uous quency or accel era tion dec eleration Direc tion specifi cation Direc tion specifi cation Direc tion specifi specifi cation cation No quency return or accel era tion dece leration Posi tion mov ement data No Posi Target Yes Target fre fre quency quency Target Target fre fre quency quency tion mov ement data ii D E Acceler Yes Acceler No Starting No ation de ation de fre celera celera quency tion rate tion rate SPED Steady Output No Output Output No Output Output No Output No Output No Contin speed ing the method method method method method uous i i Starting fre quency method method Direc Direc Fre Search quency return or accel era tion dece leration Fre quency or accel era tion dec eleration Direc tion specifi cation Direc tion specifi cation tion tion specifi specifi cation cation Target Target Yes Target Target Posi Posi fre
217. ith accelera tion deceleration This setting is used for acceleration deceleration for all ports CJ2M CPU Unit Pulse I O Module User s Manual 2 I O Application Procedures and Function Allocations Origin Search Parameter Description Related Auxiliary Update timing in p Area words and bits CPU Unit Origin Search Setting Search Direction Origin Detected after Prox Input Origin Search at Limit Input Operation Mode Origin Input Sig nal Type Proximity Input Signal Type High Speed pps Proximity Speed pps Correction Value e Disable Disable Set whether to use origin Refreshed when Enable searches power is turned ON Set the direction in which to detect Refreshed when signals for origin searches operation is started This setting is valid only when the origin search function is enabled Refreshed when power is turned ON 0 Turns ON and 0 Turns ON Set the timing for detecting the ori then OFF and then OFF gin during origin searches 1 Turns ON This setting is valid only when the 2 Proximity Input origin search function is enabled Not Used Refreshed when operation is started 0 Reverse 0 Reverse Set the operation to perform when 1 Stop with Error a CW CCW limit input is received during an origin search This setting is valid only when the origin search function is enabled Refreshed when operation is started Mode 0 Stepping Mode 0 Set the type of mo
218. k 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 High speed Counter Detailed Settings High speed Counter 0 Input Pulse Frequency 60KHz max Linear Mode Phase 2 Software Reset Comparing After Cou Stop Pulse Input Made Differential Phase Stop Copy High speed Counter Settings Copy Default settings are indicated by asterisks High speed Counter 1 Input Pulse Frequency 100kHz max Linear Mode Phaze Z Software Reset Differential Phase Input Puls Linear hy Phase fStop Differeri I Defaults Help Hefer to 7 1 2 Application Procedure for details CJ2M CPU Unit Pulse I O Module User s Manual 7 23 sidnuje1u 191uno peeds uBiH E Z 7 MOSIAJ9AQ E Z 7 High speed Counters I Determining High speed Counters High speed counters 0 to 3 can be used for high speed counter interrupts e Refer to 2 2 3 Allocating Functions to Input Terminals for information on allocating input terminals to high speed counters e Refer to Section 6 Interrupts for information on interrupts except for the high speed counter inter rupts I Creating Ladder Programs e Writing the Interrupt Task Program Create programs for
219. le Options Help Startup Settings Timings SIQU Refresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module 170 Module 1 Allocations 170 Module 0 Allocations IN10 interrupt Input 4 Interrupt Task 144 NOD Interrupt Input O Interrupt Task 140 IN11 Interrupt Input 5 Interrupt Task 145 INOT Interrupt Input 1 Interrupt Task 141 IN12 Interrupt Input 6 Interrupt Task 146 INO2 Interrupt Input 2 Interrupt Task 142 IN13 Interrupt Input 7 Interrupt Task 147 1NO3 Interrupt Input 3 Interrupt Task 143 INIM Momalnpt 4 O INO4 NomallmptO4 IN15 Nomalnpt 5 ONOS NomalpuO5 8 INi amp Memalnui amp N06 Nemalpu G IN17 Memalnput 7 S INO Noemallnput 7 o INIS Memalnpti8 INOS Nomalpu 8 INIS Nemalnpt S Nog NemalpuOS OUT10 Normal Output 06 Pulse Output OUTOO Normal Output 00 Pulse Output OUT11 Normal Output 07 Pulse Output DUTO1 Normal Output 01 Pulse Output OUT12 Normal Output 08 Pulse Output DUT13 Normal Output 09 Pulse Output OUT14 Normal Output 10 P wM Output 2 OUT1I5 Normal Output 11 P M Output 3 OUTO2 Normal Output 02 Pulse Output OUTOS Normal Output 03 Pulse Output OUTO4 Normal Output 04 PWM Output 0 OUTOS Normal Output 05 PwM Output 1 Normal Input Operation Pulse Outputs and Origin Searches Set Set
220. lse I O Module User s Manual 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 A540 08 to A543 08 Normal input from CCW limit input signal CCW limit sensor A540 09 to A543 09 Bits Written in the Auxiliary Area Auxiliary Area bit Function Word Bit A540 08 Pulse Output 0 CW Limit Input Signal Signals received from external sen 09 Pulse Output 0 CCW Limit Input Signal sors connected to normal inputs must be written to the Auxiliary Area A541 08 Pulse Output 1 CW Limit Input Signal bits in the user program 09 Pulse Output t COW Limit Input Signal 09 Pulse Output 2 COW Limit Input Signal 09 Pulse Output 8 CCW Limit Input Signal e Resetting the Pulse Output PV Each cycle during overseeing processing the pulse output PVs are reset if ON transitions are detected in the Reset Bits The PVs are not cleared however if pulses are being output Qo L Oo lt D Reset command Reset Bit A540 00 to A543 00 DBUuuIM t L 8 Auxiliary Area Bits Auxiliary Area bit Function Word Bit A540 00 Pulse Output O Reset Bit The pulse output PV will be cleared A541 00 Pulse Output 1 Reset Bit when one of t
221. lt into the CPU Unit This section describes the procedure for connecting the CJ2 CPU Unit to the CX Pro grammer or other Support Software and to other devices This section describes how to monitor and calculate the cycle time The appendices provide information on programming instructions execution times num ber of steps Auxiliary Area words and bits a memory map of the continuous PLC mem ory addresses I O memory operation when power is interrupted and a comparison of CJ series and CS series PLCs Instructions Reference Manual Cat No W474 Section Section 1 Basic Understanding of Instructions Section 2 Summary of Instruc tions Section 3 Instructions Section 4 Instruction Execution Times and Number of Steps Appendices Content This section provides basic information on designing ladder programs for a CS CJ NSJ series CPU Unit This section provides a summary of instructions used with a CS CJ NSJ series CPU Unit This section describes the functions operands and sample programs of the instructions that are supported by a CS CJ NSJ series CPU Unit This section provides the instruction execution times for each CS CJ NSJ series CPU Unit instruction The appendices provide a list of instructions by function code and by mnemonic and an ASCII table for the CS CJ NSJ series CPU Units Pulse I O Module User s Manual Cat No W486 This Manual Section Section 1 Overview Section 2 I O Application Proce dures
222. mediate stop Pulse output stopped 0 01 Immediate stop switch Repeat limit input settings Limit inputs are allocated to external sensors using the following programming DOC UE A540 08 9 Pulse input 2960 07 neu 9 Pulse input CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs PCB stored Stocker moved Stocker movement output Lower positioning Lower positioning in progress Positioning Port specifier Pulse output O Control data First word of setting table First starting frequency word Lower positioning completed Mode Control Port specifier Pulse output O Control data Stop pulse output CW limit input signal CCW limit input signal 8 79 Buiuonisog eAissejBoJg ejidnijnjN sgod Bunu AjeonJeA 6 8 qo gt 9 o D e 5 m e D 3 9 D 8 Pulse Outputs 8 9 4 Feeding Wrapping Material Interrupt Feeding I Specifications and Operation e Feeding Wrapping Material in a Vertical Pillow Wrapper O Start switch CIO 2960 04 Immediate stop switch CIO 2960 01 Pulse I O Module Marker sensor INOO Nds EIE T Position control CJ2M CPU Unit Connecting Cable Connector Terminal Block Conversion Unit Operation Pattern Speed control is used to feed wrapping material to the initial position When the marker sensor input is received fixed distance positioning is performed before stopping 10 000 pps
223. mes uoJeeg uiBuQ pue 1ndino esind p e z 2 I O Application Procedures and Function Allocations Parameter Describtion Related Auxiliary Update timing in p 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 origin searches This setting is valid only when the origin search function is enabled Deceleration Rate 1 to 65 535 Set the deceleration rate in pps Refreshed when per 4 ms for decelerating during operation is started origin searches This setting is valid only when the origin search function is enabled Positioning Moni O to 9 999 ms Set the time to monitor for the Pulse Output Refreshed when tor Time ms positioning completed signal after Stopped Error Flags operation is started pulse output has been completed A280 07 A Positioning Timeout Error error A281 07 code 0300 will occur if the posi A326 07 tioning completed signal is not A327 07 received within the positioning monitor time This setting is valid only when the origin search function is enabled and operation mode 2 is set Origin Return p3ramerur peccintion Related Auxiliary Update timing in P Area words and bits CPU Unit Target Speed pps 1 to 100 000 pps 0 pps Set the operating speed for Refreshed when origin returns operation is started Acceleration Rate 1 to 65 535 Set the acceleration rate in Refreshed when pps pe
224. mory e Programming e Settings e Functions built into the CPU Unit Also refer to the Hardware User s Manual W472 Describes the built in EtherNet IP port and Eth erNet IP Units Describes basic settings tag data links FINS communications and other functions Describes each programming instruction in detail Also refer to the Software User s Manual W473 when you do programming 31 Manual CS CJ CP NSJ series Communica tions Command Ref erence Manual CX One Setup Man ual CX Programmer Operation Manual CX Programmer Operation Manual Functions Blocks Structured Text CX Programmer Operation Manual SFC Programming CS CJ CP NSJ series CX Simulator Operation Manual CS CJ CP NSJ series CX Integrator Network Configura tion Software Opera tion Manual 32 Cat No Modei Application W342 CJ2H CPU60 EIP CJ2H CPU60 CJ2M CPUOO CS1G H CPUOOH CS1G H CPULIL V1 CS1D CPUOOH CS1D CPUOOS CS1W SCULIL V1 CS1W SCBLIL V1 CJ1H CPULILIH R CJ1G H CPULICIH CJ1G CPUOOP CJ1M CPUOO CJ1G CPULO CJ1W SCULIL V1 CP1H XO000 0 CP1H XADIOOO O CP1H YOOOO O CP1L M LOO0 0 CP1E E0ODO O CP1E NOODO O CP1L M LOOO 00 CP1E E NOODO O NSJO OOOO B G5D NSJO OO000 B M3D CXONE ALLIL IC VLALULID VLI W463 W446 W447 W469 W366 WS02 SIMC1 E W464 CXONE ALLILIC VL WS02 CXLILI VU CXONE ALLILID VL Information on communi cations for CS CJ CP series CPU Units and NSJ series Controllers
225. n ACCELERA trol and deceleration rates The number of TION CON pulses can be set TROL PLS2 887 PULSE OUT PUT Jogging Without accelera Performs pulse output control without accel SPED 885 Refer to 8 3 Jogging tion and decelera eration or deceleration SPEED OUT tion PUT With acceleration Performs trapezoidal pulse output control ACC 888 and deceleration with the same acceleration and deceleration ACCELERA rates TION CON TROL Performing origin searches Actually moves the motor with pulse outputs ORG 889 ORI Refer to 8 5 4 Origin and defines the machine origin based on GIN SEARCH Search Instructions the origin proximity input and origin input signals Performing origin returns Returns to the origin position from any posi ORG 889 ORI Refer to 8 6 Reading the tion GIN SEARCH Pulse Output Present Value Changing or reading the pulse Changes the PV of the pulse output This INI 880 MODE Refer to 8 5 7 Changing output PV operation defines the origin location CONTROL the PV of the Pulse Output Heads the PV of the pulse output PRV 881 Refer to 8 6 Reading the HIGH SPEED Pulse Output Present COUNTER PV Value READ Performing interrupt feeding If an interrupt input occurs the motor moves IFEED 892 Refer to 8 4 Implementing without using interrupt tasks the amount specified by the pulses deceler INTERRUPT Interrupt Feeding ates and stops FEEDING 8 24 CJ2M CPU Unit Pu
226. ncy measurement function can be used with high speed counter O only The frequency can be measured while a high speed counter O comparison operation is in progress Frequency measurement can be performed at the same time as functions such as the high speed counter and pulse output without affecting the performance of those functions CJ2M CPU Unit Pulse I O Module User s Manual 7 17 7 High speed Counters e Reading the High speed Counter Frequency with a PRV 881 Instruction Execution condition P Port specifier always high speed counter input 0 C Control data for reading frequency 10 ms sampling D First destination word 15 0 D100 Present frequency data lower bytes p High speed counter frequency that was read D101 resent frequency data upper bytes la Precautions for Correct Use The frequency measurement function can be used with high speed counter O only e Specifications Item Description Number of frequency 1 input high speed counter O only measurement inputs Frequency measure Differential phase input O to 50 kHz ment range All other input modes O to 100 kHz Measurement method Execution of the PRV 881 instruction Stored data Hz Output Differential phase input 0000 0000 to 0003 0D40 hex data range All other input modes 0000 0000 to 0001 86A0 hex If the frequency exceeds the maximum value the maximum value will be stored 7 2 6 Measuring the Rotational Speed or Total Rota
227. nd make the settings in the Pulse Output and Origin Search Detailed Settings Dialog Box j xl File Options Help Startup Settings Timings SIOU Refresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module 0 Module 1 Allocations 1 0 Module 0 Allocations INID Nemallnpt10 S INO WomalputO0 st S INI Nomalnpu i e EN Normal Input 01 INI2 Nomalnpu i2 N82 Normal Input 02 IN13 Nomallnnut 3 NO3 Normal Input 03 INIM Nomallnpt 4 NDA Normal Input 04 IN15 Nomalnu 5 05 Nemallnput 05 INIG Nomalnut 6 NO06 Normal Input 06 INIZ Nomalnut INO Normal Input 07 INIS Nomalnput 8 IN08 Normal Input 08 IN19 Nomalnpt19 NO3 Normal Input 03 OUT10 Normal Output 06 Pulse Output OUTOO Normal Output 00 Pulse Output DUT11 Normal Output O7 Pulse Output OUTO1 Normal Output 01 Pulse Output m DUT12 Normal Output 08 Pulse Output OUTO2 Normal Output 02 Pulse Output DUT13 Normal Output 09 Pulse Output OUTO3 Normal Output 03 Pulse Output DUT14 Normal Output 10 PWM Output 2 OUTO4 Normal Output 04 PWM Output 0 DUT15 Normal Output 11 PwM Output 3 OUTOS Normal Output 05 PwM Output 1 r Normal Input Operation Interrupt Inputs and High speed Counters Pulse Outputs and Input Time Constant Quick response Inputs Origin Searehe CJ2M CPU35 Offline
228. ng 4 3 1 Connector Pin Assignments I Normal Inputs Pulse I O Module No 0 on the right Pulse I O Module No 1 on the left ABUL DS Descrip paupe Descrip and num and num gt Per tion ber tion wo Normal INOO 24 VDC Normal 24 VDC as ov OV input 1 Input input 11 Input 6 es fov e Be ov Normal INO2 7 A4 24 VDC Normal IN12 7 A4 24 VDC B A6 fov 9 Normal INO3 T B4 Normal IN13 24 VDC 5 input 3 i input 13 input Si m2 B6 fov Normal INO4 nan Normal IN14 i 24 VDC gt input 4 i i input 2 A9 fov Normal INO5 Normal IN15 24 VDC 3 input 5 i i input w NC Normal INOG IN16 A10 24 VDC input 6 i input 16 input 25 m ov OV Normal INO7 m 24 IN17 24 VDC input 7 input 17 input OV OV input 8 E input 18 os 29 M5 29 A5 Normal INO9 m ee mam ESSE uoa IN19 ee 24 m input 9 Input input 19 o s es jov 0 et Terminals numbers on the XW2D l I G Connector Terminal Block Conversion Unit CJ2M CPU Unit Pulse I O Module User s Manual 4 7 4 Normal I O i Normal Outputs e 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 Output type and Description type and Description number number Normal OUTOO 31 A16 Output 0 Normal OUT10 31 A16 Output O output O output 6 Normal OUTO1 32 B16 Output 1 Normal OUT11 32 B16 Output 1 output 1 output 7 Normal OUTO2 3
229. nstruction and the output fre quency is being changed in steps accelerat ing or decelerating OFF Constant speed ON Accelerating decelerating This flag indicates when an overflow or under flow has occurred in the pulse output O PV OFF Normal ON Error Read Write Refresh timing Cleared when power is turned ON Cleared when operation starts Cleared when Pulse Out put Reset Bit is turned ON Cleared when pulse output is started when the origin is not defined Refreshed each cycle dur ing overseeing process Refreshed when INI 880 instruction is executed to change the PV Refreshed when PRV 881 instruction is executed to read the PV or status Cleared when power is turned ON Cleared when operation is started or stopped Refreshed each cycle overseeing processing Cleared when power is turned ON Cleared when start ing stopping operation Cleared when the INI 880 instruction is executed to change the PV Refreshed when under flow or overflow occurs CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Name Refresh timing Read Pulse Output O A280 02 This flag will be ON when the number of output Read Cleared when power is Output Amount pulses for pulse output O to 3 has been set turned ON Set Flag with the PULS 886 instruction e Cleared when operation is Pulse Output 1 A281 02 OFF Not set started or stopped Output Amount ON Set Refreshed w
230. nt data tion mov ement Starting fre quency Starting fre quency Output method method Search quency return or accel Fre quency or accel era tion dec eleration era tion dece leration Posi tion mov tion mov ement IFEED Steady speed method method method Output No method suononajsu 04 U0D es nd Jo suoneuiquio9 z v Direc Direc No Direc Direc Fre Search tion tion tion tion quency quency return specifi specifi specifi specifi or accel or accel cation cation cation cation era era tion dec tion dece eleration leration Target Target No Target Target Posi Posi fre fre fre fre tion mov tion mov quency quency quency quency ement ement data data Acceler Acceler Starting Starting ation de ation de fre fre celera celera quency quency tion rate tion rate Accel Output Output No Output Output Output Output erat ing the method method method method method method ingor PV decel Direc Direc No Direc Fre Fre Search erating tion tion tion tion quency quency return specifi specifi specifi specifi or accel or accel cation cation cation cation era era tion dec tion dece eleration leration Posi Target Target fre fre quency quency Target fre quency tion mov ement tion mov ement data Starting fre quency Starting fre quency Acceler Acceler ation de ation de celera celera tion rate tion ra
231. nter 1 is currently being speed counter valid Direction incremented or decremented The during counter opera counter PV for the current cycle is tion compared with the PV in last cycle Refreshed each cycle to determine the result during overseeing pro OFF Decrementing cess ON Incrementing Refreshed when PRV 881 instruction is executed to read the PV High speed A320 00 These flags indicate whether the Read e Cleared when power is Counter 2 Range PV is within any of the eight ranges turned ON Comparison Con when high speed counter 2 is being e Cleared when opera or status dition 1 In range operated in range comparison tion starts Flag mode with upper and lower limits Refreshed each cycle High speed A320 01 The In range Flags however will be during overseeing pro Counter 2 Range ON whenever the comparison value cess Comparison Con is within the range regardless of the e Refreshed when dition 2 In range whether the high speed counter is PRV 881 instruction is Flag set to execute the interrupt task executed opta come High speed A320 02 when the range is entered or left sponding counter Counter 2 Range OFF Not in range e Refreshed when Comparison Con ON In range INI 880 instruction is dition 3 In range executed to change PV Flag or ring counter maxi mum value e Reset High speed A320 03 Counter 2 Range Comparison Con dition 4 In range Flag High speed A320 04 Counter 2 Range Comparison Con dition 5 In ran
232. nterrupt input 4 0003 Interrupt input 5 l Precautions for Correct Use e Before executing the IFEED 892 instruction use the MSKS 690 instruction to disable the specified interrupt if it is currently not masked An instruction error will occur if the IFEED 892 instruction is executed when the interrupt is not masked e Interrupt inputs 0 1 4 and 5 are used with the IFEED 892 instruction The terminals used for interrupt inputs O and 1 are also used for the origin and origin proximity inputs for pulse output 0 The terminals used for interrupt inputs 4 and 5 are also used for the origin and origin prox imity inputs for pulse output 2 If the IFEED 892 instruction is used for pulse output O or 2 do not use the origin search function CJ2M CPU Unit Pulse I O Module User s Manual 8 37 e I 3 9 D 3 D 5 5 ae e D c mp TI D Q 5 zeg qaa2l uogonaggsu ONICH3H LdNYYALN v v 9 8 Pulse Outputs Checking Status during Interrupt Feeding The interrupt feeding status can be read from the following bits Name Pulse Pulse Pulse Pulse Refresh timin output 0 output 1 output 2 output 3 g Interrupt A280 08 A281 08 A326 08 A327 08 Cleared when power is turned ON Feeding In e Cleared when starting stopping operation progress Flag e Cleared during overseeing processing after completing interrupt feeding Turned ON when interrupt input is received after starting pulse outp
233. nting Gate Function 7 20 7 3 High speed Counter Interrupts 000 cee es 7 21 7 3 1 OVERVIEW ix ca sd ea Cete ent Ute ee ee Pad a he paries 7 21 7 3 2 Present Value Comparison llle 7 25 7 3 3 High speed Counter Interrupt Instructions 000 cee eee 7 28 7 4 Related Auxiliary Area Words and Bits 7 35 7 5 Application Examples es 7 43 CJ2M CPU Unit Pulse I O Module User s Manual 7 1 7 High speed Counters 7 1 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 e Applications e Detecting the position or length of a workpiece with an input from an incremental rotary encoder e Measuring the speed of a workpiece from its position data using frequency measurement and rotational speed conversion e High speed processing according to the workpiece s position data The present value of the high speed counter is stored in the Auxiliary Area and can be used as posi tion data When it reaches preset values interrupts can be generated The count can be started and stopped Depending on the instruction the frequency speed can be read from the present value of the high speed counter Changes the PV Hoge ore Lid Read Reading PV from Auxiliary Area or Encoder ET Counter High speed counter PV using PRV 881 inst
234. number of the section This illustration is provided only as a sample and may not literally appear in this manual Precautions on what to do and what not to do to ensure proper operation and performance EN Additional Information Additional information to increase understanding or make operation easier CJ2M CPU Unit Pulse I O Module User s Manual CJ2M CPU Unit Pulse I O Module User s 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 7 CJ2M CPU Unit Pulse I O Module User s Manual CONTENTS gt gt gt introduc TION E aaa 1 CJZ CPU Unit MANU ANS woo icateeteeecteutceeeauescunlaeateulnetsnvebeaduahauiebsensasiduaadensdstecsneseiendeatauctss 2 Manual SUCUT ec 5 Sections in this MANU Al o ssoi aaa Y adad 7 Safety Precautions ss sgis a a 17 Application PrecautlOHS co iuo aoi mia npe een o nEv o Cu varese eade cui suus xe aaa UD E EE 21 Operating Environment Precautions e ceres eere eere nennen nnns 26 Regulations and StandardS 2 oiceiiie enint rper a otis Uie nara canon aea en nue Sess coe ran esa p mnnn 27 Unit Versions Of CJ2 CPU URIS iiie eek ete p a aaae 30
235. nversion Unit XW2B 40G4 e Connecting Cable XW2Z L IL IL IKL A power supply that complies with UL Class 2 must be used for the output power supply 28 CJ2M CPU Unit Pulse I O Module User s Manual 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 CJ2M CPU Unit Pulse I O Module User s Manual 29 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 9 12 Refer to the CJ2 CPU Unit Hardware Manual Cat No W472 or the CJ2 CPU Unit Software Manual Cat No W473 for information on unit versions 30 CJ2M CPU Unit Pulse I O Module User s Manual 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 CJ series CJ2M CPU Unit Pulse I O Module User s Man ual this manual CJ series CJ2 CPU Unit Hardware User s Manual CJ series CJ2 CPU
236. o 30 ms Positioning 1 completed input o INP CJ2M CPU Unit Pulse I O Module User s Manual 8 47 8 Pulse Outputs I Origin Detection Timing and Operation for Limit Inputs e 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 Origin proximity 1 f input signal 0 i Operation stops when the Origin Input Signal turns OFF after the Origin Proximity X Input Signal turns ON and then OFF Origin input signal 0 Pulse output Origin Search High Speed Acceleration y Deceleration x Origin Search Proximity Speed Initial speed CCW Starts when ORG is executed Stop 1 After Proximity Input Turns ON The first origin input signal after the proximity input turns ON is considered the origin Deceleration starts when Origin Proximity Input Signal turns ON Origin proximity 1 input signal pote 0 Operation stops when the Origin Input Signal turns ON after the Origin Proximity Input Signal turns ON Origin input signal Pulse output Origin Search High Speed Deceleration Origin Search Proximity Speed Acceleration E Initial Speed CCW Starts when ORG is executed Stop CW 2 Proximity Input Not Used The proximity input is not us
237. omalnpptO4 D INIS Nomalngti5 S LNS Noma input D INIS Nomalngpti amp O Nog Momalpu G c IN17 Nomallngpti INO Nomallnpto INIS Nomalnut 8 og Nomante INIS NomallngptiS WO MomalpuOS OUT1IO Normal Output 06 Pulse Output OUT11 Normal Output 07 Pulse Output OUTOO N ormal Output 00 Pulse Output OUTOI N ormal Output 01 Pulse Output OUT12 Normal Output 08 Pulse Output OUT13 Normal Output 09 Pulse Output OUT14 Normal Output 10 PWM Output 2 OUT15 Normal Output 11 PWM Output 3 OUTO2 Normal Output 02 Pulse Output OUTOS Normal Output 03 Pulse Output OUTO4 Normal Output 04 PWM Output 0 OUTOS Normal Output 05 P wM Output 1 m Normal Input Operation Input Time Constant Pulse Outputs and Origin Searches e Inputs and High speed Counters default 8ms m Interrupt Input and Quick response Input Detaile CJ2M CPU3S Offline M IQQ ma mw2 wa O Input Operati Quick response Input auick response Input auick response ange Input Quick response Input CJ2M CPU Unit Pulse I O Module User s Manual Edge Rising Rising Rising i l ae Do nat Use Do nat Use Do nat Use Do not Use Defaults L x Cancel 5 Quick response Inputs Interrupt Inout and Quick response Input Detailed Se
238. on CJ2M CPU Unit Pulse I O Module User s Manual A 9 Appendices A 4 Performance Information la 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 A 4 1 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 interrupt input terminal until the corresponding I O interrupt task is actually executed The total response time is the sum of the hardware response time and software response time Input ii Hardware interrupt response time i Reading D AA CNN terminal Software interrupt response time J L Interrupt task execution ee ee I i n Interrupt input response time Interrupt response time Hardware interrupt response time Software interrupt response time I Hardware Interrupt Response Time Edge direction Interrupt response time Rising edge 30 us Falling edge 150 us I Software Interrupt Response Time Interrupt type Interrupt response time Interrupt inputs in Direct 33 us min Mode Interrupt inputs in Counter 34 us min Mode A 10 CJ2M CPU Unit Pulse I O Module User s Manual Appendices A 4 2 Pulse Output Start Time The pulse output sta
239. on 0005 Registers a variable length comparison table 1 to 32 ranges C TB First compari Specifies the first word address of the comparison table which is described son table word below 7 28 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters Contents of the Comparison Table e 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 15 0 TB Number of target values 1 to 48 0001 to 0030 hex Target value 1 lower word TB 1 OE EEE E E TB 2 Target value 1 upper word TB 3 Target value 1 interrupt task No TB 142 Target value 48 lower word TB 143 Target value 48 upper word 0000 0000 to FFFF FFFF hex TB 144 Target value 48 interrupt task No Interrupt task number 1514 1211 87 43 0 L Interrupt task number Direction 00 to FF hex 0 to 255 decimal OFF Incrementing ON Decrementing e Creating a Range Comparison Tables Fixed Length of Eight Ranges The range comparison table requires a continuous block of 40 words for comparison conditions 1 to 8 which require 5 words each two words for the upper range value two words for the lower range value and one word for the interrupt task number 15 0 TB Range 1 lower limit lower word TB 1 Range 1 lower limit upper word TB 2 Range 1 upper limit lower word 0000 0000 to FFFF FFFF hex S
240. on ORG 889 8 51 SOING esee cepe 2 11 OUT IMSIUCIION see cedet uet eo t one up tete doeet 8 25 output specifications 4 eseye eaii 3 4 3 5 P phase Z signal software reset ssss 7 16 PEG cic iN o T EID EE TEE 2 8 high speed counters eeeeeeeeeees 2 10 interrupt inputs and quick response inputs 2 9 Horat pils usos irai casas sanus tnde vatedcouaseenersanueeania ee 0n 2 9 pulse outputs and origin searches 2 11 PIES2 SBF iN 8 27 POSMON CONTON cM EC 8 27 independent mode eese 8 89 rlgin searches st enses donum tens sai urensess ur Ganareacbaeses 8 39 S curve acceleration deceleration 8 28 present value comparison essere 7 25 misit nb T T EE 6 12 8 24 reading high speed counter frequency 7 18 reading high speed counter PV 7 17 reading high speed counter status 7 20 reading pulse output PV 8 56 8 57 PRV2 883 measuring rotational speed or total rotations 7 18 pulse direction inputs eeeeeeeereeees 7 14 pulse I O TUMGUONG sessanta p Reese eee Debet a enu 1 6 pulse input methods esee 7 13 ej XelVjre U qe MTS 8 1 application example
241. on deceleration can be used for ACC 888 as well e The curve for S curve acceleration deceleration is formed by applying a tertiary function to the straight line of the set acceleration deceleration rates a tertiary polynomial approximation The curve parameters cannot be changed The maximum acceleration will be 1 5 times that of trapezoidal acceleration deceleration for the same acceleration deceleration rate Lal Precautions for Correct Use e f the starting frequency is set to less than 100 pps it will automatically be increased to 100 pps Pulse frequency Automatically increased to 100 pps 100 pps 50 pps Time e S curve acceleration deceleration will not be performed if the target frequency is less than 100 pps Pulse frequency 50 pps d No d acceleration deceleration Time 8 2 2 Relative Positioning and Absolute Positioning e Selecting Relative or Absolute Coordinates The coordinate system absolute or relative of the pulse output PV is selected automatically as fol lows e When the origin is undefined the system operates in relative coordinates 8 28 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs e When the origin has been defined the system operates using absolute coordinates Origin is undefined Origin search has not been performed and PV has not been changed with the INI 880 instruction Relative coordinate system Origin has been defined by executing the
242. or a AU wx zz er 31 7 ovio 2s ata owo a Bie 35 B CINOS NTS rea voce 25 Ai3 INOS INTS reavoe 2 Bi3 37 38 39 40 LD 27 AM LD 28 T Em ee OUTOO OUT10 ERE 31 A16 OUTOV OUT11 OUTOI OUT1 SE B16 oUToZOUTI2 33 a17 OUTOJOUTI3 84 B17 Du EE B18 ERR d COM 37 At9 com Power supply input V 39 A20 Power supply input V for outputs for outputs Terminals numbers on the XW2D l I GL Connector Terminal Block Conversion Unit CJ2M CPU Unit Pulse I O Module User s Manual 3 7 3 I O Specifications and Wiring for Pulse I O Modules 3 2 2 I O Circuit Configurations Input Circuits INOO to INO5 and IN10 to IN15 3 6 kQ 24 V 100 Q LD ANN a Tahe i A Oo E 0 V LD ANN S 100 Q 4 0 kQ 24V 100 Q LD g 2 ZN o Eel G 0 V LD g 100 Q I E Output Circuits OUTOO to OUTO5 and OUT10 to OUT15 Sinking type I O Module CJ2M MD211 Sourcing type I O Module CJ2M MD212 V COM L 2 e C OUT So AMH o i E Isolati OUT D Isolation T solation E circuit t circuit NET COM voltage Q V circuit 3 2 3 Wiring There are the following three methods for wiring a Pulse I O Module Using Connector Terminal Block Conversion Units Connector Terminal Block Conversion Units are used when usin
243. or or moderate injury or property damage D precautions for Safe Use Indicates precautions on what to do and what not to do to ensure using the product safely la Precautions for Correct Use Indicates precautions on what to do and what not to do to ensure proper operation and performance CJ2M CPU Unit Pulse I O Module User s Manual 17 Symbols 18 gt gt OOF 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 The filled circle symbol indicates operations that you must do The specific operation is shown in the circle and explained in text This example shows a general precaution for something that you must do The triangle symbol indicates precautions including warnings The specific operation is shown in the triangle and explained in text This example indicates a general precaution 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 hot surfaces CJ2M CPU Unit Pulse I O Module User s Manual WARNING Do not attempt to take any Unit apart or touch the inside of any Unit while the power is being supplied Doin
244. ormal Interrupt Quick cupo see response counter search inputs inputs inputs Inputs 0 on the INOO CIO W output Normal Interrupt Quick Pulse I O Module No Terminal symbol right 0 origin input input O input O response signal input O always Pulse output Normal Interrupt Quick O origin prox input 1 input 1 response imity input input 1 signal origin detection method O or 1 Pulse output Normal Interrupt Quick Counter 1 1 origin input input 2 input 2 response phase Z or signal input 2 reset input always Pulse output Normal Interrupt Quick Counter O 1 origin prox input 3 input 3 response phase Z or imity input input 3 reset input signal origin detection method O or 1 Pulse output Normal O positioning input 4 completed signal opera tion mode 2 Pulse output Normal 1 positioning input 5 completed signal opera tion mode 2 INO1 INO2 INOS INO4 Qo L Oo lt D INOS suoneogioedgs 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 9 8 Pulse Outputs Pulse I O Terminal Module S mpl No y 1 on the IN10 left IN11 IN12 IN13 IN14 IN15 e Outputs Pulse I O Terminal Module No symbol 0 on the OUT04 right OUT05 1 on the left OUT14 OUT15 EN Additional Information search Pulse output 2 origin input signal always Pulse output 2 origin prox imity
245. ormally Closed NC Normally Closed eojojojojioiloijoijojo 8 Pulse Outputs Setting Limit Input Signal Type NC Normally Closed NC Normally Closed NC Normally Closed NC Clear Origin at Limit Input Signal Hold Origin Hold Origin Hold Origin Hc Search Return Initial Speed pps 0 0 0 0 Speed Curve Linear Linear Linear Lir Origin Origin Search Setting Disable Disable Disable Dis Search Search Direction AOA AOA AOA CVy Origin Detected after Prox Input 0 Turns ON and then 0 Turns ONandthen 0 Turns OM and then 0 1 Origin Search at Limit Input y Reverse Reverse 0 Reverse 0 Operation Mode Mode 0 Stepping Mo Mode 0 Stepping Mo ModeO Stepping Mo Mc Error Counter Reset Output Mot Output Mot Output Mot Output In position Input Do not Use Do not Use Do not Use vies Default settings are indicated by asterisks eee Output Defaults Help Internal Pulse Control Cycle Ams C 1ms Copy Cancel Pulse Output and Origin Search Detailed Settings Item Selection Description Limit Input The CW CCW limit input signal is used for origin searches only Signal Opera The CW CCW limit input signal is used by functions other than origin tion search 2 Limit Input Select when using NC contacts for the limit input signal c Signal Type Select when using NO contacts for the limit input signal Hold Origin When a limit input signal is input the pulse output is stopped and the 5 sen
246. otection and line disconnec tion detection Software User s Manual Cat No W473 Section Section 1 Overview Section 2 Internal Memory in the CPU Unit Section 3 CPU Unit Operation Section 4 CPU Unit Initialization Section 5 Understanding Pro gramming Section 6 I O Memory Areas Section 7 File Operations Section 8 I O Allocations and Unit Settings Section 9 PLC Setup Section 10 CPU Unit Functions Section 11 Programming Devices and Communications Section 12 CPU Unit Cycle Time Appendices CJ2M CPU Unit Pulse I O Module User s Manual Content This section gives an overview of the CJ2 CPU Units and describes the features and specifications This section describes the types of memory in the CPU Unit and the data that is stored This section describes the internal operation of the CPU Unit This section describes the initial setup of the CPU Unit This section describes program types and programming details such as symbols and programming instructions This section describes the I O memory areas in the CPU Unit This section describes the files that can be stored in the CPU Unit the storage destina tion for those files and file operations This section describes the I O allocations used to exchange data between the CPU Unit and other Units This section describes details on the PLC Setup settings which are used to perform basic settings for the CPU Unit This section describes functions that are bui
247. ounJ Buneoollv z c 2 I O Application Procedures and Function Allocations Interrupt Pulse I O Input Bit Normal inputs Module terminal aare IS Direct No symbol p Mode Coun Normal input 10 Interrupt input 4 1 onthe IN10 ClO left 2962 00 IN11 CIO 2962 01 IN12 CIO 2962 02 IN13 CIO 2962 03 IN14 CIO 2962 04 IN15 CIO 2962 05 IN16 CIO 2962 06 IN17 CIO 2962 07 IN18 CIO 2962 08 IN19 CIO 2962 09 Normal input 11 Interrupt input 5 Normal input 12 Interrupt Normal input 13 Interrupt Normal input 14 Normal input 15 Normal input 16 Normal input 17 Normal input 18 Normal input 19 ter Mode Quick response inputs Quick response input 4 Quick response input 5 Quick response Quick response High speed counter inputs Counter 3 phase Z or reset Counter 2 phase Z or reset Counter 3 phase A increment or count input Counter 3 phase B decrement or direction input Counter 2 phase A increment or count input Counter 2 phase B decrement or direction input Pulse output origin search inputs Pulse output 2 origin input sig nal Pulse output 2 origin proximity input signal Pulse output 3 origin input sig nal Pulse output 3 origin proximity input signal Pulse output 2 positioning com pleted signal Pulse output 3 positioning com pleted signal Only specific pairs of interrupt inputs and pulse outputs can be used to
248. outputs or normal outputs 8 10 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs 8 1 4 Wiring j Connector Pin Assignments e 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 Output i typeand Description type and Description number number s Pulse Pulse out CW pulse output output 0 put 2 CCW pulse output Pulse OW pulse output output 1 put CCW pulse output 38 B19 for outputs 38 B19 V for outputs Terminals numbers on the XW2D LILIGLI Connector Terminal Block Conversion Unit Sourcing type Pulse I O Module CJ2M MD212 Pulse I O Module No 0 on the right Pulse I O Module No 1 on the left Output Output i type and Description type and Description number number s Pulse Pulse out CW pulse culpa output 0 put2 COW pulse ouipu Pulse CW pulse ouipu output 1 puta COW pulse ouipu B19 38 B19 Power supply input V Power supply input Terminals numbers on the XW2D L I GL Connector Terminal Block Conversion Unit Qo L Oo lt D DBUuulM 7 1 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs e 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 o A dl type and Description type and Description number
249. pendent e The number of output pulses cannot be changed e The frequency can be changed e The acceleration deceleration rate can be changed The rate can even be changed during acceleration or deceleration 5 SPED Continuous to ACC Continuous or ACC Continuous to ACC Continuous e The frequency can be changed The target frequency can even be changed during acceleration or deceleration e The acceleration deceleration rate can be changed The rate can even be changed during acceleration or deceleration 6 ACC Independent to PLS2 e The number of output pulses can be changed The setting can even be changed during acceleration or deceleration e The frequency can be changed The target frequency can even be changed during acceleration or deceleration e The acceleration deceleration rate can be changed The rate can even be changed during acceleration or deceleration 7 ACC Continuous to PLS2 e The frequency can be changed The target frequency can even be changed during acceleration or deceleration e The acceleration deceleration rate can be changed The rate can even be changed during acceleration or deceleration 8 PLS2to PLS2 e The number of output pulses can be changed The setting can even be changed during acceleration or deceleration e The frequency can be changed The target frequency can even be changed during acceleration or deceleration e The acceleration deceleration ra
250. perate correctly if the cycle time exceeds 100 ms e f the instructions above are in a task that is stopped or is not executed because it is jumped by a JMP 004 CJMP 510 or CJPN 511 instruction the timer will not operate correctly e Base Settings Parameter Description Related Auxiliary Area Update timing in 3 words and bits CPU Unit Limit Input Signal Operation Limit Input Signal Type Clear Origin at Limit Input Signal Search Return Initial Speed pps Speed Curve e Search Only e Always NC Normally Closed NO Normally Open Hold Origin Clear Origin O to 100 000 Linear S curve Search Only Set whether to enable the CW Limit Input Signal Refreshed when CW CCW limit input signals Flags operation is started all the time or only for origin A540 08 searches A541 08 Set the contact form for the Mode Refreshed when REN A543 08 SAY origin input signal operation is started CCW Limit Input Signal Flags A540 09 A541 09 A542 09 A543 09 NC Nor mally Closed Hold Origin Set whether to hold or clear No origin Flags Refreshed when the origin when the CW or A280 05 operation is started CCW limit input is received A281 05 A326 05 A327 05 Set the starting speed when Refreshed when performing an origin search operation is started or origin return Linear Set the profile for accelera Refreshed when tion deceleration for pulse operation is started outputs w
251. pt Pulse I O Input inputs Quick Module terminal Bu ou Direct response address inputs Mode Coun ter Mode Interrupt input O inputs No symbol INOO CIO 2960 00 INO1 CIO 2960 01 INO2 CIO 2960 02 INOS CIO 2960 03 INO4 CIO 2960 04 INO5 CIO 2960 05 INO6 CIO 2960 06 INO7 CIO 2960 07 INO8 CIO 2960 08 INO9 CIO 2960 09 Quick response input O Quick response input 1 Quick response Normal input O 0 on the right Normal input 1 Interrupt input 1 Normal input 2 Interrupt input 2 Quick response Normal input 3 Interrupt input 3 Normal input 4 Normal input 5 Normal input 6 Normal input 7 Normal input 8 Normal input 9 CJ2M CPU Unit Pulse I O Module User s Manual High speed counter inputs Counter 1 phase Z or reset Counter 0 phase Z or reset Counter 1 phase A increment or count input Counter 1 phase B decrement or direction input Counter 0 phase A increment or count input Counter 0 phase B decrement or direction input Pulse output origin search inputs Pulse output O origin input sig nal Pulse output O origin proximity input signal Pulse output 1 origin input sig nal Pulse output 1 origin proximity input signal Pulse output O positioning com pleted signal Pulse output 1 positioning com pleted signal 2 5 Y N gt o O D ct 3 O TI c 5 o et Oo 5 D s euiue 1ndu 0 suon
252. put port number PWM outputs 0 to 3 use OUTO4 OUTO5 OUT14 and assigning pulse output terminals and OUT15 wiring e Execute a PWM 891 instruction lic task j i ae d outputs are stopped with the INI 880 instruc ion 2 Creating ladder program I Applicable Output Terminals The outputs listed in the following table can be used as PWM outputs The outputs terminals that are used for PWM outputs are also used for normal outputs and origin searches The same output terminal can be used for only one of these functions For example if PWM output 1 is used normal output 5 and the error counter reset for pulse output 1 when performing origin searches cannot be used Other functions that cannot be used at the same time Terminal Pulse outputs symbol Pulse 4 Normal CW CCW direction Origin search outputs outputs outputs OUT04 ClO 2961 04 PWM out put O Pulse output O error counter Normal out reset output operation put 4 modes 1 and 2 Pulse output 1 error counter Normal out reset output operation put 5 modes 1 and 2 Pulse output 2 error counter Normal out reset output operation put 10 modes 1 and 2 Pulse output 3 error counter Normal out reset output operation put 11 modes 1 and 2 OUTOS5 05 PWM out put 1 o L z O c mp o c e 0 E D m D z D J c mp lt JJ D et Oo U 0 O c mp o c mp 0 a OUT14 CIO 2963 04 PWM out put 2
253. put ports O to 3 output mode output direction acceleration deceleration rate target frequency and number of output pulses Execute IFEED 892 e I 3 S9 D 3 D 5 5 e D c mp TI D Q 5 1 uononjgisu ONIO33J LdnHH3 NI 268 dqaaar eui Bursa L v 8 CJ2M CPU Unit Pulse I O Module User s Manual 8 35 8 Pulse Outputs 8 4 3 PLC Setup Click the O Module Tab in the PLC Setup Select nterrupt Input in the Interrupt Input and Quick response Input Detailed Settings Dialog Box PLC Settings NewPLC1 15 x File Options Help Startup Settings Timings SIQU Refresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module 1 0 Module 1 Allocations 170 Module 0 Allocations IN10 Interrupt Input 4 Interrupt Task 144 INOO Interrupt Input O Interupt Task 140 IN11 Interrupt Input 5 Interrupt Task 145 INO Interrupt Input 1 Interrupt Task 147 IN12 interrupt Input 6 Interrupt Task 146 INO2 interrupt Input 2 Interrupt Task 142 IN13 interrupt Input 7 Interupt Task 147 INO3 Intemuptinput3 ntemupt Task 143 INIM Momalnpt 4 S NO NomalnptO4 0 0 ss i i sS INIS Memalnut 5 INOS Womalput5 INIB Nomalnpt 65 INO Nomadis INI7 Memalnpt O NO Nomallnpto INIS Memalnpt 8 Oog Nomala
254. quency tion mov ement data tion mov ement data fre quency fre fre quency quency Acceler ation de celera tion rate Starting fre quency Starting fre quency N O Oo 3 9 fo Oo 3 o Oo U E o o O Oo 3 mp 2 5 o mp c O Oo 3 o Acceler ation de celera tion rate CJ2M CPU Unit Pulse I O Module User s Manual A 3 Appendices Instruc tion being exe cuted ACC Inde pen dent ACC Contin Steady speed ing the uous PV Starting instruction factor SPED Inde SPED Con pendent tinuous Output No Output No Output method method method No i No Direc tion specifi specifi cation cation Target No Target fre fre quency quency Acceler ation de celera tion rate Output No Output method method Direc Direc No Direc tion tion tion specifi specifi specifi cation cation cation Target Target No Target fre fre fre quency quency quency Acceler ation de celera tion rate Output No Output method method Direc Direc No Direc tion tion tion specifi specifi specifi cation cation cation Target Target No Target fre fre fre quency quency quency Acceler ation de celera tion rate Output No Output method method Direc Direc No Direc tion tion tion specifi specifi specifi cation cation cation Target Target Target fre fre quency quency d
255. r code is stored Read Cleared when power is turned ON P co JJ D D D 2 gt c X lt gt D D UJ 0 Pulse Output 3 A439 Stop Error Code Pulse Output O A540 00 The PV of the pulse output 0 to 3 will be Reset Bit cleared when the corresponding bit is turned Write Pulse Output 1 A541 00 ON Reset Bit Pulse Output 2 A542 00 A276 A278 A322 and A324 contain the Reset Bit lower 4 digits of the pulse output PV Pulse Output 3 A543 00 A277 A279 A323 and A325 contain the Reset Bit upper 4 digits of the pulse output PV CJ2M CPU Unit Pulse I O Module User s Manual 8 61 8 Pulse Outputs 8 62 Name Pulse Output 0 CW Limit Input Signal Pulse Output 1 CW Limit Input Signal Pulse Output 2 CW Limit Input Signal Pulse Output 3 CW Limit Input Signal Pulse Output 0 CCW Limit Input Signal Flag Pulse Output 1 CCW Limit Input Signal Flag Pulse Output 2 CCW Limit Input Signal Flag Pulse Output 3 CCW Limit Input Signal Flag Pulse Output O Frequency Pulse Output 1 Frequency Pulse Output 2 Frequency Pulse Output 3 Frequency Read x This is the CW limit input signal for pulse out Read Cleared when power is put O to 3 which is used in the origin search Write turned ON To use this signal write the input from the actual sensor as an input condition in the lad der program and output the result to this flag A10120
256. r 4 ms for accelerating operation is started during origin returns Deceleration Rate 1 to 65 535 Set the deceleration rate in Refreshed when pps per 4 ms for decelerating operation is started during origin returns The settings for one pulse output can be copied to another pulse output Use the following procedure to copy the settings 1 Click the Copy Pulse Output Settings Button in the Pulse Output and Origin Search Detailed Settings Dialog Box The Copy Pulse Output Settings Dialog Box will be displayed 2 Select the pulse output to be copied in the box in the Copy Source Area and select another pulse output in the Copy Destination Area Copy Pulse Output Setting X Copy Source Copy Destination Pulse Output 0 b 2 g Fule Output 1 v Base Settings i v Origin Search Wo Origin Return Pulse Output 3 i Cancel Pulse Qutput 2 3 Click the OK Button The settings in the Pulse Output and Origin Search Detailed Settings Dialog Box will be updated To initialize the settings of the pulse outputs click the Defaults Button in the Pulse Output and Origin Search Detailed Settings Dialog Box 2 14 CJ2M CPU Unit Pulse I O Module User s Manual 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 VO Specifications i xn 642 rows dates bt 25 ey EEG heeded bak ws 3 2 3 1 1 INPULSPeGCINI
257. rds This product conforms to the following shipbuilding standards Applicability to the shipbuilding stan dards is based on certain usage conditions 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 e The PLC must be installed in a control panel e Gaps in the door to the control panel must be completely filled or covered with gaskets or other material Usage Conditions for Bridge and Deck Certified Only by NK e The PLC must be installed in a control panel e Gaps in the door to the control panel must be completely filled or covered with gaskets or other material e The following noise filter must be connected to the power supply line Noise Filter Manufacturer Cosel Co Ltd Model TAH 06 683 Conformance to UL and CSA Standards This product complies with applicable UL and CSA standards The following application conditions were specified for compliance Refer to Precaution for Compliance with Standards and CSA Standards pro vided with the product in advance i Application Conditions for the CJ2M MD21 e The temperature inside the control panel must be 50 C or less e The following Connector Terminal Block Conversion Unit and Connecting Cable must be used to wire I O e Connector Terminal Block Co
258. re no settings that need to be made in the PLC Setup e DM Area Settings e PWM 891 Operand Settings DO and D1 Settings Data Frequency 2 000 0 Hz 4E20 0190 Duty ratio 40 0 e Ladder Diagram 2960 00 PWM output 0 duty ratio in increments of 0 1 frequency in increments of 0 1 Hz lt Frequency setting Duty ratio Start input 2960 01 lt PWM output O Stops pulse output Not used Stop input CJ2M CPU Unit Pulse I O Module User s Manual Appendices A 1 A 2 A 3 A 4 Flag Operations during Pulse Output A 2 Combinations of Pulse Control Instructions A 3 Comparison to CJ1M Built in I O Functions A 7 Performance Information cerea I IR hn A 10 A 4 1 Interrupt Input Response Time ele A 10 A 4 2 Pulse Output Start Time ure DR LR USC urs A 11 A 4 3 Response Times of Pulse Output Changes 000000 0 A 11 CJ2M CPU Unit Pulse I O Module User s Manual A 1 Appendices A 1 Flag Operations during Pulse Output A 2 The flags related to pulse outputs are refreshed at the following times e When PULS 886 is executed e When pulse output operation is started or stopped by SPED 885 ACC 888 PLS2 887 INI 880 or ORG 889 e When the Reset Flag is turned ON e When the operating status of the CPU Unit changes i e when power is turned ON or w
259. reas however is not written to flash memory The DM EM and Holding Areas can be held during power interruptions with a battery If there is a battery error the contents of these areas may not be accurate after a power interruption If the contents of the DM EM and Hold ing Areas are used to control external outputs prevent inappropriate outputs from being made whenever the Battery Error Flag A402 04 is ON Tighten the terminal screws on the AC Power Supply Unit to the torque spec ified in the operation manual The loose screws may result in burning or mal function Do not touch the Power Supply Unit when power is being supplied or immedi ately after the power supply is turned OFF The Power Supply Unit will be hot and you may be burned When connecting a personal computer or other peripheral device to a PLC to which a non insulated Power Supply Unit CJ1W PD022 is mounted either ground the O V side of the external power supply or do not ground the exter nal power supply at all ground A short circuit will occur in the external power supply if incorrect grounding methods are used Never ground the 24 V side as shown below Wiring in Which the 24 V Power Supply Will Short Non insulated 24 V DC power supply Peripheral Peripheral device e g personal computer n i QL Power Supply CPU Unit Unit ura aru CJ2M CPU Unit Pulse I O Module User s Manual Pero
260. rementing cess ON Incrementing Refreshed when PRV 881 instruction is executed to read the PV or status ON Overflow or underflow Sig pue sp1oM eaJy Auelixny paly p 7 CJ2M CPU Unit Pulse I O Module User s Manual 7 39 7 High speed Counters Name WordBit Function Read Write Refresh timing High speed A321 00 These flags indicate whether the Read e 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 Cleared when opera dition 1 In range operated in range comparison tion starts Flag mode with upper and lower limits e Refreshed each cycle High speed A321 01 The In range Flags however will be during overseeing pro Counter 3 Range ON whenever the comparison value cess Comparison Con is within the range regardless of the e Refreshed when dition 2 In range whether the high speed counter is PRV 881 instruction is Flag set to execute the interrupt task Secuted or he Cone High speed A321 02 when the range is entered or left sponding counter Counter 3 Range OFF Not in range e Refreshed when Comparison Con ON In range INI 880 instruction is dition 3 In range executed to change PV Flag or ring counter maxi mum value e Reset High speed A321 03 Counter 3 Range Comparison Con dition 4 In range Flag High speed A321 04 Counter 3 Range Comparison Con dition 5 In range Flag High speed A321 05 Counter 3 Range Compa
261. rigin position can be received from the servomotor s built in phase Z signal or external sensors such as photoelectric sensors proximity sensors or limit switches In the following example the motor is started at a specified speed accelerated to the origin search high speed and run at that speed until the origin proximity position is detected After the origin proximity input is detected the 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 1 proximity 0 input signal Origin input 1 j signal 0 Origin search deceleration rate e io w D h 5 3 aq gt o O F e 3 FUSsUSgUehey Origin search high speed Origin search acceleration Origin search rate N Deceleration proximity speed co timing Oi Origin L O search a starting speed Time A Start Decelerate from high to Stopped D low speed t t 9 Execution of ORG Specified by the origin Specified by the origin o proximity input signal input signal Example for origin detection when proximity signal turns OFF described later EN Additional Information The motor can be moved even if the origin position has not been defined but positioning opera tions will be limited as follows Origin return Cannot be used e Positioning with absolute pulse specification Cannot be used
262. rison Con dition 6 In range Flag High speed A321 06 Counter 3 Range Comparison Con dition 7 In range Flag High speed A321 07 Counter 3 Range Comparison Con dition 8 In range Flag High speed A321 08 This flag indicates whether a com Read e Cleared when power is Counter 3 Compar parison operation is being executed turned ON ison In progress for high speed counter 3 e Cleared when starting Flag OFF Stopped operation iB ON Being executed Refreshed when start ing stopping compari son High speed A321 09 This flag indicates when an over Read e Cleared when power is Counter 3 Over flow or underflow has occurred in turned ON flow Underflow the high speed counter 3 PV Used e Cleared when opera Flag only when the counting mode is set tion starts to Linear Mode e Cleared when the PV is OFF Normal changed ON Overflow or underflow e Refreshed when an overflow or underflow occurs 7 40 CJ2M CPU Unit Pulse I O Module User s Manual Name High speed Counter 3 Count Direction High speed Counter 0 Range Comparison Con dition 1 to 32 In range Flags High speed Counter 1 Range Comparison Con dition 1 to 32 In range Flags High speed Counter 2 Range Comparison Con dition 1 to 32 In range Flags High speed Counter 3 Range Comparison Con dition 1 to 32 In range Flags High speed Counter 0 Ring Counter Maximum Value High speed Counter 1 Ring Counter Maximum Value High speed Co
263. rovide measures in the computer system and programming to ensure safety in the overall system even if communications errors or malfunctions occur in data link communications or remote I O communications Confirm safety before transferring data files stored in the file memory Mem ory Card or EM file memory to the I O area CIO of the CPU Unit using a peripheral tool Otherwise the devices connected to the output unit may mal function regardless of the operation mode of the CPU Unit Fail safe measures must be taken by the customer to ensure safety in the event of incorrect missing or abnormal signals caused by broken signal lines momentary power interruptions or other causes Serious accidents may result from abnormal operation if proper measures are not provided CJ2M CPU Unit Pulse I O Module User s Manual 19 20 A 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 Transferring or changing data can result in unexpected system operation The CJ2 CPU Units automatically back up the user program and parameter data to flash memory when these are written to the CPU Unit I O memory including the DM EM and Holding A
264. rrect Use e There are no negative values in Ring Mode e f the maximum ring count is set to O the counter will operate with a ring counter maximum value of FFFF FFFF hex e The ring counter maximum value cannot be changed while the comparison operation is in progress e f a value that exceeds the ring counter maximum value is registered in the comparison table the comparison operation will not started e When the ring counter maximum value is changed the PV of the high speed counter will be cleared to O ES Additional Information If necessary execute the INI 880 instruction to change the ring counter maximum value CJ2M CPU Unit Pulse I O Module User s Manual 7 15 7 sBumes epo y GBununo2 z z Z 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 e Phase Z Signal Software Reset e 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 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 Consequently when the Reset Bit is turned ON in the ladder program the phase Z signal does not become effective until the next PLC cycle One cycle lt gt E EMEERT ee Reset bi
265. rt 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 Instruction execution Startup time i l cpa i i Pulse output PLE LE LI LE LD LT Pulse output instruction Startup time SPED 885 continuous 23 us SPED 885 independent 24 us ACC 888 continuous 31 us ACC 888 independent trapezoidal 33 US ACC 888 independent triangular 39 us PLS2 887 trapezoidal 35 us PLS2 887 triangular 42 us IFEED 892 34 us A A4 3 Response Times of Pulse Output Changes The pulse output change response time is the time for any change made by executing an instruction during pulse output to actually affect the pulse output operation Pulse output instruction Change response time INI 880 immediate stop 10 us 1 pulse output time SPED 885 immediate stop 14 us 1 pulse output time ACC 888 deceleration stop Between 1 and 2 pulse control cycles PLS2 887 deceleration stop SPED 885 speed change ACC 888 speed change PLS2 887 target position change in reverse direction PLS2 887 target position change in same direction at same speed PLS2 887 target position change in same direction at different speed ri I U 0 h Oo 3 fo 3 O o 1 Oo 3 fo Oo 3 Note The pulse control cycle is set in the PLC Setup to either 1 ms or 4 ms eui uelis 1ndino esin
266. ruction Phases A B input stored in Auxiliary Area Reading frequency using PRV instruction Increment decrement pulse input Read Reset phase Z input uda PRV Etc High speed counter o comparison Target value Range comparison upper lower limits Interrupt task Setting Setting target values or range upper lower limits and starting comparison and specifying the interrupt task to be started BER 7 2 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters 7 1 2 Application Procedure 7 e Enable the required high speed counters e 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 Set the counting mode reset method pulse input mode and other parameters Input terminals INO2 INOS INO6 to INOY IN12 IN13 and IN16 to IN19 can be used for high speed counters High speed counters 0 to 3 correspond to these Head the PV from the Auxiliary Area or by executing a PRV 881 instruction Execute PRV 881 2 Create Reading counter PVs ladder program Reading counter frequencies 7 1 3 Specifications Item Description Pulse input method Incremental pulse Differential Up down inputs Pulse direction counting mode inputs phase input 4x inputs Input signals Increment pulse Phase A Up pulse Pulse N I O
267. ruction to read the PV Hefer to Using Software Latches on page 6 8 Pulse output PV that was read 8 56 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs 8 7 Reading the Pulse Output Frequency The frequency of a pulse output can be read in the following two ways e Reading the value at any time during program execution Read by executing the PRV 881 instruc tion e 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 e HIGH SPEED COUNTER PV READ PRV 881 Instruction Execution condition Seas P Port specifier Example Pulse output 0 C Control data Read pulse output 0 frequency using the normal method ii D First destination word D100 PV lower word Pulse output O frequency that was read D101 PV upper word I Reading the Pulse Output Frequency in Each Trace Sampling Cycle e Specifying Pulse Frequency for Tracing with the Data Trace Function in the Easy Setup of the CX Programmer Select the pulse frequencies to be traced pulse output n where n O0 to 3 in 1 Hz increments in the I O Module AR Select Area on the Data Trace Configuration Tab Page of the CX Programmer The frequency of the specified pulse output will be traced every trace sampling cycle lolx P Show Select Symbol Address D
268. ructions Pulse I O 7 Module No Read PV Auxiliary Area words O on the right A271 upper digits and A270 lower digits A273 and A272 lower digits upper digits upper digits 1 on the left High speed counter 2 A317 and A316 lower digits High speed counter 3 A319 and A318 lower digits I Reading the Value When a Ladder Program is Executed e Reading the High speed Counter PV with a PRV 881 Instruction NON m x xe SNr Noe upper digits Execution condition P Port specifier Example High speed counter input 0 C Control Data to read PV 7 7 D First Destination Word 15 0 oe High speed counter PV that was read D101 I Reading the PV When there Is an Interrupt Input LPV 893 reads the PV of the high speed counter each time an interrupt input occurs and stores the value in the Auxiliary Area It reads the PV immediately before the interrupt task is started LPV 893 reads the PV more in real time than starting an interrupt task and using the PRV 881 instruction to read the PV sindu 193uno5 peeds uBiH Z Z 7 Hefer to Using Software Latches on page 6 8 7 2 5 Frequency Measurement jueujeunseoe vu Aousnbel4 G z 7 Overview This function measures the frequency of the high speed counter input pulses The input pulse frequency can be read by executing the PRV 881 instruction The measured frequency is output in 8 digit hexadecimal and expressed in Hz The freque
269. rvo Drive e f the origin signal is error counter reset output Here the error counter received while decelerating is output to the Servo reset output is output to for the proximity input and Drive to complete the the Servo Drive and the Operation origin signal error will occur search search is completed and movement will deceler e Phase Z inputs are when the positioning ate to a stop error code ignored during decelera completed input is 2002 tion for the proximity received from the Servo input Drive e Phase Z inputs are ignored during deceler ation for the proximity input Origin prox Connect to a position detection sensor e g photoelectric or proximity sensor imity input Connect to a position detec Connect to the phase Z output signal from the Servo Origin input tion sensor e g photoelec Drive tric or proximity sensor I O sig Error Not used Connect to the error counter reset input of the Servo nals counter Drive reset out put Positioning Not used Not used Connect to the position completed ing completed signal out input put from the Servo Drive 1 There are stepping motor drives that are equipped with a positioning completed signal like a Servo Drive Operation modes 1 and 2 can be used with these stepping motor drives 2 If not using the proximity input is set only the origin input signal is used to perform the origin search 8 46 CJ2M CPU Unit Pulse I O Module User s
270. rvo Relay Unit OMNUC W series XW2B 20J6 8A Servo Drive 20 point terminal block OMNUC W series Four normal inputs IN6 to IN9 Servomotor One origin proximity input etc If a One axis Servo Relay Unit is connected to pulse output 0 the remaining outputs normal outputs 2 and 3 OUT2 and OUT3 and PWM output 1 OUT5 cannot be used 3 12 CJ2M CPU Unit Pulse I O Module User s Manual 3 I O Specifications and Wiring for Pulse I O Modules Connecting an OMNUC G series G5 series or SMARTSTEP 2 series Servo Drive Pulse ao I O Module M G series Connecting Cable XW2Z LIL 1L 1J B31 Connecting Cable 1 m G5 series Connecting XW2Z 100J A33 XW2Z LILILIJ B31 9 SMARTSTEP 2 series Connecting Cable du XW 2Z LILIL1J B32 a Connecting an OMNUC G series L 24 4 G5 series or SMARTSTEP L 1 2 series Servo Drive One axis Servo Relay Unit XW2B 20J6 8A w N j do 20 point terminal block 3 l OMNUC G e Four normal inputs IN6 to IN9 Ca LI a One origin proximity input etc If a One axis Servo Relay Unit is connected to pulse output 0 the remaining outputs normal outputs 2 and 3 OUT2 and OUTS and PWM output 1 OUT5 cannot be used Connecting Two Servo Drives Using Pulse Outputs 0 and 1 Connecting to SMARTSTEP A series Servo Drives CJ2M PISE CPU Unit cce e es Connecting Cable Srna ores Canes SMARTSTEP Junior Connecting Cable gt cie Junior
271. s RSET WO0 00 2960 01 A281 04 Low speed Pulse output CCW start in progress lt Pulse output 1 lt Specifies pulse direction output method CCW and continuous mode lt Target frequency SET WO0 01 WO 01 2960 01 oo Low speed Low speed CCW in CCW start progress RSET WO 01 2960 04 A281 04 lt Pulse output 1 lt Specifies pulse direction output method CW and continuous mode lt Acceleration deceleration rate and target frequency High speed Pulse output CW start in progress SET WO0 02 WO 02 2960 04 Y High speed High speed CW output in CW start progress RSET WO 02 2960 05 A281 04 High speed Pulse output lt Pulse output 1 CCW start in progress lt Specifies pulse direction output method CCW and continuous mode lt Acceleration deceleration rate and target frequency SET W0 03 WO 03 2960 05 t High speed High speed CCW in CCW start progress RSET WO 03 EN Additional Information The PLS2 887 instruction can be used to set a starting frequency or separate acceleration and deceleration rates But there are limitations on the operating range because the end point must be specified in the PLS2 887 instruction CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs 8 4 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 p
272. s 2 9 SDECIIIGALOMS etc 3 2 illas c T A 5 6 H range Comparison serseri bev boe bdedes Peto oes Ree dno 7 27 relative COOdINALES 2 2 nud ntes ernst ter ei Ege ns 8 28 relative positioning cessere 8 28 ring counter maximum value eeseesseess 7 15 ring mode high speed counter esee 7 15 S Serve Relay Units i 5 2 erit rhe eec 3 11 software latches sees 6 8 software reset 2 5 ecoute e tbedo exo eec read aod nesta 7 16 speed control continuous mode riad aa aS 8 87 U up down pulse inputs cccccseeeeeeeeeeeeeeceeeeeeeesaeeeeeeens 7 13 V variable duty ratio pulse outputs PWM outputs 9 2 W rro 3 7 hormal Inputs 3 2 5 2 Feet ouch aet aa 4 7 normal OULDULS secie s ua bo tihcn need S eno shares Ds An sue omes Us 4 8 using a self made cable sssussss 3 15 using Connector Terminal Block Conversion Wn HR 3 9 using Servo Relay Units sssessuuus 3 11 CJ2M CPU Unit Pulse I O Module User s Manual 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 Revisioncode Date Revised content July 20
273. s Manual 8 Pulse Outputs I System Configuration Origin proximity input CW limit sensor sensor i i Workpiece i COW limit Servomotor sensor Pulse I O Module LIL CJ2M CPU Unit Encoder Basic I O Units Allocations in CIO 0000 e Bit 00 CW limit sensor e Bit 01 CCW limit sensor Servo Drive To Input Unit Pulse output from outputs OUTOO and To input INO1 OUTO1 Servomotor encoder s phase Z input Origin input I Applicable Instructions ORG 889 instruction I I O Allocations e inputs INOO CIO 2960 00 Origin Search 0 Origin Input Signal Servomotor encoder s phase Z signal INO1 CIO 2960 01 Origin Search 0 Origin Proximity Input Signal A540 08 Pulse Output 0 CW Limit Input Signal Flag A540 09 Pulse Output 0 CCW Limit Input Signal Flag CIO 0000 00 CW Limit Sensor Input CIO 0000 01 CCW Limit Sensor Input Outputs VO termini Bi Name OUTOO CIO 2961 00 Pulse Output 0 CW OUTO1 CIO 2961 01 Pulse Output 0 CCW CJ2M CPU Unit Pulse I O Module User s Manual 8 53 ju e a D 3 3 gt D O 3 a 5 ejiduiex3 uoneoiuddy 8 9 8 8 Pulse Outputs I Operation Origin proximity input INO1 CIO 2960 01 Origin signal input INOO CIO 2960 00 Pulse frequency Origin Search Acceleration Rate Pulse output OUTOO CIO 2960 00 Origin Search Initial Speed CCW Execution of ORG 889 starts Origin search starts Origin
274. s interval in 1 pps Return increments Setting range O to Sets the motor s deceleration rate when the origin return function is Deceleration 65 535 pps 4 ms decelerating Rate Specify the amount to decrease the speed per 4 ms interval in 1 pps increments The actual monitoring time will be the Positioning Monitor Time rounded up to the nearest 10 ms increment 10 ms max If the Positioning Monitor Time is set to 0 the function will be disabled and the Unit will continue wait ing for the positioning completed signal to come ON A Positioning Timeout Error will not occur Note The power supply must be restarted after the PLC Setup is transferred in order to enable the settings for using the origin search p Changing Parameters during Operation Origin search and origin return settings can be changed during operation by executing the INI 880 instruction l Precautions for Correct Use Values in the PLC Setup will not change If the power is cycled the values in the PLC Setup will be applied CJ2M CPU Unit Pulse I O Module User s Manual 8 43 e e a D h 3 3 gt D O 3 a 5 dns Old S 8 8 Pulse Outputs INI 880 Instruction Execution condition P Port specifier Example Pulse output 0 C Control data Example Changing origin search or origin return settings NV First word with new value NV DO 006 Origin NVet DI search Nv 2 D2 NV 3 D3 NV 4 D4 NV 5
275. s set at the starting position using the jogging switch input INOO CIO 2960 00 2 The workpiece is fed the specified distance relative using the positioning switch input INO1 CIO 2960 01 When feeding has been completed the cutter is activated using the cutter start output OUTO3 CIO 2961 03 Feeding is started again when the cutter finished input INO3 CIO 2960 03 turns ON The feeding cutting operation is repeated for the number of times specified for the counter CO 100 times O Q A C3 When the operation has been completed the Cut Operation Finished Output OUTO2 CIO 2961 02 is turned ON CJ2M CPU Unit Pulse I O Module User s Manual 8 63 8 Pulse Outputs 8 64 The feeding operation can be canceled and operation stopped at any point using the immediate stop switch input INO2 CIO 2960 02 I Applicable Instructions SPED 885 and PLS2 887 instructions Preparations e PLC Setup There are no settings that need to be made in the PLC Setup e DM Area Settings e Settings to Control Speed while Jogging DO to D3 Setting Wed Target frequency 1 000 pps DO 03E8 0000 Target frequency 0 pps 0000 0000 e Settings for PLS2 887 for Fixed distance Positioning D10 to D20 Setting Word Data Acceleration rate 1 000 pps 4 ms D10 03E8 Deceleration rate 1 000 pps 4 ms D11 03E8 Target frequency 10 000 pps 2710 0000 Number of output pulses 50 000 pulses D14 C350 D15 0000
276. s the type of origin input signal NC or NO Sogn put NC Normally Closed Sets a normally closed origin input signal Signal Type NO Normally Open Sets a normally open origin input signal Proximity Specifies the type of origin proximity input signal NC or NO Input Signal Sets a normally closed origin proximity input signal Type NO Normally Open Sets a normally open origin proximity input signal Sets the motor s target speed when the origin search is executed Specify the speed in the num ber of pulses per second pps High Speed pps Setting range 0 to 100 kpps The origin search will not be performed in these cases Origin search high speed lt Origin search proximity speed Origin search proximity speed lt Origin search initial speed CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs tem Ssecion 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 Speed pps Setting range 0 to 100 kpps The origin search will not be performed in these cases Origin search high speed lt Origin search proximity speed Origin search proximity speed lt Origin search initial speed After the origin has been defined the origin compensation can be set to compensate for a shift in the Proximity Sensor s ON position for motor replacement or for other changes Correction Setting range 2 147 48
277. s to be used to terminals in the CX Programmer s PLC Setup The CX Programmer automatically displays the combination of terminals that can be selected so that there is no need to be concerned about allocating more than one function to the same terminal To see which functions can be allocated to which I O terminals refer to 2 2 3 Allocating Functions to Input Terminals and 2 2 4 Allocating Functions to Output Terminals 2 2 2 Selecting Functions in the PLC Setup e Inputs can be selected on the I O Module Tab Page File Options Help 15 x Startup Settings Timings SIOu Retresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module 170 Module 0 Allocations 170 Module 1 Allocations IN10 IN11 IN12 IN13 IN14 IN15 IN16 INI IN18 IN13 Momalnpt 0 CO Momalnuti3 Momalnpt 4 MomalnpulB Momalnputi Momalnpt 8 NomalInput19 INOQ INO1 INO2 INOS INO4 INOS INDE INO INOS INOS omalnu NormmalInputO2 Normal Input 03 omalnpu 4 Normal Input 05 NommalInputO6 Nomalnpt0B Nomalnpt09 Click the Set Button in the Interrupt Inputs and Quick response Inputs Area to display a dialog box to DLUT1O Normal Output 06 Pulse Output OUT Normal Output 07 Pulse Output OUT12 Normal Output 08 Pulse Output DUT13 Normal Output 09 Pulse Output OUT14 Normal Output 10 P wM Output 2 OUT15 Normal
278. se and use a Con nector or Connecting Cable sold separately Refer to 3 2 3 Wiring for details 1 2 CJ2M CPU Unit Pulse I O Module User s Manual 1 Overview I Detection of Pulse I O Modules e 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 e A fatal error too many I O points will occur and the CPU Unit will not operate if three or more Pulse I O Modules are mounted L U o O o a E D e Configuration Example of a CJ2M System with a Pulse I O Module Connecting One Servo Drive CJ2M CPU Unit EK Connecting Cable for XW2Z 100J AL I 7 Drive Connecting Cable for Servo Drive Pulse I O Module Servo Drive One axis Servo Relay Unit for Servo Drive Servomotor EN Additional Information e Pulse I O Modules can be connected only to CJ2M CPU Units They cannot be used with CJ2H CPU Units e The pin arrangement of the I O connected on the CU2M MD211 sinking outputs is compatible with the built in I O connector on the CJU1M CPU2L CPU Unit CJ2M CPU Unit Pulse I O Module User s Manual 1 3 4 Overview 1 2 Overview of the Functions of CJ2M Pulse I O 1 4 The following functions of the pulse I O of the CJ2M can be used by installing a Pulse I
279. se output functions be used at the same time Pulse CWICEW direction Origin search Normal PWM outputs outputs outputs outputs CW pulse out Pulse output O Normal out put 0 put 0 CCW pulse out Pulse output 1 Normal out put O put 1 CW pulse out Direction out Normal out put 1 put O put 2 counter reset output oper put 4 CW pulse out Pulse output 2 Normal out put 2 put 6 CCW pulse out Direction out Normal out put 3 put 3 put 9 CCW pulse out Direction out Normal out put 1 put 1 put 3 ation modes 1 and 2 CCW pulse out Pulse output 3 Normal out put 2 put 7 Pulse I O Module No O on the OUTOO CIO 2961 right OUTO1 OUTO2 OUTOS3 OUT04 OUTO05 0 0 0 0 1 on the OUT10 CIO 2963 left OUT11 OUT12 OUT13 OUT14 OUT15 0 The pulse output method is specified with an operand in the Pulse Output Instruction Terminal symbol EHE Pulse output O error Normal out PWM output O Pulse output 1 error Normal out PWM output 1 counter reset output oper put 5 ation modes 1 and 2 CW pulse out Direction out Normal out put 3 put 2 put 8 01 02 03 04 05 1 2 3 4 5 Pulse output 3 error Normal out PWM output 3 counter reset output oper put 11 ation modes 1 and 2 Pulse output 2 error Normal out PWM output 2 counter reset output oper put 10 ation modes 1 and 2 8 4 CJ2M CPU Unit Pulse I O Module User s Manual 8 1 3 Specifica
280. seeeeeeeeeeeseeeeeseeeeeeseeeeeseneeessaeeeees 8 80 8 10 Precautions when Using Pulse Outputs cccceesseseeeseeeeeneeseeseeseeeseeeeeseeeoeneesenseeseeneeeoens 8 82 8 11 Pulse Output Pattern eiis a a aaaeei 8 87 8 11 1 Speed Control Continuous Mode sseesesssesssssseseee nennen enne nnne nnne nnn nnns 8 87 8 11 2 Positioning Control Independent Mode ccccsseeccceeeseeeeceeseeeceeeseeeceasseeeesseeeeeeneneeeeseaees 8 89 CJ2M CPU Unit Pulse I O Module User s Manual 11 Section 9 PWM Outputs 9 1 PWM Outputs Variable Duty Ratio Pulse Outputs eee reeee 9 2 9 1 1 QUIRITES CITUR 9 2 9 1 2 ADDIIC ATION cdgerol oU e RE DEO IO EE 9 3 9 1 3 VA dig ne PETERE AEA ETE ETE EL UO I E II reese 9 4 9 1 4 Ladder Program Exemples see ties staat eee uon Miura m ep ER a alee LUUD M edes 9 5 Appendices A 1 Flag Operations during Pulse Output 1 eeeeLee eicere esee nennen nenne nnns A 2 A 2 Combinations of Pulse Control Instructions 11ceeeeee esee eere nennen enne nnn A 3 A 3 Comparison to CJ1M Built in I O Functions eeeee Leer see creer nennen nnn nna A 7 A 4 Performance Information 2 9 cavis avev ax du xU cux dus FE Cel a FUE X PORRO Mu Dwws ei e Dp Ea NS A 10 A 4 1 Interrupt INPUT RESPONSE TIME uiii conrra Eur ha a E eU S x ERE R Uv So EX E CEc nac Rx e
281. ser s Manual 7 9 7 High speed Counters e Increment Pulse Input Pulse I O Module No 0 on the ae Pulse I O Module No 1 on the left Input type Terminal cr Inputtype Terminal 1 ee 2 and number symbol C PENA and number symbol e counter 0 input 24 V pete 2 input 24 V input LD input LD input O V input LD input O V input LD wo D v HEINE UR 24 V input 24 V LD input LD rom ove ioe fT Lipo NES OV LD input O V input LD counter 1 input 24 V counter 3 input 24 V input LD input LD input O V input LD input O V input LD 24 V input 24 V NR d WINNIE LD input LD OV LD input O V input LD 1 Terminals numbers on the XW2D Connector Terminal Block Conversion Unit 2 OC Use these connections for a device with open collector outputs LD Use these connections for a device with line driver outputs 7 10 CJ2M CPU Unit Pulse I O Module User s Manual 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 O Using a 24 VDC Open collector Encoder Pulse I O Module Differential Phase Input Mode High speed counter 0 Phase A 24 V High speed counter 0 Phase A 0 V 66 High speed counter 0 Phase B 24 V High speed counter 0 Phase B 0 V High speed counter 0 Phase Z 24 V High speed counter 0 Phase Z 0 V Black Phase A Encoder 0 ower S ly 24
282. set Bit A531 00 to A531 03 is turned ON Operation can be set to stop or continue the comparison operation when the high speed counter is reset CJ2M CPU Unit Pulse I O Module User s Manual 7 3 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 FZ PLE Settings NewLct E SE File Options Help Startup Settings Timings SIOU Refresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module I Module 1 Allocations 1 0 Module 0 Allocations INIO Nomalnpt10 INO Nomadio INIT Nomalput INO Nomalnpto IN12 High speed Counter 3 Phase Z Reset INO2 High speed Counter 1 Phase Z Reset IN13 High speed Counter 2 Phase Z Reset INO3 High speed Counter 0 Phase Z Rest INIM Nomalnpui4 N Nomadi IN15 Nomalnuti5 0 WomadlputO5 IN16 Highspeed Counter 3 DifferentialPhaseA INOS Highspeed Counter 1 Differential PhaseA N17 Highspeed Counter Diferental PhaseB ING HigvspeedCounterlDiferensPhaseB IN18 High speed Counter 2 Differential
283. setting Input pulse frequency 100 kHz max counter 1 Counting Mode Linear mode Heset Method Z phase software reset Comparing After Counter Reset Stop Pulse Input Mode Differential Phase x4 INOO Input Operation Interrupt Edge Rising Edge Latch High speed counter 1 INO1 Input Operation Interrupt Edge Rising Edge Latch High speed counter 1 7 48 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters 73 PLC Settings NewPLC1 la xl Fie Options Help Startup Settings Timings SIOU Refresh Unit Settings Serial Port Peripheral Service FINS Protection 1 0 Module 1 0 Module 1 Allocations 170 Module 0 Allocations iD NomalnpuiO INOO intemuptinputOQntemuptTask 140 IN11 Nomallnptt e INO Intenuptinputt nterupt Task 1 INI2 Nomalmui2 NG2 Highspeed Counter 1 Phase Z Reset 8 INI Nomallnpti3 a NomalinputO3 SSS INIA Nomallnpti4 i SIN WomalpuO4 S INIS Nomalngtit5 05 Nemalput5 SS INIS Nomallnptit amp N06 Highspeed Counter 1 Differential Phase INI Nemalmut7 N07 Highspeed Counter 1 Differential PhaseB INIS Nomalnpti8 S N08 Nomalptt8 oS IN19 Nomani INOS NomalputOS i sst S OUT10 Normal Output 06 Pulse Output OUTOO Normal Output 00 Pulse Output OUT11 Normal Output 07 Pulse Output DUTOT Normal Output 01 Pulse Output OUT12 Normal Output 08 Pulse Output
284. sition specified number of pulses is not changed PULS l SPED Inde pendent J SPED Inde pendent PULS l ACC Inde pendent J ACC Inde pendent PLS2 l ACC Inde pendent Procedure Settings Number of pulses Helative or absolute pulse speci fication Port Pulse direction Indepen dent Target fre quency Number of pulses Helative or absolute pulse speci fication Port Pulse direction Indepen dent Accelera tion decel eration rate Target fre quency CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Example ia s Operation Frequency changes application Settings Change Changing PLS2 887 can be ee Number of speed the target iud mU executed during i pulses smoothly speed fre New target trequency Pee with PULS positioning to f Relative or l ACC Inde with quency change the accel pendent absolute unequal during posi eration rate decel pulse speci accelera tioning dif eration rate and Y fication tion and ferent target frequency decelera accelera maa ini event the a s ron tion rates tion and PLS2 executed to change the target frequency p uu Pulse and acceleration deceleration rates The target get position from direction d position is not changed The original target J EDE era position is specified again being changed Accelera tion rates intentionally either tion rate operation must
285. sogd eAnejleH Z Z 8 8 Pulse Outputs Lal 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 EN Additional Information The origin position is undefined in the following case Define the origin position by performing an origin search again e When the pulse output reset flag is turned ON e When the RUN or MONITOR mode is changed to the PROGRAM mode 8 2 3 Application Example Specifications and Operation When the start input CIO 2960 00 goes ON this example program outputs 600 000 pulses from pulse output 1 to turn the motor In this example trapezoidal position control is performed 00009000000000000000000000000000000000000000009 Target frequency 50 000 pps Deceleration rate 200 pps 4 ms Acceleration Pulse output amount 600 000 pulses Staring input CIO 2960 00 Applicable Instructions PLS2 887 instruction 8 30 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs I Preparations e PLC Setup There are no settings that need to be made in the PLC Setup e DM Area Settings e Settings for PLS2 887 Instruction DO to D7 Setting Word Data Acceleration rate 300 pps 4 ms D 012C Deceleration rate 200 pps 4 ms 00C8 Target frequency 50 000 pps C350 0000 Number of output pulses 600
286. t Note The terms in parentheses are for pulse direction outputs CJ2M CPU Unit Pulse I O Module User s Manual 8 17 8 Pulse Outputs Using a Motor Drive with 5 VDC Photocoupler Input e Connection Example 1 24 VDC Pulse I O Module Sinking Outputs EN Notordn otor arive 5 V input type at Example R 220 Q supply for outputs P FX fT cre CW pulse zi Guip 31 32 pulse Approx output Bme aA A Ee J 1 6 kQ l 32 34 ee CCW pulse 33 34 output direction Approx 12 mA output Q Note The terms in parentheses are for pulse direction outputs In this example the 24 VDC power supply is used for the motor drive with 5 V inputs Verify that the Position Control Unit s output current will not damage the motor drive s input circuits Also verify that the inputs turn ON properly Check that the 1 6 kQ resistors have sufficient power derating e Connection Example 2 24 VDC 5 VDC Pulse I O Module Sinking Outputs BOWS Bower Moiordifva E 5 V input type Input of 37 le power supply for n outputs J J tV y 97WNA CW pulse 1 31 33 NS output T 31 32 pulse output 1 32 34 ale CCW pulse m lt rnae A S EEE output em direction output M 39 40 Note The terms in parentheses are for pulse direction outputs 8 18 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Precautions for Correct Use
287. t Z phase software Software reset reset Comparing After Counter Reset Stop Continue Differential Phase Differential Phase Pulse Input Mode Pulse Direction Up Down pulses Increment pulse 2 10 Set whether to use the high speed counter When using the high speed counter set the upper limit of the input fre quency Note The frequency of the noise fil ter will change Set whether to use the counter as a linear counter or a ring counter This setting is valid only when using the high speed counter is enabled Set the maximum value of the ring counter The PV of the counter will return to O when this value is exceeded This setting is valid only when using the high speed counter is enabled and it is set to Ring mode If O is set the maximum value of the counter will be 4 294 967 295 Set the reset method for the PV of the high speed counter This setting is valid only when using the high speed counter is enabled Set whether to stop the comparison operation or continue it when the counter is reset This setting is valid only when using the high speed counter is enabled Set the counting method for the high speed counter This setting is valid only when using the high speed counter is enabled Ring counter maxi mum value A10136 to A10143 Reset Bits A531 00 A531 01 A531 02 A531 03 Comparison In progress Flags A274 08 A275 08 A320 08 A321 08
288. t a PV not Reset Reset Reset Not reset Reset reset I Software Reset The high speed counter s PV is reset when the corresponding High speed Counter Reset Bit A531 00 to A531 03 turns ON The CPU Unit recognizes the OFF to ON transition of the High speed Counter Reset Bit only at the beginning of the PLC cycle during the overseeing processes Reset processing is performed at the same time The OFF to ON transition will not be recognized if the Reset Bit turns OFF again within the same cycle One cycle LUE Reset Bit Reset Not reset Not reset Not reset EN Additional Information The comparison operation can be set to stop or continue when a high speed counter is reset This enables applications where the comparison operation can be restarted from a counter PV of O when the counter is reset 7 2 4 Reading the Present Value 7 16 The present value of a high speed counter can be read in the following three ways e Value refreshed at the I O refresh timing Read PV from Auxiliary Area e Value updated when a ladder program is executed Read PV by executing a PRV 881 instruction e PV when an interrupt input occurs gt Use the software latch and read the value from the Auxiliary Area CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters I 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 inst
289. t 1 origin proxim c ity input signal reset signal INO3 Quick response Counter O Normal Interrupt Pulse output 1 T reset ity input signal 1 on the CIO Quick response EE Normal Interrupt Pulse output 2 left 2962 input 4 input 10 input 4 origin input signal IN11 Quick response uu Normal Interrupt Pulse output 2 input 5 input 11 input 5 origin proxim ity input signal IN12 IN13 input 7 phase Zor input 13 input 7 origin proxim reset ity input signal qu Ne NO gt oO js e D o D gt O c m D piet 3 2 e o input 6 phase Zor input 12 input 6 origin input reset signal Quick response Counter 2 Normal Interrupt Pulse output 3 INO2 02 Quick response Counter 1 Normal Interrupt Pulse output 1 input 2 phase Zor input 2 input 2 origin input 03 input 3 phase Zor input3 input 3 origin proxim Quick response Counter 3 Normal Interrupt Pulse output 3 03 I Related Auxiliary Area Bits There are no Auxiliary Area bits or words that are related to the quick response inputs i Applicable Instructions There are no instructions that are related to the quick response inputs CJ2M CPU Unit Pulse I O Module User s Manual 5 5 5 Quick response Inputs 5 3 Wiring 5 3 1 Connector Pin Ass The following terminals can be u Pulse I O Module No 0 on the right Input type ignments sed for quick response inputs Pulse I O Module No 1 on the left Input typ
290. t Counter ing in Counter Mode When the counter ON E 1 Counter PV reaches the counter set value in Incre e Cleared when 71 Interrupt Counter A538 ment Mode the PV is automatically operation starts 2 Counter PV reset to 0 When the counter reaches 0 e Refreshed every in Decrement Mode the PV is automati Interrupt Counter A539 i cycle 3 Counter PV m 1 cally reset to the counter SV s Bele qnn the interrupt task is started Refreshed when INI 880 instruc tion is executed to change the PV e Preset when MSKS 690 instruction is exe cuted to enable Interrupt Counter A548 4 Counter PV Interrupt Counter A549 5 Counter PV Interrupt Counter A550 6 Counter PV Interrupt Counter A551 7 Counter PV P P4 Oo C D 0 ct 2 m f Q Q D U o 3 o interrupts Interrupt InputO A10144and When there is an interrupt input the PV Read e Cleared when Latched PV A10145 of the pulse output or the PV of the power is turned Interrupt Input 1 A10146 and high speed counter input is stored ON Latched PV A10147 The PV immediately before the interrupt e Refreshed when Interrupt Input 2 A10148 and task is started is read and saved the interrupt task is Latched PV A10149 Lower four digits A10144 A10146 started Interrupt Input 3 A10150and A10148 A10150 A10152 A10154 Latched PV A10151 A10156 and A10158 Interrupt Input 4 A10152 and Upper four digits A101
291. t Name Word A540 Pulse Output O CW Limit Input Signal Flag Signals received from external sen Pulse Output 0 CCW Limit Input Signal Flag alae connected to normal inputs must be written to the Auxiliary Area Pulse Output 1 CCW Limit Input Signal Flag Pulse Output 2 CW Limit Input Signal Flag A541 A542 Pulse Output 2 CCW Limit Input Signal Flag Pulse Output 3 CW Limit Input Signal Flag Pulse Output 3 CCW Limit Input Signal Flag A543 CJ2M CPU Unit Pulse I O Module User s Manual 8 45 e e a D h 3 3 gt D O 3 a 5 suornonJisu uo4ees ulbuC p 6 8 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 Applicable Servo Two sensors an origin prox An origin proximity sensor and the phase Z signal from Drive imity sensor and an origin a Servo Drive are used to execute an origin search sensor 2 are used to execute an origin search e Movement is decelerated e After decelerating for the After decelerating for when the origin proximity origin proximity input the origin proximity input is received and the movement stops on the input movement stops search is completed on the phase Z input from the on the phase Z input origin input Servo Drive Here the from the Se
292. t input 2 normal input 2 normal input 6 nor mal input 7 quick response input 2 and origin input signal for pulse output 1 when performing ori gin searches cannot be used Other functions that cannot be used at the same time High speed counter pulse input mode Origin Quick search Differen Pulse Increment Normal 2 Up Down response inputs for tial phase direction pulse inputs inputs pulse out puts 0 to 3 High speed High speed High speed High speed Normal Quick Pulse output counter 1 counter 1 counter 1 counter 1 input 2 response 1 origin input phase Z reset reset reset input 2 signal High speed High speed High speed High speed Normal Quick Pulse output counter O counter O counter O counter O input 3 response 1 origin prox phase Z reset reset reset imity input signal High speed High speed High speed High speed Normal counter 1 counter 1 counter 1 counter 1 input 6 phase A count increment count High speed High speed High speed Normal input Normal counter 1 counter 1 counter 1 7 input 7 phase B direction decrement High speed High speed High speed High speed Normal counter O counter O counter O counter O input 8 phase A count increment count High speed High speed High speed Normal input Normal counter O counter O counter O 9 input 9 phase B direction decrement 1 on the High speed High speed High speed High speed Norm
293. t input counters 0 to 7 in Auxiliary Area words Area for Counter Mode only A532 to A535 and A544 to A547 o N 3 e Write the program in the interrupt task Interrupt tasks Create interrupt 140 to 147 correspond to INOO to INO3 and IN10 to a Create tasks IN13 The following are specified using two MSKS 690 E ladder instructions 2 program Execute MSKS in e Specify whether to detect OFF or ON transitions to use a cyclic task a different setting from the one in the PLC Setup Specify N to 110 to 117 in the MSKS 690 instruction Select the type of interrupt input Direct Mode or Counter Mode If Counter Mode is selected select Increment or Decrement Counter Mode and enable interrupts Set N to 100 to 107 in the MSKS 690 no instruction no S oO 3 6 2 3 Specifications S ad g 2 c Item Direct Mode Counter Mode D Number of interrupt inputs 8 inputs Allocated bit CIO 2960 and CIO 2962 bits 00 to 03 Interrupt detection method ON to OFF or OFF to ON transitions Interrupt task numbers 140 to 147 fixed Counting method Incrementing or decrementing Set with the MSKS 690 instruction Counting range 0001 to FFFF hex 16 bits Set in A532 to A535 and A544 to A547 Response frequency Single phase 3 kHz x 8 inputs Storage locations for PVs for A536 to A539 and A548 to A551 interrupt inputs in Counter Mode CJ2M CPU Unit Pulse I O Module User s Manual 6 5 6 Interrupts i Precautions for Correct Use
294. t 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 e Cables for Connector Terminal Block Conversion Units Applicable Connector Terminal Block Conversion Units Compatible Con CJ2M CPU Unit Pulse I O Module User s Manual Connecting Cable nector Terminal Tempera Block Conversion ture C Unit XW2Z L I 1 IK XW2D 40G6 Slim type 0 to 55 M3 screw termi 5 e Through cable 0 to 55 M3 screw termi LLL 100 1m nals 150 1 5 m 200 2m Through cable 300 3m M3 5 screw termi 500 5m nals 3 9 e N 5 DuulM E Z 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 CJ2M MD211 CJ2M MD212 XW2D 40G6 XW2Z LILJLIK XW2D 40G6 Connector Terminal Block Conversion Unit Pulse I O Module Pulse I O Module connector pin numbers connector pin numbers M ae i 31 Sire x gt Sie 23 Be M les i j MS i Oe 12 11 Oe io Oa ME IE Oe 4 Siete 69 3 10 CJ2M CPU Unit Pulse I O Module User s Manual 3 I O Specifications and Wiring for Pulse I O Modules Connection Example When Using a Connector Terminal Block Convers
295. tables Tag data links will stop between related nodes while tag data link parameters are being trans ferred during PLC operation Confirm that the system will not be adversely affected before trans ferring the tag data link parameters e If there is interference with network communications output status will depend on the devices that are being used When using devices with outputs confirm the operation that will occur when there is interference with communications and implement safety measures as required CJ2M CPU Unit Pulse I O Module User s Manual 23 24 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 Also if the DM Area is exceeded which is possible when the CX Programmer is used the remaining data will be written to the EM Area The user program and parameter area data in the CJ2 CPU Units are backed up in the built in flash memory The BKUP indicator will light on the front of the CPU Unit when the backup opera tion is in progress Do not turn OFF the power supply to the CPU Unit when the BKUP indicator is lit The data will
296. te CJ2M CPU Unit Pulse I O Module User s Manual A 5 Appendices Instruc tion being SPED Inde SPED Con exe pendent tinuous dent cuted ORG Steady Output No Output Output speed method hi method method Direc tion specifi cation Direc tion specifi cation specifi cation i Target No Target Target fre fre fre quency quency quency Acceler ation de celera tion rate Accel Output Output Output erat method method method i E ing or decel erating Direc tion specifi cation Direc tion specifi cation Direc tion specifi cation Target fre quency Target fre quency Target fre quency Acceler ation de celera tion rate E i D 7 i E ACC Indepen Starting instruction factor ACC Contin uous ORG PLS2 Output Output Output Output No method method method method Direc Fre Fre Search tion quency quency return specifi or accel or accel cation era era tion dec tion dece eleration leration Target Posi Posi fre tion mov tion mov quency ement ement data data Acceler Starting Starting Tss ation de fre fre celera quency quency tion rate Output Output Output No method method method Fre Search quency or accel era tion dece leration Fre quency or accel era tion dec eleration Direc tion specifi cation return Posi tion mov ement data Posi
297. te can be changed The rate can even be changed during acceleration or deceleration 9 IFEED to IFEED Possible only when target frequency is O Hz deceleration stop i Origin Search Error Processing The pulse output function of the Pulse I O Module performs a basic error check before starting to output pulses when the instruction is executed and will not output pulses if the settings are incorrect There are other errors that can occur with the origin search function during pulse output which may stop the pulse output If an error occurs that stops pulse output the pulse output s Output Stopped Error Flag will be turned ON and the Pulse Output Stop Error code will be written to the Error Code word Use these flags and error codes to identify the cause of the error The Pulse Output Stop Errors will not affect the CPU Unit s operating status The Pulse Output Stop Errors do not cause a fatal or non fatal error in the CPU Unit CJ2M CPU Unit Pulse I O Module User s Manual e Related Auxiliary Area Bits Pulse Pulse Pulse output 0 output 1 output 2 OFF No error Description Pulse Output Stopped Error Flag ON when an error occurred while out ON Error putting pulses in the origin search function Output Stop Error Code If a Pulse Output Stop Error occurs the error code is writ ten to the corresponding word Pulse Output Stop Error Codes Error name Description code CW Limit Stop Input Signal CCW
298. ters LD input O V LD input 24 V a a ee input LD input O V input LD A A A 27 A14 Count input LD Reset input 24V Reset input LD eet LD input O V LD many o input 24 V PP T matos input LD PP fov moto input O V input LD 24 V A5 Counter input 24 V B4 DE EN Reset input Reset input OV LD 10 11 12 B10 INO7 29 A15 Counter Count input O V input LD IN19 26 B13 Direction input 24 V B14 Direction input LD B5 Reset input LD Reset Reset input O V input LD High speed IN16 counter 3 Counter Count input O V input LD IN17 20 B10 Direction input 24 V IN12 f A4 Reset input 24 V Reset input AS Reset LD input LD 30 B15 Direction Direction input O V input LD IN13 B4 Reset input 24 V lll all 19 A10 Counter input 24 V 21 A11 Count input LD 22 B11 Direction input LD 24 B12 Direction Direction input O V input LD 11 A6 Heset input Reset input 11 A6 Heset Heset OV LD input O V input LD Terminals numbers on the XW2D L T IGL Connector Terminal Block Conversion Unit OC Use these connections for a device with open collector outputs LD Use these connections for a device with line driver outputs CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters e Up Down Pulse Inputs Pulse I O Module No 0 on the cone Pulse I O Module No 1 on the left Input type Terminal am eee Input typ
299. the present value of the high speed counter matches a target value Instruction execution condition A CTBL instruction executed PULU LULL High speed counter PV Target value 1 gt Target value 2 gt Counting enabled Cyclic task processing Interrupted Interrupt task processing Interrupted Cyclic task processing Interrupt task processing Cyclic task processing _ High spe counter Target range Range Comparison The specified interrupt program can be started when the present value of the high speed counter enters or leaves a set range e Executing the Interrupt Task When Entering the Range Instruction input condition A CTBL inst uction executed High sp eed counter A High speed counter PV Target value range Counting enabled Cyclic task processing Interrupted Interrupt task processing Interrupted Interrupt task processing Cyclic task Cyclic task processing processing e Executing the Interrupt Task When Leaving the Range Instruction input condition A CTBL instruction executed FLEA LALLA ALA A High speed counter PV Counting enabled Cyclic task Interrupted Cyclic task processing i processing Interrupt task processing Cyclic task processing Interrupted Interrupt task processing CJ2M CPU Unit Pulse I O Module User s
300. tion can be executed while a ACC 888 instruction continuous mode is being executed It is possible to start another operation during acceleration deceleration and start another positioning instruction during positioning Yes Can be executed No Error occurs Instruction being started SPED SPED Inde Contin pendent eo U D O fo c e o 3 o0 z 3 D 3 c D 3 aq U c o0 o O c F xe c 0 Instruction being executed SPED Independent SPED Continuous ACC Mud Steady speed Accelerating or ACC con Steady speed Accelerating or LT o d AD Z O Buipse4 ECECEECE o o o o o o o x x lt PEE c x x lt i 343837353 EEE Oo c Oo 1dnueju enaze BuiddejM DBuipeeJ p 6 9 8 Accelerating or Yes No ere IS EUN ORG Ree ws Ns Rs ms Accelerating or NO E ln Bai idi Ball d d IFEED 892 Steady speed Yes Accelerating or Yes We 0 o o o e o CJ2M CPU Unit Pulse I O Module User s Manual 8 83 8 Pulse Outputs 8 84 1 SPED Independent to SPED Independent e The number of output pulses cannot be changed e The frequency can be changed 2 SPED Continuous to SPED Continuous e The frequency can be changed 8 SPED Independent to ACC Independent e The number of output pulses cannot be changed e The frequency can be changed e The acceleration deceleration rate can be changed 4 ACC Independent to ACC Independent or PLS2 to ACC Inde
301. tion is executed to perform an origin return operation CJ2M CPU Unit Pulse I O Module User s Manual 8 51 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 O using the INI 880 instruction INI Instruction Pulse output New PV Current PV Pulse output PV e Example Setting the Present Position as the Origin Execution condition dissi P Port specifier Example Pulse output 0 eee C Control data Change PV DO NV First word with new PV 15 0 D100 400 0 0 D101 40 0 O O Operand Setting P Port specifier Pulse output O Pulse output 1 Pulse output 2 Pulse output 3 NV Store the new PV in NV and NV 1 32 bits 8 5 8 Application Example Operation Connect a Servo Drive and execute an origin search based on the Servomotor s built in encoder phase Z signal and an origin proximity input signal I Parameter Settings e Operation Mode 1 Uses the Servomotor encoder s phase Z signal as the origin input signal e Origin Search at Limit Input O Sets reverse mode 0 Reverses direction when the limit input signal is input in the origin search direction e Origin Detected after Prox Input O Reads the origin input signal after the origin input signal goes OFFSON OFF e Search Direction CW 8 52 CJ2M CPU Unit Pulse I O Module User
302. tions Item Output mode Positioning independent mode instruc tions Speed control continuous mode instructions Origin origin search and origin return instructions Interrupt feeding instruction Output frequency Frequency acceleration and decelera tion rates Internal pulse control cycle Changing SVs during instruction execu tion Pulse output method Number of output pulses Relative absolute coordinate specifica tions for pulse output PVs Relative pulse absolute pulse specifica tions Pulse output PV s storage location CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs Specifications Continuous mode for speed control or independent mode for position con trol PULS 886 and SPED 885 PULS 886 and ACC 888 or PULS2 887 instruction SPED 885 and ACC 888 instructions ORG 889 instruction IFEED 892 instruction 1 pps to 100 kpps 1 pps units two pulse outputs x 2 Pulse I O Modules Set in increments of 1 pps for acceleration deceleration rates from 1 to 65 535 pps every 4 ms The acceleration and deceleration rates can be set independently only with the PLS2 instruction 1 ms or 4 ms Set in the PLC Setup The target frequency acceleration deceleration rate and target position can be changed CW CCW or pulse direction Relative coordinates 0000 0000 to 7FFF FFFF hex Accelerating or decelerat ing in either direction 2 147 483 647 Absolute coordinates 8000
303. tions The rotational speed rotations or the total number of rotations can be measured e Measuring the Rotational Speed The speed in r min is calculated from the pulse frequency and the set number of pulses per rotation Execute the PRV2 883 instruction and specify converting the frequency to a rotational speed e Measuring the Total Rotations The total number of rotations is calculated from the counter s PV and the set number of pulses per rotation Execute the PRV2 883 instruction and specify converting the counter s PV to the total num ber of revolutions e PRV2 883 PULSE FREQUENCY CONVERT Instruction e Measuring the Rotational Speed Execution condition L C1 Control data Example Rotational speed r min converting frequency to rotational speed 7 777 C2 Pulses per revolution Example 1 000 pulses 03E8 hex D First destination word ooo EE eer Rotational speed that was read r min Conversion result D101 upper word 7 18 CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters e Measuring Total Number of Revolutions Execution condition L 777 7 C1 Control data Example Converting counter PV to total number of revolutions 7 777 C2 Pulses per revolution Example 1 000 pulses 03E8 hex 7 7 D First destination word D100 DPI Cower XU Total number of revolutions that was read r min upper word la Precautions for Correct Use Measuring the rotat
304. tor drive to use Motor Stepping This setting affects the signals that Mode 1 Servomo Motor are used for origin searches and tor positioning Mode 2 Servomo This setting is valid only when the tor with INP origin search function is enabled NC Normally NC Nor Set the contact form for the origin Refreshed when Closed mally Closed input signal operation is started NO Normally This setting is valid only when the Open origin search function is enabled NC Normally NC Nor Set the contact form for the prox Refreshed when Closed mally Closed imity input signal operation is started NO Normally This setting is valid only when the Open origin search function is enabled Refreshed when operation is started 1 to 100 000 pps Set to speed to use in origin searches until the proximity input signal is received This setting is valid only when the origin search function is enabled Refreshed when operation is started 1 to 100 000 pps Set to speed to use in origin searches until the origin input sig nal is received This setting is valid only when the origin search function is enabled Refreshed when operation is started 2 147 483 648 to Set the correction to apply after 2 147 483 647 detecting the origin input signal This setting is valid only when the origin search function is enabled CJ2M CPU Unit Pulse I O Module User s Manual 2 13 Y e U r O o D mp c o sBun
305. tputs when an inter rupt occurs Differ Update method for Updating interrupt counter SV in Auxil Updating interrupt counter SV in Auxil encesin interrupt counter SV iary Area and then executing iary Area operation Counter Mode MSKS 690 again to enable interrupts Update method for INI 880 instruction NI 880 instruction interrupt counter PV Updating interrupt counter PV in Aux Counter Mode iliary Area eo O Oo 3 o D 0 Oo 5 mp Oo oO c mh UJ nt 5 O TI c 5 O et Oo 5 0 Update timing for e Every cycle e Once per count interrupt counter PV e When count completion interrupt e When PRV 881 instruction is exe Counter Mode OCCUIS cuted e When PRV 881 instruction is exe cuted Operation of interrupt Counter operation continued but inter Counter operation not continued counters when inter rupt will not occur at count completion rupts are disabled with DI 693 CJ2M CPU Unit Pulse I O Module User s Manual A 7 Appendices A 8 High speed counters Differ ences in operation Item Differential phase inputs Up input Up down inputs or pulse direction inputs Comparison methods Counting modes Numeric range Changing the ring counter maximum value Operation of instruc tion to read frequen cies PRV 881 and pulse frequency con version instruction Handling of error when changing the PV in Ring Mode Specification performanc
306. ttings llllusn 2 11 CJ2M CPU Unit Pulse I O Module User s Manual 2 1 2 2 1 I O Application Procedures and Function Allocations Pulse I O Module Application Procedure The following procedure shows how to use the I O functions of the Pulse I O Module Assign functions Install the Pulse I O Modules minals on the Pulse I O Unit left of the CJ2M CPU Unit Refer to 2 2 Allocat ing I O Functions Assign the functions to be used to the I O ter Connect up to two Pulse I O Modules to the e Normal connection Connect with XW2Z Wire the Pulse I O Modules Make the settings in PLC Setup LILILIK Connecting Cable to the XW2D B 40L IG Connector Terminal Block Conver sion Unit e Connecting with OMRON Servo Drives Connect with the special Connecting Cable via a special Servo Relay Unit CX Programmer Example When Using Interrupt Input INO3 and High speed Counter O Parameters in the PLC Setup must be set for the following functions e Interrupt Inputs e High speed Quick response Counter Inputs Refer to 3 2 3 Wir ing Refer to 2 2 Allocat ing I O Functions and the section on the PLC Setup in the section for each function Set the port numbers for functions using the Inputs e Origin Search CJ2M CPU Unit Pulse I O Module User s Manual 2 I O Application Procedures and Function Allocations n o0 iad 5 Write ladder programs using the CX
307. ttings Pulse I O inontODeratian Corresponding bit Module No P P address O on the right Select Quick for INOO CIO 2960 00 to INO3 or IN10 to CIO 2960 01 uS CIO 2960 02 CIO 2960 03 1 on the left CIO 2962 00 CIO 2962 01 CIO 2962 02 CIO 2962 03 Note The power supply must be restarted after the PLC Setup is transferred in order to validate the quick response input settings 5 4 CJ2M CPU Unit Pulse I O Module User s Manual 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 For example if quick response input 2 is used normal input 2 the phase Z reset method for high speed counter 1 interrupt input 2 and the origin input signal for pulse output 1 when performing origin searches cannot be used Other functions that cannot be used at the same input 1 n 5h d O Terminal l i Origin search D ae symbol High speed Normal Interrupt inputs for o counter Ke inputs inputs inputs pulse out 9 puts 0 to 3 S O onthe INOO CIO Quick response Normal Interrupt Pulse output O o right 2960 input O input O input O origin input y signal s INO1 Quick response Normal Interrupt Pulse output O aa input 1 inpu
308. turned ON and take appropriate measures such as inserting into the program a timer delay after turn ing ON the sensor 4 10 CJ2M CPU Unit Pulse I O Module User s Manual 4 Normal I O I 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 0 00 TO 0 01 Hio I Output Wiring Precautions Output Short Protection If a load connected to the output terminals is short circuited output components and the printed cir cuit boards may be damaged To guard against this incorporate a fuse in the external circuit Use a fuse with a capacity of about twice the rated output TIM NE Precautions on Inrush Current When switching a load with a high inrush current such as an incandescent light bulb there is a risk of damaging the output transistor Use either of the following methods to reduce the inrush current Method 1 This method draws a dark current that is approximately one third of the rated value of the light bulb M s 7 Output in Pulse I O Module Method 2 This method uses a limiting resistor R N Output in Pulse I O Module CJ2M CPU Unit Pulse I O Module User s Manual 4 11 gt do a 5
309. ulses 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 IFEED 892 controls interrupt feeding by combining the specified pulse output and interrupt input An interrupt input is used as a trigger during speed control to switch to position control and then move a specified amount before decelerating to a stop An interrupt task is not necessary so no delays are caused by the inter rupt startup time or the occurrence of other interrupts The accuracy of feeding after an interrupt input occurs can therefore be improved EN Additional Information Only specific pulse outputs and interrupt inputs can be used together If you want to pair any other pulse outputs and interrupt inputs or if you want to change settings during pulse output use the ACC 888 and PLS2 887 instructions together If the ACC 888 and PLS2 887 instructions are used delays will occur for the interrupt startup time and possibly for other interrupts 8 4 2 Setting Procedure Select nterrupt Input in the Interrupt Input and Quick response Input Detailed Settings Dialog Box that is accessed from the I O Module Tab Page of the PLC Setup using the CX Programmer INOO INO1 IN10 and IN11 can be used as interrupt inputs Set whether to start the interrupt on OFF transitions or ON transitions in the input 2 Create ladder program e Set pulse out
310. unter 2 Ring Counter Maximum Value High speed Counter 3 Ring Counter Maximum Value High speed Counter O Reset Bit High speed Counter 1 Reset Bit High speed Counter 2 Reset Bit High speed Counter 3 Reset Bit 7 High speed Counters WordBi Function ReadAWrite A321 10 A10128 and A10129 A10130 and A10131 A10132 and A10133 A10134 and A10135 A10136 and A10137 A10138 and A10139 A10140 and A10141 A10142 and A10143 This flag indicates whether high speed counter 3 is currently being incremented or decremented The counter PV for the current cycle is compared with the PV in last cycle to determine the result OFF Decrementing ON Incrementing These flags indicate whether the PV is within any of the 1 to 32 ranges when a high speed counter 0 to 3 is being operated in range comparison mode with upper and lower limits The In range Flags however will be ON whenever the comparison value is within the range regardless of the whether the high speed counter is set to execute the interrupt task when the range is entered or left OFF Not in range ON In range Bits 00 to 15 in the lower word cor respond to ranges 1 to 16 Bits 00 to 15 in the upper word correspond to ranges 17 to 32 Contain the ring counter maximum values when high speed counters O to 3 are used as ring counters These values are cleared to O if Lin ear Mode is used Lower four digits A10136 A10138
311. unter input Changing or reading the PV of Use the software latch to write the PV Using Software the high speed counter when of the high speed counter just before Latches on page 6 8 an interrupt input occurs the interrupt task is executed to the Auxiliary Area Reading the direction of the Read the high speed counter direction 7 2 7 Reading the high speed counter from the Auxiliary Area or by execut Count Direction ing the PRV 881 instruction to read status CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters 7 2 High speed Counter Inputs 7 2 1 Pulse Input Methods Settings There are four pulse input methods for high speed counters e Increment pulse input Differential phase inputs 4x Up down pulse inputs e Pulse direction inputs I Increment Pulse Input The increment pulse input method counts signals on a single phase pulse input Only incrementing the count is possible in this mode Conditions for Incrementing Dec rementing the Count puse TITLITLTULTLTLTUT LTUTLTUITITITITITL SSE OFF gt ON Incremented Lo jr ajsjea sjeyrj e jeoj syjmj ja Jte ON OFF No change Only rising edges are counted Differential Phase Inputs 4x The differential phase input method uses two phase signals phase A and phase B and incre ments decrements the count according to the status of Differential Phase 4x Conditions for Incrementing Decre menting the Count Ph
312. up or restoring data The control system may operate unexpectedly if the equipment is started with the data backed up or restored without selecting both Units Information on restrictions will be displayed in the Information Area in the PLC Backup Tool if the data to be stored includes a Unit that has restrictions on backup Check the information on restric tions and take the required countermeasures The control system may operate unexpectedly when the equipment is operated after the data is restored Before restoring data during PLC operation be sure that there will be no problem if PLC operation stops If the PLC stops at an unexpected time the control system may operate unexpectedly Be sure to turn the PLC power supply OFF and then back ON after restoring data If the power is not reset the system may not be updated with the restored data and the control system may operate unexpectedly Data on forced status can be backed up but it cannot be restored Perform the procedure to force set or force reset bits from the CX Programmer as required before starting operation after restor ing data that includes forced status Depending on the difference in the forced status the control system may operate unexpectedly If a symbol or memory address only symbols are allowed for ST programming is specified for the suffix of an array variable in ladder or ST programming be sure that the specified element number does not exceed the maximum memory ar
313. ut with IFEED 892 instruction Interrupt A280 09 A281 09 A826 09 A327 09 Cleared when power is turned ON Feeding Error Cleared when operation starts Flag e Cleared when IFEED 892 instruction process ing is started Turned ON if an overflow or underflow occurs when an interrupt input is received or if an overflow or underflow occurs while the speci fied number of pulses is being moved after operation is started with the IFEED 892 instruction with the origin defined 8 38 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs 8 5 Defining the Origin The CJ2 CPU Units have two methods that can be used to define the origin position e Origin searches The ORG 889 instruction outputs pulses to turn the motor according to the pattern specified in the origin search parameters As the motor turns the origin search function defines the origin from the following three position input signals e Origin input signal e Origin proximity input signal e CW limit input signal and CCW limit input signal e Changing the present value of the pulse output When setting the current position as the origin execute INI 880 to reset the pulse output PV to O 8 5 1 Origin Searches When the ORG 889 instruction executes an origin search it outputs pulses to actually move the motor and defines the origin position using the input signals that indicate the origin proximity and origin posi tions The input signals that indicate the o
314. ver e Wire Sizes We recommend using a cable with wires sized between 28 and 24 AWG 0 2 to 0 08 mm Use a wire with an outer diameter of 1 61 mm max CJ2M CPU Unit Pulse I O Module User s Manual 3 15 3 I O Specifications and Wiring for Pulse I O Modules 3 16 CJ2M CPU Unit Pulse I O Module User s Manual 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 4 2 4 3 Normal Inputs aue etie be ee ewe dete tate a ee dd ered ew ewe 4 2 4 1 1 OVGIVIOW 24 5 295 5225 05723 25a 103 ape Sage EIER aie ce Ws ds CCP ee 4 2 4 1 2 Application Procedure 0 ccc teens 4 2 Normal QuiDUls nube we ee ee eee ib eee ey es 4 5 4 2 1 NEVON scam usto uo EE Ce ees Ces ee 4 5 4 2 2 FIOW Of Operatioi idcm arae potrei Duo werd Dl eren She oerte be eed 4 5 WV curia uer dabei 2 pa ouo ux uS Spur dt ines eu geb Go ed aene toU eon Beda 4 7 4 3 1 Connector Pin Assignments cece ee eee 4 7 4 3 2 WIRING Examples 6s condita votare eant Pag qo c eld d un e SR taces 4 9 CJ2M CPU Unit Pulse I O Module User s Manual 4 1 4 Normal I O 4 1 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 Bits 00 to 09 of ClO 2960
315. vue ic dudo uee dU acc uua Ludus catu vL bus Fu cou E iu un hae oV eua G 7 13 7 2 1 Pulse Input Methods Settlflge u ceste tere the Lek xke banus Except eE EEUU EYRA RES 7 13 7 2 2 COURTING Mode Set titjS 5 sree lucas expe a S EA Coc Ta uM ERIS RUM RUE UU EI IEEE 7 14 7 2 3 PIC SCE IVIGUNO OS s T PEL 7 16 7 2 4 MeACING Ihe Present Valit 5 eie teen hod E robin edes er oia aute laud x dod Ego upra ra ed 7 16 7 2 5 Freduency Measilenelios orae ioa pens sake Moa Po RUNE uev SUE ELM Ead Eo ET aa i onina 7 17 7 2 6 Measuring the Rotational Speed or Total Rotations c ccccccccsseeeeeeceeeeeeeseeeeeeeeaeeeeesaseees 7 18 7 2 7 Reading INe Count DIFGCHO Mec tcsieriece TEN 7 19 7 2 8 Temporarily Stopping Input Signal Counting Gate FUNCTION cccecsseeeeeeceeeeeeeeeeeeeeeeenees 7 20 10 CJ2M CPU Unit Pulse I O Module User s Manual 7 3 High speed Counter Interrupts sacccssccsecccccidetecccccneceseedecevccssesvecteenssscctedewsstacacuctivataseseusscatsss 7 21 7 3 1 Qd o 7 21 7 3 2 Present Value GCormpalFisOFliu udec i oec odes eem ece Libreta ae eese ase inline 7 25 7 3 3 High speed Counter Interrupt INStruCtiONnS cccccccecsseeeeeeceeeeeeeeseeeeeeeesaeeeeeesaaeeeeeesaneeesesaaes 7 28 7 4 Related Auxiliary Area Words and Bits eeeeeeeeeee eere eren nennen nnn 7 35 5 Application EXambplG6S iiec D
316. x PV underflow PV overflow CJ2M CPU Unit Pulse I O Module User s Manual 7 High speed Counters I Ring Mode Input pulses are counted in a loop within the set range e f the count is incremented from the maximum ring count the count will be reset to O automatically and incrementing will continue e f the count is decremented from O the count will be set to the maximum ring count automatically and decrementing will continue Consequently underflows and overflows cannot occur when Ring Mode is used Count value 2 94 Maximum ring count e Ring Counter Maximum Value The maximum value of the counting range for the input pulses can be set in the PLC Setup or by executing the INI 880 instruction to change the maximum ring count The maximum ring count can be set to any value between 0000 0001 and FFFF FFFF hex 1 to 4 294 967 295 decimal The values that are set will be stored in the following words Pulse I O Module No 0 on the right High speed Counter 0 Ring Counter A10137 upper digits and A10136 Maximum Value lower digits High speed Counter 1 Ring Counter A10139 upper digits and A10138 Maximum Value lower digits 1 on the left High speed Counter 2 Ring Counter A10141 upper digits and A10140 Maximum Value lower digits High speed Counter 3 Ring Counter A10143 upper digits and A10142 Maximum Value lower digits Auxiliary Area words sindu 193uno5 peeds ybipy Z Z la Precautions for Co
317. ximity Speed pps D 0 Correction Value 0 0 0 0 Acceleration Rate 0 0 0 D Deceleration Rate 0 0 0 D Positioning Monitor Time ms 0 0 0 D Origin Target Speed pps 0 0 0 0 Return Acceleration Rate 0 0 0 0 Deceleration Rate 0 0 0 0 Default settings are indicated by asterisks diens Output Deis Help Internal Pulse Control Cycle 4ms C 1ms CJ2M CPU Unit Pulse I O Module User s Manual Copy Cancel 2 I O Application Procedures and Function Allocations Parameter Description Related Auxiliary Update timing in P Area words and bits CPU Unit Internal Pulse e 4 ms 4 ms Control Cycle 1 ms Set the control frequency of the pulse output Refreshed when operation is started This setting affects the response to speed changes when accelerating or decelerating and to change instructions If 1 ms is set accelera tion and deceleration will be performed in 1 ms increments providing a faster response for change instructions for pulse outputs when pulses are being output Acceleration and deceleration rates are set in 4 ms increments but internal processing is per formed in 1 ms increments The following operation will be performed for the HUNDRED MS TIMER TIM TIMX 550 TEN MS TIMER TIMH 015 TIMHX 551 and ONE MS TIMER TMHH 540 TMHHX 552 instructions if the pulse control cycle is set to 1 ms e An error of up to one cycle time will occur in the timer PV accuracy e The timers will not o
318. y Conveying PCBs Multiple Progressive Positioning I Specifications and Operation e Overview 4 PCBs with components mounted are stored in a stocker 2 When the stocker becomes full it is moved to the conveyance point Positioning Operation for Vertical Conveyor Stocker movement position Stocker conveyance position iu Operation Pattern Q Perform origin search 2 Fixed distance positioning is repeated 3 The system returns to the original position CCW Origin servo Origin CW limit phase Z proximity limit l D Origin search l L l Fixed distance positioning is repeated CCW CW 50 000 pps C350 hex CCW CW R Acceleration deceleration rate Return to start 1 000 pps 4 ms 03E8 hex PCB storage PCB storage a Stocker Stocker movement enabled completed A X 2 moved completed Y Y Y Y y 8 74 CJ2M CPU Unit Pulse I O Module User s Manual 8 Pulse Outputs e Wiring Example Using SMARTSTEP A series Servo Drive Basic I O Units CJ2M CPU Unit Pulse 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 XW2Z 100J B5 1 m XW2Z 200J B5 2 m Oooo o000 00000 oooo oooollooooo XW2Z 100J A26

SYSMAC CJ Series CJ2M CPU Unit Pulse I/O Module

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