Omron CJ1M-CPU21, Operation Manual

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Built-in Outputs Section 6-2
Operations Affecting the
Origin Status The following table shows the operations that can affect the origin status, such
as changing the operating mode and executing certain instructions.
The Pulse Output 0 No-origin Flag (A28005) and Pulse Output 1 No-origin
Flag (A28105) indicate whether the origin location is undetermined for the
corresponding pulse output. The flag will be ON when the corresponding
pulse output's origin is undetermined.
Absolute pulse
specification The absolute pulse specification cannot be used
when the origin location is undetermined, i.e.,
when the system is operating in the relative coordi-
nate system. An instruction execution error will
occur. Positions the system to an absolute position rela-
tive to the origin.
The number of movement pulses and movement
direction are calculated automatically from the cur-
rent position (pulse output PV) and target position.
The following example shows the number of
pulses setting = +100.
Number of movement pulses = Number of pulses
setting - Pulse output PV when instruction is exe-
cuted
The movement direction is determined automati-
cally.
Pulse output PV range:
80000000 to 7FFFFFFF hex
Number of pulses setting range:
80000000 to 7FFFFFFF hex
Coordinate
system
Relative coordinate system Absolute coordinate system
Path specification
made with
instruction
(PULS(886) or
PLS2(887)
Origin not established:
The Pulse Output 0 Origin Established Flag
(A28005) or Pulse Output 1 Origin Established
Flag (A28105) will be ON.
Origin established:
The Pulse Output 0 Origin Established Flag
(A28005) or Pulse Output 1 No-origin Flag
(A28105) will be OFF.
+100
+200
0
Number of pulses
setting
II
Number of
movement pulses
Target
position =
number of
pulses
setting
Current
position
Pulse
output PV
Origin
Current status PROGRAM mode RUN mode or MONITOR
mode
Operation Origin
established
Origin not
established
Origin
established
Origin not
established
Operat-
ing mode
change Switch to
RUN or
MONITOR Status
changes to
“Origin not
established.” “Origin not
established”
status contin-
ues. --- ---
Switch to
PROGRAM --- --- “Origin
established”
status contin-
ues. “Origin not
established”
status contin-
ues.