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Omron CJ1M-CPU21, Operation Manual

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Omron CJ1M-CPU21 Operation Manual Download Page 215

186

Origin Search and Origin Return Functions

Section 6-3

Ladder Program

6-3-5

Origin Return

Overview

Moves the motor to the origin position from any other position. The origin
return operation is controlled by ORG(889).

The origin return operation returns the motor to the origin by starting at the
specified speed, accelerating to the target speed, moving at the target speed,
and then decelerating to a stop at the origin position.

@ORG

#0000 

#0000 

CW limit detection 

sensor 
000000

CW Limit  

Input Signal

000001

CCW limit  

detection sensor

A54008

CCW Limit  

Input Signal

A54009

Execution condition

Origin search 0: 
#0000; Origin 
search and 
CW/CCW 
method: #0000

Pulse frequency

Origin return 
initial speed

Start

Started by executing 
ORG(889)

Origin return 
acceleration 
rate

Origin return 
target speed

Origin return 
deceleration rate

Stop

Time

Summary of Contents for CJ1M-CPU21

Page 1: ...Cat No W395 E1 03 CJ series Built in I O CJ1M CPU21 22 23 CJ1M CPU Units...

Page 2: ...CJ series Built in I O CJ1M CPU21 22 23 CPU Units Operation Manual Revised August 2004...

Page 3: ...iv...

Page 4: ...eviated Wd in documentation in this sense The abbreviation PLC means Programmable Controller PC is used how ever in some Programming Device displays to mean Programmable Control ler Visual Aids The fo...

Page 5: ...ich a unit version is not given are called Pre Ver CPU Units such as Pre Ver 2 0 CPU Units and Pre Ver 1 1 CPU Units Confirming Unit Versions with Support Software CX Programmer version 4 0 can be use...

Page 6: ...the unit version of the CPU Unit Unit Manufacturing Information In the IO Table Window right click and select Unit Manufacturing informa tion CPU Unit The following Unit Manufacturing information Dial...

Page 7: ...CPU Unit connected online Using the Unit Version Labels The following unit version labels are provided with the CPU Unit These labels can be attached to the front of previous CPU Units to differenti...

Page 8: ...n Ver Designating individual CPU Units e g the CS1H CPU67H Pre Ver 2 0 CS1 H CPU Units CS1H CPU67H CPU Unit Ver Designating groups of CPU Units e g the CS1 H CPU Units Pre Ver 2 0 CS1 H CPU Units CS1...

Page 9: ...s CPU Units Ver 1 1 Lot No 031120 on CPU Units for Single CPU System CS1D CPU S CPU Units Ver 2 0 Lot No 031215 on CJ Series CJ1 CPU Units CJ1G CPU Pre Ver 2 0 CPU Units CJ1 H CPU Units CJ1 CPU H Pre...

Page 10: ...mum of 8 Network Levels OK for up to 8 groups OK for up to 64 groups OK for up to 8 groups OK for up to 64 groups OK for up to 64 groups Connecting Online to PLCs via NS series PTs OK from lot number...

Page 11: ...ment memory in internal flash memory OK Expanded simple backup data OK New Applica tion Instructions TXDU 256 RXDU 255 support no protocol communications with Serial Communications Units with unit ver...

Page 12: ...end models unit Ver 2 0 Functions added for unit version 2 0 Using new functions OK OK No restrictions Not using new functions OK OK OK CS1 H CJ1 H and CJ1M CPU Units except low end models unit Ver 2...

Page 13: ...n attempt was made using CX Programmer version 4 0 or higher to download a PLC Setup con taining settings supported only by CPU Units Ver 2 0 or later i e not set to their default values to a Pre Ver...

Page 14: ...t Outputs 15 2 3 Allocations for Origin Search Function 16 SECTION 3 I O Specifications and Wiring 19 3 1 I O Specifications 20 3 2 Wiring 23 3 3 Wiring Examples 32 SECTION 4 Data Area Allocation and...

Page 15: ...N 6 Built in I O Function Descriptions 123 6 1 Built in Inputs 124 6 2 Built in Outputs 142 6 3 Origin Search and Origin Return Functions 166 SECTION 7 Programming Examples 189 7 1 Built in Outputs 19...

Page 16: ...ries CPU Bus Units Power Supply Units CS series Power Supply Units CJ series Power Supply Units Name Cat No Contents SYSMAC CJ Series CJ1M CPU21 22 23 Built in I O Operation Manual W395 Describes the...

Page 17: ...CX Pro grammer a programming device that supports the CS CJ series PLCs and the CX Net contained within CX Programmer SYSMAC WS02 CXP E CX Programmer Operation Manual Version 4 W425 SYSMAC WS02 CXP E...

Page 18: ...in other PLCs and instruction execution times WARNING Failure to read and understand the information provided in this manual may result in per sonal injury or death damage to the product or product f...

Page 19: ...xx...

Page 20: ...lers You must read this section and understand the information contained before attempting to set up or operate a PLC system 1 Intended Audience xxii 2 General Precautions xxii 3 Safety Precautions xx...

Page 21: ...sure to read this manual before attempting to use the Unit and keep this man ual close at hand for reference during operation WARNING It is extremely important that a PLC and all PLC Units be used fo...

Page 22: ...or burning of the output relays or destruction of the output transistors As a counter measure for such problems external safety measures must be provided to ensure safety in the system When the 24 V...

Page 23: ...orque specified in the operation manual The loose screws may result in burning or malfunction 4 Operating Environment Precautions Caution Do not operate the control system in the following locations L...

Page 24: ...tem or could damage the PLC or PLC Units Always heed these precautions A CJ series CPU Unit is shipped with the battery installed and the time already set on the internal clock It is not necessary to...

Page 25: ...lost Provide countermeasures in the program using the Battery Error Flag A40204 to re initialize data or take other actions if the Battery voltage drops Do not turn OFF the power supply to the PLC whe...

Page 26: ...the contents of the DM Area and other prepara tions before starting operation Starting operation without the proper set tings or data may result in an unexpected operation Check the user program for p...

Page 27: ...Do not transfer the routing table before verifying that it is safe to do so i e it is safe for the CPU Bus Units to be reset Install the Units properly as specified in the operation manuals Improper...

Page 28: ...ore confirm that the overall machine or equipment complies with EC Directives 6 4 Relay Output Noise Reduction Methods The CJ series PLCs conforms to the Common Emission Standards EN61000 6 4 of the E...

Page 29: ...or with no polarity No Yes The diode connected in parallel with the load changes energy accumulated by the coil into a current which then flows into the coil so that the current will be converted into...

Page 30: ...Built in I O Functions 4 1 2 Version Upgrades for CJ1M CPU Units 5 1 2 1 Improved Functionality of CJ1M CPU Units with Unit Version 3 0 5 1 2 2 Improved Functionality of CJ1M CPU Units with Unit Versi...

Page 31: ...speed Counters High speed Counter Function A rotary encoder can be connected to a built in input to accept high speed counter inputs Trigger Interrupts at a Target Value or in a Specified Range Inter...

Page 32: ...d interrupt moving a specified amount to be executed when specific conditions occur Change Target Speed and Acceleration Deceleration Rate during Acceleration or Deceleration When trapezoidal accelera...

Page 33: ...s Allocated bits 00 to 03 of CIO 2960 Minimum input signal width 30 s General purpose Outputs 6 outputs Allocated bits 00 to 05 of CIO 2961 Immediate refreshing is supported 2 outputs pulse outputs 0...

Page 34: ...ibration by reducing the initial acceleration rate in comparison with linear accelera tion deceleration Expanded Acceleration Deceleration Rate Setting The upper limit of the acceleration deceleration...

Page 35: ...Interrupt inputs Counter mode Decrements the PV for each rising or fall ing edge signal at the built in input CIO 2960 bits 00 to 03 and executes the corresponding interrupt task when the count reach...

Page 36: ...9 The Unit will determine the location of the origin based on the Origin Proximity Input Signal and Origin Input Signal The coordinates of the pulse output s PV will automatically be set as the absolu...

Page 37: ...is selected automati cally based on the relationship between the pulse output PV and the pulse Output Amount specified when the pulse output instruction is executed Perform triangular con trol Built...

Page 38: ...can be used as high speed counter inputs The PV for high speed counter 0 is stored in A270 and A271 The PV for high speed counter 1 is stored in A272 and A273 The counters can be operated in ring mode...

Page 39: ...ut with posi tioning Execute positioning with the PLS2 887 instruction during a speed control operation started with SPED 885 continuous or ACC 888 continuous Performed with the Fixed Distance Feed In...

Page 40: ...rview This section provides an overview of the functions of built in I O 2 1 Allocations for Built in CPU Unit Inputs 12 2 2 Allocations for Built in CPU Unit Outputs 15 2 3 Allocations for Origin Sea...

Page 41: ...etting High speed counter operation setting Pulse output s origin search function enabled Priority of PLC Setup settings Address Code 1 General purpose inputs 2 Interrupt inputs 3 Quick response input...

Page 42: ...f instructions such as LD Note 2 The same input time constant is used for all 10 inputs and set in the PLC Setup The setting range is 0 to 32 ms and the default setting is 8 ms 2 Interrupt inputs 4 in...

Page 43: ...ntained or refreshed with the High speed Counter Gate Bits A53108 and A53109 Target value comparison interrupt An interrupt task any task from 0 to 255 can be started when the high speed counter s PV...

Page 44: ...or PLS2 887 Origin search function enabled with the PLC Setup Function set by execution of PWM 891 instruction Address Code 1 General purpose outputs 2 Fixed duty ratio pulse outputs 3 Variable duty r...

Page 45: ...ts bits 00 to 05 of CIO 2961 can be used as general purpose outputs Note The outputs can be refreshed immediately with the immedi ate refreshing variation pre fix of instructions such as OUT 2 Fixed d...

Page 46: ...phase A incre ment or count input High speed counter 0 phase B decre ment or direction input Code OUT0 OUT1 OUT2 OUT3 OUT4 OUT5 Address Word CIO 2961 Bit 00 01 02 03 04 05 Outputs General purpose outp...

Page 47: ...the pulse output PV will automatically be set to absolute coordinates Note Outputs OUT4 OUT5 are used for the Error Counter Reset Outputs Inputs IN0 through IN5 are used for the Origin Input Signals...

Page 48: ...tions 23 3 2 2 Connector Pins Used by Each Function 24 3 2 3 Wiring Methods 28 3 3 Wiring Examples 32 3 3 1 General purpose I O Connection Examples 32 3 3 2 Pulse Input Connection Examples 35 3 3 3 Po...

Page 49: ...to IN3 Inputs IN0 to IN5 IN6 to IN9 IN0 to IN5 IN6 to IN9 Input type Two wire Sensor Line driver inputs Input current 6 0 mA typical 5 5 mA typical 13 mA typical 10 mA typical Input voltage 24 V DC 1...

Page 50: ...N 50 OFF ON 50 OFF T1 T2 T3 T4 16 6 s min 8 3 s min 8 3 s min 33 3 s min T1 T2 T3 and T4 4 0 s min Phase A Phase B encoder input Single phase 60 kHz pulse input with 50 duty ratio Phase A Phase B enco...

Page 51: ...are for a resistive load and do not consider the impedance of the cable connecting the load 2 The pulse waveform may be distorted by the connecting cable s imped ance and thus the actual pulse width...

Page 52: ...4 B7 LD 15 A8 LD 16 B8 0 V LD 17 A9 0 V LD 18 B9 IN6 General purpose input 6 High speed counter 1 Phase A Increment or Count input 24 V DC 19 A10 IN7 General purpose input 7 High speed counter 1 Phase...

Page 53: ...neral purpose input 4 IN4 13 24 V DC 17 0 V General purpose input 5 IN5 14 24 V DC 18 0 V General purpose input 6 IN6 19 24 V DC 23 0 V General purpose input 7 IN7 20 24 V DC 24 0 V General purpose in...

Page 54: ...0 V IN2 7 Phase Z 24 V 11 Phase Z 0 V Input number Code Pin No Content High speed counter 0 IN8 27 Phase A LD 29 Phase A LD IN9 28 Phase B LD 30 Phase B LD IN3 10 Phase Z LD 12 Phase Z LD High speed c...

Page 55: ...t High speed counter 0 IN8 25 Count input 24 V 29 Count input 0 V IN3 8 Reset input 24 V 12 Reset input 0 V High speed counter 1 IN6 19 Count input 24 V 23 Count input 0 V IN2 7 Reset input 24 V 11 Re...

Page 56: ...se output 37 Power supply input V for the output 39 or 40 Output COM Pulse output 1 OUT1 33 CW pulse output 34 CCW pulse output 37 Power supply input V for the output 39 or 40 Output COM Output number...

Page 57: ...before turning ON the power supply 5 Do not pull on the cable Doing so may separate the cable from the con nector 6 Do not bend the cable too sharply Doing so may damage the cable 7 The connector pin...

Page 58: ...an outer diameter of 1 61 mm max Compatible Terminal Blocks Name OMRON model number Daiichi Electronics model number Socket XG4M 4030 FRC5 AO40 3TON Stain Relief XG4M 4004 Set model number XG4M 4030 T...

Page 59: ...ON SMARTSTEP A series or UE series Servo Driver Note When using a One axis Relay Unit connected to pulse output 0 general pur pose outputs 2 and 3 OUT2 and OUT3 and PWM 891 output 1 OUT5 can not be us...

Page 60: ...uch as the Near Origin Input XW2Z J B4 W series Connecting Cable XW2Z J B1 UP series Connecting Cable XW2Z J B4 UT series Connecting Cable OMNUC W series or UP UT series Servomotor Driver W series or...

Page 61: ...XW2Z J B4 UT series Connecting Cable OMNUC W series or UP UT series Servomotor Driver W series or UP UT series Servomotor IN 24 V DC IN 0 V IN 0 V IN 24 V DC IN 0 V IN 24 V DC 0 V IN 0 V IN 24 V DC 0...

Page 62: ...the follow ing equation to determine the proper bleeder resistance R VCC VR IOUT min ION Power W VCC VR 2 R 4 Tolerance 3 Check the relationship between the PLC s OFF current and the sensor s leakage...

Page 63: ...rt circuited so we recommend installing a protective fuse in each output circuit Use a fuse with a capacity about two times greater than the rated output capacity TTL Connections A TTL device cannot b...

Page 64: ...pen collector outputs Black White Orange Brown Blue Phase A Phase B Phase Z Vcc 0 V COM 24 V DC power supply Do not share the power supply with any other I O applications CJ1M CPU Unit Differential ph...

Page 65: ...n Input Signal 24 V DC or Origin Input Signal line driver Verify that the Origin Input Signal is connected to the correct terminals The CPU Unit s internal components may be damaged if both inputs are...

Page 66: ...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 V DC...

Page 67: ...that the NC Unit s output current will not damage the motor driver s input circuits Also verify that the inputs turn ON properly Check that the 1 6 k resistors have sufficient power derating 31 33 31...

Page 68: ...e 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 resis...

Page 69: ...stepping motor drivers and servo drivers Attach the shield to the FG terminals at both the NC Unit end and driver end of the cable 3 When using an open collector connection the cable to the motor driv...

Page 70: ...gnal terminal 1 6 k 31 32 37 39 40 1 6 k 24 V DC CW CW CW CW 2 24 V DC 6 0 V 1 24 V DC 5 0 V V 0 V 24 V DC A54009 000001 A54009 000001 A54008 000000 A54008 000000 IN 1 IN 0 COM B0 A0 24 V DC A8 B8 Ope...

Page 71: ...s phase Z output is used as the Origin Input Signal terminal The servo driver is an OMRON W series Servo Driver Programming Console address Bits Setting Function 256 00 to 03 1 hex Enable origin sear...

Page 72: ...ECRST ECRST Z Z IN 1 IN 0 COM B0 A0 24 V DC A8 B8 Operation Mode 1 W series Servomotor Driver CW output pulse output 0 CCW output pulse output 0 Output power supply input Output COM N C contact Error...

Page 73: ...0001 A54008 000000 A54008 000000 IN 1 IN 0 COM B0 A0 24 V DC A8 B8 Operation Mode 1 SMARTSTEP A series Servomotor Driver CW output pulse output 0 CCW output pulse output 0 Output power sup ply input O...

Page 74: ...e Servo Driver 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...

Page 75: ...0001 A54008 000000 A54008 000000 IN 1 IN 0 COM B0 A0 24 V DC A8 B8 Operation Mode 2 W series or U series Servomotor Driver CW output pulse output 0 CCW output pulse output 0 Output pow er supply in pu...

Page 76: ...001 A54008 000000 A54008 000000 IN 1 COM IN 0 B0 A0 A8 B8 24 V DC U series UE or SMART STEP A series Servo Driver Operation Mode 2 CW output pulse output 0 CCW output pulse output 0 Output pow er supp...

Page 77: ...se signal Time Error Counter Reset Output Positioning Completed Signal Approx 20 ms Programming Console address Bits Setting Function 256 00 to 03 1 hex Enable origin search function for pulse output...

Page 78: ...hows how to use pulse output 0 to control the brightness of a light bulb Refer to Output Wiring Precautions on page 34 for details on suppressing the load s inrush current and modify the circuit if ne...

Page 79: ...50 Wiring Examples Section 3 3...

Page 80: ...to built in I O 4 1 Data Area Allocation for Built in I O 52 4 2 PLC Setup Settings 52 4 2 1 Built in Inputs 52 4 2 2 Origin Search Function 57 4 2 3 Origin Return Function 66 4 3 Auxiliary Area Data...

Page 81: ...cre ment or direction input High speed counter 0 phase A incre ment or count input High speed counter 0 phase B decre ment or direction input Out puts General purpose outputs Gen eral pur pose output...

Page 82: ...000000 to FFFFFFFF hex See note 00000000 hex Sets the max ring count for high speed counter 0 When the high speed counter 0 counting mode is set to ring mode the count will be reset to 0 automati call...

Page 83: ...r is turned ON Programming Console setting address Settings Default Function Related Auxiliary Area flags bits Time when setting is read by CPU Unit Word Bits 53 12 to 15 0 hex Don t Use Counter 1 hex...

Page 84: ...Rightmost 4 digits of the high speed counter 1 PV When operation starts 55 00 to 15 A273 Leftmost 4 digits of the high speed counter 1 PV Programming Console setting address Settings Default Function...

Page 85: ...ck response input 0 hex Specifies the kind of input that is being received at built in input IN0 When power is turned ON Programming Console setting address Settings Default Function Related Auxiliary...

Page 86: ...setting is read by CPU Unit Word Bits 60 12 to 15 0 hex Normal General purpose input 1 hex Interrupt Inter rupt input See note 2 hex Quick Quick response input 0 hex Specifies the kind of input that i...

Page 87: ...Console setting address Settings Default Function Related Auxiliary Area flags bits Time when setting is read by CPU Unit Word Bits 256 04 to 07 0 hex Search only 1 hex Always 0 hex Specifies whether...

Page 88: ...Rever sal mode 2 0 hex Specifies the origin search operation for pulse output 0 When operation starts Programming Console setting address Settings Default Function Related Auxiliary Area flags bits T...

Page 89: ...ord Bits 268 00 to 03 0 hex NC 1 hex NO 0 hex Specifies whether the limit input sig nal for pulse output 0 is normally closed or normally open When operation starts Programming Console setting address...

Page 90: ...5 Programming Console setting address Settings Default Function Related Auxiliary Area flags bits Time when setting is read by CPU Unit Word Bits 266 00 to 15 Pre Ver 2 0 CPU Units 0001 to 07D0 hex CP...

Page 91: ...ut 1 High speed counters 0 and 1 can be used When power is turned ON Programming Console setting address Settings Default Function Related Auxiliary Area flags bits Time when setting is read by CPU Un...

Page 92: ...Rever sal mode 2 0 hex Specifies the origin search operation for pulse output 1 When operation starts Programming Console setting address Settings Default Function Related Auxiliary Area flags bits T...

Page 93: ...ord Bits 286 00 to 03 0 hex NC 1 hex NO 0 hex Specifies whether the limit input sig nal for pulse output 1 is normally closed or normally open When operation starts Programming Console setting address...

Page 94: ...15 Programming Console setting address Settings Default Function Related Auxiliary Area flags bits Time when setting is read by CPU Unit Word Bits 284 00 to 15 Pre Ver 2 0 CPU Units 0001 to 07D0 hex C...

Page 95: ...ings Default Function Related Auxiliary Area flags bits Time when setting is read by CPU Unit Word Bits 270 00 to 15 00000001 to 000186A0 hex See note 00000000 hex Specifies the target speed 1 to 100...

Page 96: ...s 288 00 to 15 00000001 to 000186A0 hex See note 00000000 hex Specifies the target speed 1 to 100 000 pps for pulse output 1 origin return operation When operation starts 289 00 to 15 Programming Cons...

Page 97: ...t 3 in counter mode Sets the count value at which the interrupt task will start Interrupt task 143 will start when inter rupt counter 3 has counted this number of pulses Read Write Interrupt Counter 0...

Page 98: ...ly High speed Counter 0 Range 6 Compari son Condition Met Flag A27405 Read only High speed Counter 0 Range 7 Compari son Condition Met Flag A27406 Read only High speed Counter 0 Range 8 Compari son Co...

Page 99: ...PRV 881 instruc tion is executed for the corre sponding counter High speed Counter 1 Range 2 Compari son Condition Met Flag A27501 Read only High speed Counter 1 Range 3 Compari son Condition Met Flag...

Page 100: ...nter 0 Reset Bit A53100 When the reset method is set to Phase Z signal Software reset the corresponding high speed counter s PV will be reset if the phase Z signal is received while this bit is ON Whe...

Page 101: ...885 ACC 888 or PLS2 887 is executed Read only Cleared when power is turned ON Cleared when operation starts Refreshed each cycle during over see process Refreshed when the INI 880 instruction is exe c...

Page 102: ...ut starts or stops Refreshed each cycle during the overseeing pro cesses Pulse Output 0 At origin Flag A28006 ON when the pulse output PV matches the ori gin 0 0 Not stopped at origin 1 Stopped at ori...

Page 103: ...pleted 1 Output completed Read only Cleared when power is turned ON Cleared when operation starts or stops Refreshed at the start or comple tion of pulse out put in independent mode Pulse Output 1 Out...

Page 104: ...ned in A276 and A277 will be cleared when this bit is turned from OFF to ON Read Write Cleared when power is turned ON Pulse Output 0 CW Limit Input Signal Flag A54008 This is the CW limit input signa...

Page 105: ...nge Both ON and OFF ON Only OFF Only 0 Cleared to 0 2 Determined in the PLC Setup addresses 268 and 286 3 The PV and Overflow Underflow Flags are cleared when a limit input turns ON and the origin is...

Page 106: ...d to built in I O 5 1 MODE CONTROL INI 880 78 5 2 HIGH SPEED COUNTER PV READ PRV 881 81 5 3 COUNTER FREQUENCY CONVERT PRV2 883 88 5 4 REGISTER COMPARISON TABLE CTBL 882 91 5 5 SPEED OUTPUT SPED 885 96...

Page 107: ...the control data C INI 880 P C NV P Port specifier C Control data NV First word with new PV Variations Executed Each Cycle for ON Condition INI 880 Executed Once for Upward Differentiation INI 880 Exe...

Page 108: ...P C NV CIO Area CIO 0000 to CIO 6142 Work Area W000 to W510 Holding Bit Area H000 to H510 Auxiliary Bit Area A000 to A958 Timer Area T0000 to T4094 Counter Area C0000 to C4094 DM Area D00000 to D32766...

Page 109: ...ontrol data 0000 hex Start comparison 0001 hex Stop comparison 0002 hex Change PV 0003 hex Stop pulse output Port and mode Operation Setting range Pulse output P 0000 or 0001 hex The present value of...

Page 110: ...ulses ON if changing the PV of a high speed counter is speci fied for a port that is not specified for a high speed counter ON if a value that is out of range is specified as the PV for an interrupt i...

Page 111: ...or later PRV 881 P C D P Port specifier C Control data D First destination word Variations Executed Each Cycle for ON Condition PRV 881 Executed Once for Upward Differentiation PRV 881 Executed Once f...

Page 112: ...high speed counter input 0 1 word PV Interrupt input PV in counter mode status range comparison results Area P C D CIO Area CIO 0000 to CIO 6142 Work Area W000 to W510 Holding Bit Area H000 to H510 Au...

Page 113: ...r input OK OK OK OK high speed counter 0 only 0100 0101 0102 or 0103 hex Interrupt input in counter mode OK Not allowed Not allowed Not allowed 1000 or 1001 hex PWM 891 output Not allowed OK Not allow...

Page 114: ...ror Pulse Output Amount Set Flag OFF Not set ON Set Pulse Output Completed Flag OFF Output not completed ON Output completed Pulse Output In progress Flag OFF Stopped ON Outputting No origin Flag OFF...

Page 115: ...s can be selected by setting the third digit of C Low frequency counting At frequencies below 1 kHz the Standard Calculation Method is used regardless of the sampling time setting Variations Value of...

Page 116: ...reas Step program areas Subroutines Interrupt tasks OK OK OK OK Name Label Operation Error Flag ER ON if the specified range for P or C is exceeded ON if the combination of P and C is not allowed ON i...

Page 117: ...word Variations Executed Each Cycle for ON Condition PRV2 883 Executed Once for Upward Differentiation PRV2 883 Executed Once for Downward Differentiation Not supported Immediate Refreshing Specifica...

Page 118: ...ng Rotation speed r s Frequency Pulses revolution Rotation Speed Units r hr CJM1 CPU Unit Ver 3 0 or later only When the second digit of C1 is 2 PRV2 883 calculates the rotation speed in r hr from the...

Page 119: ...g At high frequencies above 1 kHz the function counts the number of pulses within a fixed interval the sampling time and calculates the fre quency from that count One of the following three sampling t...

Page 120: ...arisons for a high speed counter PV Either target value or range comparisons are possible An interrupt task is executed when a specified condition is met This instruction is supported by the CJ1M CPU2...

Page 121: ...01 hex High speed counter 1 C CTBL 882 function 0000 hex Registers a target value comparison table and starts comparison 0001 hex Registers a range comparison table and performs one comparison 0002 he...

Page 122: ...ange 1 interrupt task number 0000 0000 to FFFF FFFF hex See note 0000 0000 to FFFF FFFF hex See note 0000 0000 to FFFF FFFF hex See note 0000 0000 to FFFF FFFF hex See note Interrupt task number 0000...

Page 123: ...used to specify the interrupt task number for the range is OFF the PV will be com pared with the target value only when the PV is being incremented and if bit 00 is ON only when the PV is being decre...

Page 124: ...ified range for P or C is exceeded ON if the number of target values specified for target value comparison is set to 0 ON if the number of target values specified for target value comparison exceeds 4...

Page 125: ...Mode The value of M determines the output mode F First Pulse Frequency Word The value of F and F 1 sets the pulse frequency in Hz SPED 885 P M F P Port specifier M Output mode F First pulse frequency...

Page 126: ...rom the program An error will occur if the mode is changed between independent and continu ous mode while pulses are being output Area P M F CIO Area CIO 0000 to CIO 6142 Work Area W000 to W510 Holdin...

Page 127: ...s is set with PULS 881 as an absolute value Operation Purpose Application Frequency changes Description Procedure instruction Starting pulse output To output with spec ified speed Changing the speed f...

Page 128: ...immediately and clears the number of output pulses set ting PULS 886 SPED 885 Independent SPED 885 Indepen dent Target frequency of 0 Hz Pulse frequency Target frequency Specified number of pulses Sp...

Page 129: ...ort specifier indicates the port The parameters set in D and N will apply to the next SPED 885 or ACC 888 instruction in which the same port output location is specified PULS 0000 0000 D00100 1388 000...

Page 130: ...885 or ACC 888 in independent mode T Pulse type 0000 hex Relative 0001 hex Absolute N N 1 0 15 Lower word with number of pulses Upper word with number of pulses Relative pulse output 0 to 2 147 483 64...

Page 131: ...ses to the specified port Pulse output starts at a specified startup frequency accelerates to the target fre quency at a specified acceleration rate decelerates at the specified decelera tion rate and...

Page 132: ...ch Cycle for ON Condition PLS2 887 Executed Once for Upward Differentiation PLS2 887 Executed Once for Downward Differentiation Not supported Immediate Refreshing Specification Not supported Block pro...

Page 133: ...to 0001 86A0 hex Specify the frequency after acceleration in Hz Acceleration rate Deceleration rate Specify the increase or decrease in the frequency per pulse control period 4 ms CJ1M Pre Ver 2 0 CP...

Page 134: ...on or an execution condition that is turned ON only for one scan PLS2 887 can be used only for positioning With the CJ1M CPU Units PLS2 887 can be executed during pulse output for ACC 888 in either in...

Page 135: ...PLS2 887 PULS 886 ACC 888 Indepen dent PLS2 887 To change target position Changing the tar get position dur ing positioning multiple start function PLS2 887 can be exe cuted during position ing to ch...

Page 136: ...g is not pre served Immediate stop Stops the pulse output immediately and clears the number of output pulses PLS2 887 INI 880 Stop pulse out put smoothly Number of pulses setting is not pre served Dec...

Page 137: ...dure instruction Change from speed control to fixed distance positioning during oper ation PLS2 887 can be exe cuted during a speed control operation started with ACC 888 to change to positioning oper...

Page 138: ...d during pulse output to change the target frequency or acceleration deceleration rate enabling smooth sloped speed changes This instruction is supported by the CJ1M CPU21 CPU22 CPU23 CPU Units only L...

Page 139: ...ks OK OK OK OK P Port 0000 hex Pulse output 0 0001 hex Pulse output 1 0 3 4 7 8 11 12 15 M Mode 0 hex Continuous mode 1 hex Independent mode Direction 0 hex CW 1 hex CCW Pulse output method See note 0...

Page 140: ...executed during pulse output for ACC 888 in either independent or continuous mode and during accelera tion constant speed or deceleration See note ACC 888 can also be exe cuted during pulse output fo...

Page 141: ...moothly during operation Changes the fre quency from the present frequency at a fixed rate The frequency can be accelerated or decelerated ACC 888 or SPED 885 Continu ous ACC 888 Continu ous Changing...

Page 142: ...lse output To stop pulse out put Immediate stop Immediately stops pulse output ACC 888 Continu ous INI 880 Continu ous To stop pulse out put Immediate stop Immediately stops pulse output ACC 888 Conti...

Page 143: ...ved Immediate stop Pulse output is stopped immedi ately and the remaining number of output pulses is cleared PULS 886 ACC 888 Indepen dent INI 880 To stop pulseoutput smoothly Number of pulses set tin...

Page 144: ...requency of 500 Hz is reached When CIO 000001 turns ON ACC 888 changes to an acceleration rate of 10 Hz every 4 ms until the target frequency of 1 000 Hz is reached Pulse frequency Target frequency Sp...

Page 145: ...D00105 D00106 D00107 ACC 0000 0000 D00100 ACC 0000 0000 D00105 500 Hz 1000 Hz Target frequency 500 Hz Accleration deceleration rate 20 Hz Target frequency 1 000 Hz Accleration deceleration rate 10 Hz...

Page 146: ...Pulse output method See note 0 hex CW CCW 1 hex Pulse direction Mode 0 hex Origin search 1 hex Origin return Note Use the same pulse output method when using both pulse outputs 0 and 1 Area P C CIO A...

Page 147: ...am Pulses are then output at constant speed until the Origin Input Signal turns ON 5 in diagram Pulse output is stopped when the Origin Input Signal turns ON 6 in diagram When the origin search operat...

Page 148: ...e target speed is 200 pps and the acceleration and deceleration rates are 50 Hz 4 ms A B C D E Pulse frequency ORG 889 executed Origin return target speed Origin return deceleration rate Stop Time Ori...

Page 149: ...e output i e the percentage of time that the output is ON D must be between 0 and 100 0000 to 0064 hex Parameter Setting Pulse Output 0 Starting Speed for Origin Search and Origin Return 0000 0064 hex...

Page 150: ...o W511 W000 to W511 Holding Bit Area H000 to H511 H000 to H511 Auxiliary Bit Area A000 to A959 A000 to A959 Timer Area T0000 to T4095 T0000 to T4095 Counter Area C0000 to C4095 C0000 to C4095 DM Area...

Page 151: ...rts pulse output from pulse output 0 at 200 Hz with a duty factor of 50 When CIO 000001 turns ON the duty factor is changed to 25 PWM 0000 07D0 0032 000000 PWM 0000 07D0 0019 000001 CIO 000000 ON CIO...

Page 152: ...unter Inputs 129 6 1 5 Quick response Inputs 140 6 1 6 Hardware Specifications 141 6 2 Built in Outputs 142 6 2 1 Overview 142 6 2 2 General purpose Outputs 142 6 2 3 Pulse Outputs 143 6 2 4 Variable...

Page 153: ...al purpose input function treats inputs just like inputs in an Input Unit The input signals are read during regular I O refreshing and the input status is reflected in I O memory at that time The inpu...

Page 154: ...eral purpose input 5 cannot be used when operating mode 2 has been specified i e the Positioning Completed Signal is being used Select general purpose Wire inputs PLC Setup settings Ladder program IN0...

Page 155: ...ect interrupt inputs Wire inputs PLC Setup settings Ladder program IN0 to IN3 CIO 2960 bits 00 to 03 Connect to the selected terminals between IN0 and IN3 When IN0 to IN3 are used as interrupt inputs...

Page 156: ...n is enabled for pulse output 1 enabled in the PLC Setup Specifications Interrupt Task Numbers Interrupt Inputs Counter Mode Overview This function counts input signals up or down differentiated and s...

Page 157: ...rea settings Ladder program IN0 to IN3 CIO 2960 bits 00 to 03 Connect to the selected terminals between IN0 and IN3 When IN0 to IN3 are used as interrupt inputs in counter mode make the necessary inpu...

Page 158: ...y with the counters Gate Bit Gate function Item Specifications Number of inputs 4 inputs The 4 input terminals are shared with the quick response inputs high speed counter Phase Z signal and general p...

Page 159: ...input High speed counter 1 Decrement input IN2 02 High speed counter 1 Phase Z High speed counter 1 Reset input High speed counter 1 Reset input High speed counter 1 Reset input IN8 08 High speed coun...

Page 160: ...et Set the counting range s High speed Counter 0 1 Counting Mode Bits 04 to 07 of Programming Console address 50 53 0 Hex Linear mode 1 Hex Ring mode Program the interrupt task with any interrupt numb...

Page 161: ...nputs Pulse direction inputs Increment inputs Input pin allocation High speed counter 0 High speed counter 1 24 V 25 LD 27 0 V LD 29 24 V 19 LD 21 0 V LD 23 Phase A input Increment pulse input Pulse i...

Page 162: ...wer limit and interrupt task number for each range Counter reset method Select one of the following methods in the PLC Setup Phase Z Software reset The counter is reset when the phase Z input goes ON...

Page 163: ...lse input Only up differentiated pulses rising edges can be counted Increment Mode The increment mode counts single phase pulse signal inputs This mode only increments the count Conditions for Increme...

Page 164: ...op Lower and Upper Limits of the Range The following diagrams show the lower limit and upper limit values for incre ment mode and up down mode Ring Mode Input pulses are counted in a loop within the s...

Page 165: ...transition of the High speed Counter Reset Bit only at the beginning of the PLC cycle during the oversee ing processes Reset processing is performed at the same time The OFF to ON transition will not...

Page 166: ...ictions A comparison condition target value and count direction cannot appear in the table more than once An error will occur if a comparison condition is specified two or more times Note When the cou...

Page 167: ...ping Input Signal Counting Gate Function If the High speed Counter Gate Bit is turned ON the high speed counter will not count even if pulse inputs are received and the counter PV will be main tained...

Page 168: ...ncy data Restrictions The frequency measurement function can be used with high speed counter 0 only Specifications Pulse Frequency Conversion The pulse frequency input to high speed counter 0 can be c...

Page 169: ...PV to the Total Number of Rotations Execute PRV2 with the following operands C Control data Set to 0001 for counter PV total number of rotations con version P Pulses rotation hex D First word for res...

Page 170: ...he quick response inputs high speed counters and general purpose inputs Allocated data area CIO 2960 bits 00 to 03 Minimum detectable pulse width 30 s Item Specifications Number of inputs 10 inputs Al...

Page 171: ...s 4 and 5 cannot be used if variable duty ratio pulses PWM 891 outputs are being output through those points General purpose output 4 5 cannot be used when the origin search function is enabled for pu...

Page 172: ...with a specified number of pulses to move a certain distance When an ACC 888 instruction continuous mode is being executed a PLS2 887 instruction can be executed to switch to positioning When position...

Page 173: ...ration rate and target position can be changed Duty ratio Fixed at 50 Pulse output method CW CCW inputs or Pulse direction inputs The method is selected with an instruction operand The same method mus...

Page 174: ...t with acceleration deceler ation Pulse output without accelera tion decelera tion Pulse output with accelera tion decelera tion Trapezoi dal equal accelera tion decelera tion rates Trapezoi dal sepa...

Page 175: ...continuous mode Origin search Pulse output without accelera tion decelera tion Pulse output with acceleration deceler ation Pulse output without accelera tion decelera tion Pulse output with accelera...

Page 176: ...Frequency changes Description Procedure Instruction Settings Change speed in one step Changing the speed during oper ation Changes the fre quency higher or lower of the pulse output in one step SPED 8...

Page 177: ...ous SPED 885 Continu ous Port Continu ous Target fre quency 0 Stop pulse output smoothly Decelerate to a stop Decelerates the pulse output to a stop Note If ACC 888 started the operation the original...

Page 178: ...te Note The target position specified number of pulses can not be changed dur ing position ing PULS 886 ACC 888 Indepen dent Number of pulses Relative or abso lute pulse specifica tion Port CW CCW or...

Page 179: ...8 can be executed during positioning to change the acceler ation deceleration rate and target fre quency The target position specified number of pulses is not changed PULS 886 ACC 888 or SPED 885 Inde...

Page 180: ...e changed without main taining the same speed range an error will occur and the original oper ation will con tinue to the original tar get position PULS 886 ACC 888 Indepen dent PLS2 887 Number of pul...

Page 181: ...PLS2 887 can be executed during positioning with rel ative pulse specifi cation to change to absolute pulses and reverse direction PULS 886 ACC 888 Indepen dent PLS2 887 Number of pulses Absolute pul...

Page 182: ...Indepen dent Target fre quency 0 Stop pulse output smoothly Number of pulses set ting is not preserved Decelerate to a stop Decelerates the pulse output to a stop Note If ACC 888 started the operatio...

Page 183: ...ance positioning during operation PLS2 887 can be executed during a speed control oper ation started with ACC 888 to change to position ing operation Note An error will occur if a constant speed can n...

Page 184: ...tion deceleration rate can be changed even during acceler ation or deceleration The output mode and direction cannot be switched 5 SPED 885 Cont to ACC 888 Cont or ACC 888 Cont to ACC 888 Cont The fre...

Page 185: ...or deceleration The frequency can be changed even during acceleration or decelera tion The acceleration deceleration rate can be changed even during acceler ation or deceleration The output mode and...

Page 186: ...r position relative to the current position Number of movement pulses number of pulses setting The pulse output PV after instruction execution Number of movement pulses Number of pulses setting Note T...

Page 187: ...ng 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 h...

Page 188: ...mode RUN mode or MONITOR mode Operation Origin established Origin not established Origin established Origin not established Determine the pulse output method and port CW CCW method Pulse output 0 uses...

Page 189: ...V DC PC Setup settings Enable disable the origin search function Set the various origin search parameters if the origin search function is enabled The Origin Search Function Enable Disable setting for...

Page 190: ...direction method Pulse output 0 uses OUT0 CIO 296100 and OUT2 CIO 296102 Pulse output 1 uses OUT1 CIO 296101 and OUT3 CIO 296103 The same pulse output method must be set for both pulse output 0 and pu...

Page 191: ...ault Function Related Auxiliary Area flags bits Time when setting is read by CPU Unit Word Bits 274 04 to 07 0 hex Search only 1 hex Always 0 hex Specifies whether to use the CW CCW limit input signal...

Page 192: ...equency Set acceleration Specified number of pulses PLS2 executed Target frequency reached Deceleration point Set deceleration Output stops Acceleration specified for S curve acceleration Deceleration...

Page 193: ...be performed if the target frequency is less than 100 Hz 6 2 4 Variable Duty Ratio Pulse Outputs PWM 891 Outputs Overview The PWM 891 instruction is used to generate PWM 891 Pulse Width Mod ulation p...

Page 194: ...n Enable Disable setting to 0 The Origin Search Function Enable Disable setting for pulse outputs 0 and 1 is in the rightmost digit bits 00 to 03 of Programming Console addresses 256 and 274 respectiv...

Page 195: ...d to perform an origin return operation that moves the motor back to the origin position The ori gin position must be determined in advance by performing an origin search or changing the pulse output...

Page 196: ...Origin search proximity speed Start Execution of ORG 889 Decelerate from high to low speed Indicated by the Origin Proximity Input Signal Stop Indicated by the Origin Input Signal Time Code Word addr...

Page 197: ...when origin search function is enabled OUT1 CIO 2961 01 Pulse output 1 pulse OUT2 02 Pulse output 1 CW OUT3 03 Pulse output 1 CCW Pulse output 1 direction OUT5 05 Origin search 1 Error counter reset o...

Page 198: ...eing used The Origin Search Function Enable Disable setting for pulse outputs 0 and 1 is in the rightmost digit bits 00 to 03 of Programming Console addresses 256 and 274 respectively Limit Input Sign...

Page 199: ...hex Specifies whether or not the origin search function is used for pulse output 0 Note Interrupt inputs 0 and 1 and PWM 891 output 0 cannot be used when the origin search function is enabled setting...

Page 200: ...xiliary Area flags bits Time when setting is read by CPU Unit Word Bits 268 12 to 15 0 hex Hold 1 hex Undefine 0 hex Specifies whether to hold the origin setting when the CW CCW limit input signal is...

Page 201: ...rt of opera tion Origin search speed See note Origin search return initial speed 00000000 to 000186A0 hex 0 to 100 000 pps Start of opera tion Origin search high speed 00000000 to 000186A0 hex 0 to 10...

Page 202: ...Input Signal Error error code 0202 will be generated In this case the motor will decelerate to a stop Operating mode I O signal Remarks Origin Input Signal Error Counter Reset Output Positioning Compl...

Page 203: ...his deceleration After deceleration is completed the Origin Input Sig nal will be detected and the motor will stop Operating Mode 1 with Origin Proximity Input Signal Reverse Origin Detection Method S...

Page 204: ...erify that the Origin Proximity Input Signal s dog setting is long enough longer than the deceleration time Origin Input Signal is ignored during deceleration Motor stopped by an Origin Input Signal r...

Page 205: ...mode 2 When the limit input signal is received in the origin search direction generate an error and stop operation Setting Description 0 Origin Proximity Input Signal reversal required Reads the firs...

Page 206: ...nput signal direction would be different for an origin search in the CCW direction 1 1 0 0 CCW CW Origin Proximity Input Signal Origin Input Signal Pulse output Deceleration starts when Origin Proximi...

Page 207: ...s 2 Origin Prox imity Input Sig nal not used Note When the direction of operation is reversed it is reversed immediately without deceleration or acceleration 1 1 0 0 CCW CCW CCW CW CW CW Origin Proxim...

Page 208: ...n Proximity Input Signal reversal not required Note When the limit input signal is received the motor stops without deceleration 1 1 0 0 CCW CCW CCW CW CW CW Origin Proximity Input Signal Origin Input...

Page 209: ...tor s acceleration rate when the origin search is executed Specify the amount to increase the speed Hz per 4 ms interval Origin Search Deceleration Rate Sets the motor s acceleration rate when the ori...

Page 210: ...Completed Signal does not come ON within the specified time Setting range 0000 to 270F hex 0 to 9 999 ms The actual monitoring time will be the Positioning Monitor Time rounded up to the nearest 10 m...

Page 211: ...ror 1 Stop error occurred Read only A281 07 Pulse output 1 Pulse Output Stopped Error Flag 0 No error 1 Stop error occurred Read only A444 00 to 15 Pulse output 0 Pulse Output 0 Stop Error Code See ta...

Page 212: ...med the Limit Input Signal is already being input in the origin search direction When a non regional origin search is being performed the Origin Input Signal and the Limit Input Signal in the oppo sit...

Page 213: ...System Configuration Instructions Used ORG 889 I O Allocations Inputs CW limit detection sensor Origin Proximity Input sensor Workpiece CCW limit detection sensor Servomotor Encoder CJ1M CPU Unit Basi...

Page 214: ...4 to 07 Pulse Output 0 Origin Search Operation Setting 0 hex Reverse mode 1 08 to 11 Pulse Output 0 Origin Detection Method 0 hex Origin detection method 0 12 to 15 Pulse Output 0 Origin Search Direct...

Page 215: ...accelerating to the target speed moving at the target speed and then decelerating to a stop at the origin position ORG 0000 0000 CW limit detection sensor 000000 CW Limit Input Signal 000001 CCW limit...

Page 216: ...t determined relative coordinate system when ORG 889 is executed to perform an origin return operation 1 Starting Speed for Origin Search and Origin Return 2 Origin return target speed 3 Origin return...

Page 217: ...188 Origin Search and Origin Return Functions Section 6 3...

Page 218: ...ength Measurement 190 7 1 2 Outputting Pulses after a Preset Delay 193 7 1 3 Positioning Trapezoidal Control 195 7 1 4 Jog Operation 197 7 1 5 Cutting Long Material Using Fixed Feeding 199 7 1 6 Verti...

Page 219: ...t task triggered by built in input 3 IN3 reads the PV of high speed counter 1 and stores the result in D00010 Instructions Used MSKS 690 Enables the I O interrupts INI 880 Changes the high speed count...

Page 220: ...191 Built in Outputs Section 7 1...

Page 221: ...690 MSKS 690 P_First_Cycle_Task Task Start Flag Used to clear the high speed counter PV Built in interrupt input 1 Unmask Enable interrupts Built in interrupt input 3 Unmask Enable interrupts INI 880...

Page 222: ...instruction and stops the scheduled interrupt Instructions Used MSKS 690 Enables the I O interrupt Starts the scheduled interrupt PULS 886 Sets the number of output pulses SPED 885 Starts the pulse o...

Page 223: ...Time Unit Setting Ladder Program Cyclic Task Task 0 PLC Setup setting details Address Data Set the scheduled interrupt time units to 0 1 ms 195 0002 hex 0 9 MSKS 690 P_First_Cycle_Task Task Start Flag...

Page 224: ...progress Flag Scheduled interrupt 0 Reset start Scheduled interrupt time 5 x 0 1 ms 0 5 ms 0 4 0 0000 100000 SPED 885 MSKS 690 0001 100000 0000 PULS 886 P_On Always ON Flag Pulse output 0 Relative pu...

Page 225: ...s substantially greater than the deceleration rate the operation won t be true triangular control The motor will be operated at a constant speed for a short time between the acceleration and decelerat...

Page 226: ...while input 2960 08 is ON High speed jog operation CCW will be executed from pulse output 1 while input 2960 09 is ON Instructions Used SPED 885 Starts and stops immediate stop the low speed jog opera...

Page 227: ...on rate 100 Hz 4 ms Not used D00013 0064 Target frequency stop 0 Hz D00014 0000 D00015 0000 1 1 0 1 1 0 2960 06 A281 04 0 00 2960 06 2960 07 A281 04 0 01 2960 07 SPED 885 SPED 885 SPED 885 0000 D00000...

Page 228: ...00010 SET 0 03 ACC 888 0010 D00013 RSET 0 03 END 001 2960 08 A281 04 0 02 2960 08 2960 09 A281 04 0 03 2960 09 High speed CW Start Pulse Output in Progress Pulse output 1 Specifies CW CCW output metho...

Page 229: ...eding operation can be canceled and operation stopped at any point using the Emergency Switch Input IN2 CIO 296002 Instructions Used SPED 885 PLS2 887 Preparation PLC Setup Settings There are no setti...

Page 230: ...Pulse output finished Positioning Switch Emergency Stop Pulse Output Stopped Emergency Stop First word containing new PV Control data Operation Mode Control Port setting Cutting Operation Finished Cou...

Page 231: ...SPED 885 for the jog operation If ACC 888 is used acceleration deceleration can be included in the jog op eration 7 1 6 Vertically Conveying PCBs Multiple Progressive Positioning Specifications and O...

Page 232: ...50 000 Hz 10000 C350 hex CCW limit Origin servo phase Z Origin proximity CW limit 2 Fixed distance positioning repeated 3 Return to start Acceleration deceleration 1 000 Hz 4 ms 03E8 hex Stocker move...

Page 233: ...eyor is lowered absolute positioning when stoker movement is completed CIO 000003 The operation can be canceled and pulse output stopped at any point using the Emergency Switch Input IN2 CIO 000001 XW...

Page 234: ...dress Data Acceleration rate 1 000 Hz 4 ms D00000 03E8 Deceleration rate 1 000 Hz 4 ms D00001 03E8 Target frequency 50 000 Hz D00002 C350 D00003 0000 Number of output pulses 10 000 pulses D00004 2710...

Page 235: ...ompleted Positioning Lower to 0 position absolute pulses Lower positioning start Lower positioning completed Lower positioning in progress Pulse Output Completed Emergency Stop Pulse Output Stopped Em...

Page 236: ...iece is grasped and moved to position A 3 The workpiece is grasped and moved to the assembly positions Note The X and Y axes are moved independently i e interpolation is not per formed X axis Y axis C...

Page 237: ...m XW2B 40J6 9A 10 17 7 18 8 FG 19 6 16 5 15 IN9 4 14 3 13 2 12 1 0V 0 11 9 30 37 27 38 28 39 26 36 25 35 24 34 IN7 23 33 IN6 22 IN9 32 21 24V 20 IN8 31 29 ID211 OD211 CIO 0 CIO 1 XW2Z 100J B5 1 m XW2Z...

Page 238: ...turned ON DM Area Settings Starting Frequency CX Programmer version Tab name Setting Ver 3 1 or lower Define Origin Operation Settings Field of Define Origin Origin search data Ver 3 2 or higher Puls...

Page 239: ...ta X axis Acceleration rate 2 000 Hz 4 ms D00030 07D0 Deceleration rate 2 000 Hz 4 ms D00031 07D0 Target frequency 100 000 Hz D00032 86A0 D00033 0001 Number of output pulses 25 000 pulses D00034 61A8...

Page 240: ...Deceleration rate 2 000 Hz 4 ms D00071 07D0 Target frequency 100 000 Hz D00072 86A0 D00073 0001 Number of output pulses 25 000 pulses D00074 61A8 D00075 0000 Y axis Acceleration rate 2 000 Hz 4 ms D0...

Page 241: ...Positioning to D Positioning to D completed Operation 5 Positioning to A Positioning to A completed Bit address Resetting Positioning to A start Bit address Setting Bit address Resetting Positioning t...

Page 242: ...t word containing start frequency First word containing parameters Control data Positioning Port setting First word containing start frequency First word containing parameters Control data Positioning...

Page 243: ...limit input signal Y axis CCW limit input signal X axis CW limit input signal X axis First word containing new PV Control data Operation Mode Control Port setting Control data Operation Mode Control P...

Page 244: ...00000 is activated 2 When the Marker Sensor Input IN0 is received PLS2 887 is executed in interrupt task 140 3 Fixed distance positioning is executed with PLS2 887 before stopping Preparation PLC Set...

Page 245: ...ils Address Data Acceleration rate 500 Hz 4 ms D00000 01F4 Target frequency 10 000 Hz D00001 2710 D00002 0000 Setting details Address Data Acceleration rate 500 Hz 4 ms D00010 01F4 Deceleration rate 5...

Page 246: ...lse output completed Pulse output in progress First word containing new PV Control data Operation Mode Control Port setting Material positioning completed Target frequency First word containing contro...

Page 247: ...218 Built in Outputs Section 7 1...

Page 248: ...ion decel eration rate Accelerat ing or decelerat ing Change PV Output method Output method Output method Stop pulses Direction Direction Direction Target frequency Target frequency Target frequency A...

Page 249: ...requency Target frequency Target frequency Acceleration decel eration rate Acceleration decel eration rate Accelerat ing or decelerat ing Change PV Output method Output method Output method Stop pulse...

Page 250: ...data Acceleration decelera tion rate Starting frequency ACC 888 Continuous Steady speed Output method Output method Output method Direction Frequency Acceleration Search or return Target frequency Po...

Page 251: ...222 Combinations of Pulse Control Instructions Appendix A...

Page 252: ...celeration and deceleration rates Changing the frequency during pulse output ACC 888 independent ACC 888 independent or ACC 888 continuous ACC 888 continuous Independent mode only Cannot be exe cuted...

Page 253: ...e during pulse output ACC 888 independent PLS2 887 Or ACC 888 Continuous PLS2 887 Or PLS2 887 PLS2 887 Instruction not supported PWM 891 Changing the duty ratio during pulse output Setting the pulse f...

Page 254: ...leted or Pulse Output in Progress No origin Flag At origin Flag Deceleration set not set Number of out put pulses set not set Pulse output complete not complete Pulse output stopped in progress Compar...

Page 255: ...226 Using Pulse Instructions in other CPU Units Appendix B...

Page 256: ...esponse time Note The term a is the delay caused when there is a conflict with another interrupt process In general this delay may be anywhere between 6 s and 150 s long Item CJ1M CPU22 23 CJ1M CPU21...

Page 257: ...6 s 95 s ACC 888 Independent triangular control 68 s 98 s PLS2 887 Trapezoidal control 70 s 100 s PLS2 887 Triangular control 72 s 104 s Pulse output instruction Change response time CJ1M CPU22 23 CJ1...

Page 258: ...tails 124 PLC Setup settings 52 built in outputs Auxiliary Area data allocations 72 details 142 programming examples 190 C CJ Series definition xvii CJ1W NC comparison of pulse output functions 10 com...

Page 259: ...ter and pulse output instructions 77 high speed counter function 2 Count Direction Flag 5 High speed Counter Gate Bit 138 high speed counter inputs details 129 reset methods 136 restrictions 132 high...

Page 260: ...turn function 3 details 166 examples 186 PLC Setup settings 66 Origin Return Parameters 187 origin search 3 error processing 182 examples 184 executing 181 Origin Search Acceleration Rate 180 Origin S...

Page 261: ...celeration 161 PWM 891 outputs bit allocations 164 connection example 49 connector pin usage 27 details 164 restrictions 165 specifications 23 Q quick response inputs 3 allocations 12 connector pin us...

Page 262: ...example 195 triangular control 3 TTL connections 34 two axis multipoint positioning 207 ladder program 212 wiring example 208 two wire DC Sensors connection precautions 33 U up down mode details 134...

Page 263: ...234 Index...

Page 264: ...er 3 2 Pages xi to xx PLP information updated 03 August 2004 Unit version information added at beginning of manual Pages xv and xvi CPU Unit models added and reference manuals added Page 5 Heading 1 2...

Page 265: ...236 Revision History...

Page 266: ...adquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ELECTRONICS LLC 1 East Commerce Drive Schaumburg IL 60173 U S A Tel 1 847 84...

Page 267: ...Authorized Distributor Cat No W395 E1 03 Note Specifications subject to change without notice Printed in Japan This manual is printed on 100 recycled paper...

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