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CJ1M-CPU21
Omron CJ1M-CPU21 User Manual
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167
Origin Searc
h and Origin Return
Functions
Section 6-3
motor is d
ecelerated
to the ori
gin search l
ow speed and r
un at that speed un
til
the or
igin pos
ition is
detected
. The mot
or is s
topped at th
e ori
gin posi
tion.
Bit Allocations
Origin Search for Pulse
Output 0
Pulse f
requenc
y
Origin s
earch
initial speed
Origin s
earch
acceleration ra
te
Origin sea
rch
high speed
Decelerat
ion
point
Origi
n search
decelerat
ion rate
Origin sea
rch
proximity speed
Start
Execution of ORG(889)
Decelerat
e from
high to lo
w speed.
Indicat
ed by the Origin
Proximity Input Signal
Stop
Indicated
by the
Origin I
nput Sig
nal
Time
Code
W
or
d
addr
ess
Bit
CW/CCW
inputs
Pulse +
direction
inputs
Bits used when
origin sear
ch
function is
enabled.
OUT0
CIO
2961
00
Pul
se out
put
0
(CW)
Pulse ou
tput 0
(pulse)
OUT1
01
Pulse
outp
ut 0
(CCW)
OUT2
02
Pulse ou
tput 0
(directio
n)
OUT4
04
Origin searc
h 0
(Error counter
reset outp
ut)
IN0
2960
00
Origin s
earch 0
(Origin Input
Signal)
IN1
0
1
Origin search 0
(Origin Pro
x
imit
y
Input Signa
l)
IN4
0
4
Origin search 0
(P
ositioning
Comp
lete
d Sig-
nal)
195
197
Table of Contents
Default Chapter
5
Confirming Unit Versions with Support Software
5
Unit Versions
5
Unit Manufacturing Information
6
Using the Unit Version Labels
7
Unit Version Notation
8
Unit Versions and Lot Numbers
9
Function Support by Unit Version
10
Device Type Setting
12
Unit Versions and Programming Devices
12
Troubleshooting Problems with Unit Versions on the CX-Programmer
13
Table of Contents
14
About this Manual
16
Precautions
20
Intended Audience
21
Safety Precautions
21
General Precautions
21
Operating Environment Precautions
23
Application Precautions
24
Conformance to EC Directives
27
Applicable Directives
27
Concepts
27
Relay Output Noise Reduction Methods
28
Conformance to EC Directives
28
Countermeasure Examples (Noise Reduction)
29
Section 1
30
Features
30
Built-In I/O Functions
31
Features
31
General-Purpose I/O
31
High-Speed Counters/Pulse Outputs
31
Interrupt Inputs
31
Change Target Position During Positioning (Multiple Start)
32
Origin Search
32
Quick-Response Inputs
32
Triangular Control
32
Configuration of the Built-In I/O Functions
33
Improved Functionality of CJ1M CPU Units with Unit Version 2.0
34
Improved Functionality of CJ1M CPU Units with Unit Version 3.0
34
Pulse Inputs/High-Speed Counters
34
Version Upgrades for CJ1M CPU Units
34
Continued Comparisons When Resetting Counters
35
Functions Listed by Purpose
35
High-Speed Processing
35
Controlling Pulse Outputs
36
Receiving Pulse Inputs
38
Comparison with CJ1W-NC Pulse Outputs
39
Section 2
40
Overview
40
Allocations for Built-In CPU Unit Inputs
41
Allocations for Built-In CPU Unit Outputs
44
Allocations for Origin Search Function
45
Inputs
46
Outputs
46
Functions
47
Section 3
48
I/O Specifications and Wiring
48
I/O Specifications
49
General Purpose Input Specifications
49
Interrupt Input and Quick-Response Input Specifications (IN0 to IN3)
49
High-Speed Counter Input Specifications (IN6 to IN9)
50
Output Specification
51
Transistor Outputs (Sinking)
51
General-Purpose Output Specifications
51
Pulse Output Specifications (OUT0 to OUT3)
51
Wiring
52
Connector Pin Allocations
52
PWM(891) Output Specifications (OUT4 and OUT5)
52
Connector Pins Used by each Function
53
Built-In Inputs
53
High-Speed Counters
54
Encoder with Phases A, B, and Z
54
Encoder with Line Driver Outputs
54
High-Speed Counters Using Pulse + Direction Inputs
54
Built-In Outputs
55
High-Speed Counters Using Up/Down Pulse Inputs
55
High-Speed Counters Using Increment Pulse Inputs
55
Pulse Outputs Using CW/CCW Outputs
56
Pulse Outputs Using Pulse + Direction Outputs
56
PWM (891) Outputs
56
Wiring Methods
57
I/O Used in the Origin Search Function
57
Connector Models
58
Compatible Terminal Blocks
58
Compatible Connector Specifications
58
MIL Flat/Loose Cable Connectors (40-Pin Pressure-Fitted Connectors)
58
Standard Connection Method (Not for OMRON Servo Drivers)
59
Connecting to an OMRON Servo Driver
59
One-Axis Servo Driver Connection (Connecting Pulse Output 0)
59
Two-Axis Servo Driver Connection (Connecting Pulse Outputs 0 and 1)
60
Wiring Examples
61
General-Purpose I/O Connection Examples
61
DC Input Devices
61
OMRON OMNUC W-Series, UP-Series, or UT-Series Servo Drivers
61
Precautions When Connecting Two-Wire DC Sensors
62
Output Wiring Precautions
63
Output Short Protection
63
TTL Connections
63
Inrush Current Considerations
63
Pulse Input Connection Examples
64
Encoders with 24-V DC Open-Collector Outputs
64
Power Supply Input Connection Example
65
Encoders with Line Driver Outputs (Conforming to Am26Ls31)
65
Pulse Output Connection Examples
66
Origin Input Signal (24 V DC)
66
Origin Input Signal (Line Driver Input)
66
CW/CCW Pulse Output and Pulse Plus Direction Output
67
Using a Motor Driver with 24-V DC Photocoupler Inputs
67
Using a Motor Driver with 5-V DC Photocoupler Inputs
67
Error Counter Reset Output Connection Examples
69
Motor Driver Connection Examples
69
Connection Example for Operating Mode 0
70
Operating Mode 1 Connection Example
71
Origin Search Operation
71
Example PLC Setup Settings
71
Connecting an OMRON W-Series Servo Driver
72
Connecting a SMARTSTEP A-Series Servo Driver
73
Operating Mode 2 Connection Example
74
Connecting an OMRON W-Series or U-Series (up or UT) Servo Driver
75
Connecting an OMRON U-Series (UE) or SMART STEP A-Series Servo Driver
76
Variable Duty Ratio Pulse Output (PWM(891) Output) Connection Example
78
Section 4
80
Data Area Allocation and PLC Setup Settings
80
Data Area Allocation for Built-In I/O
81
PLC Setup Settings
81
High-Speed Counter 0 Operation Settings
81
High-Speed Counter 0 Enable/Disable
81
Built-In Inputs
81
High-Speed Counter 0 Counting Mode
82
High-Speed Counter 0 Circular Max. Count (Ring Counter Maximum Value)
82
High-Speed Counter 0 Reset Method
82
High-Speed Counter 1 Operation Settings
83
High-Speed Counter 0 Pulse Input Setting (Pulse Input Mode)
83
High-Speed Counter 1 Enable/Disable
83
High-Speed Counter 1 Counting Mode
83
High-Speed Counter 1 Circular Max. Count (Ring Counter Maximum Value)
84
High-Speed Counter 1 Reset Method
84
High-Speed Counter 1 Pulse Input Setting (Pulse Input Mode)
84
Input Operation Settings for Built-In Inputs IN0 to IN3
85
Origin Search Function
86
Input Time Constant Setting for the General-Purpose Inputs
86
Pulse Output 0 Settings
87
Pulse Output 0 Use Origin Operation Settings
87
Pulse Output 0 Limit Input Signal Operation/Pulse Output 0 Speed Curve
87
Pulse Output 0 Origin Search Direction Setting
87
Pulse Output 0 Origin Detection Method
88
Pulse Output 0 Origin Search Operation Setting
88
Pulse Output 0 Origin Search Operating Mode
88
Pulse Output 0 Undefine Origin Setting
88
Pulse Output 0 Origin Proximity Input Signal Type
89
Pulse Output 0 Limit Input Signal Type
89
Pulse Output 0 Origin Search/Return Initial Speed
89
Pulse Output 0 Origin Search High Speed
89
Pulse Output 0 Search Compensation Value (Origin Compensation)
90
Pulse Output 0 Origin Search Acceleration Rate
90
Pulse Output 0 Origin Search Deceleration Rate
90
Pulse Output 0 Positioning Monitor Time
90
Pulse Output 1 Settings
91
Pulse Output 1 Use Origin Operation Settings
91
Pulse Output 1 Limit Input Signal Operation
91
Pulse Output 1 Origin Search Direction Setting
91
Pulse Output 1 Origin Detection Method
92
Pulse Output 1 Origin Search Operation Setting
92
Pulse Output 1 Origin Search Operating Mode
92
Pulse Output 1 Origin Input Signal Type
92
Pulse Output 1 Origin Proximity Input Signal Type
93
Pulse Output 1 Limit Input Signal Type
93
Pulse Output 1 Origin Search/Return Initial Speed
93
Pulse Output 1 Origin Search High Speed
93
Pulse Output 1 Search Compensation Value 1 (Origin Compensation)
94
Pulse Output 1 Origin Search Acceleration Rate
94
Pulse Output 1 Origin Search Deceleration Rate
94
Pulse Output 1 Positioning Monitor Time
94
Origin Return Function
95
Speed (Target Speed for Pulse Output 0 Origin Return)
95
Deceleration Rate (Pulse Output 0 Origin Return Deceleration Rate)
95
Acceleration Rate (Pulse Output 0 Origin Return Acceleration Rate)
95
Speed (Target Speed for Pulse Output 1 Origin Return)
96
Acceleration Rate (Pulse Output 1 Origin Return Acceleration Rate)
96
Deceleration (Pulse Output 1 Origin Return Deceleration Rate)
96
Auxiliary Area Data Allocation
97
Auxiliary Area Flags and Bits for Built-In Inputs
97
Auxiliary Area Flags and Bits for Built-In Outputs
101
Flag Operations During Pulse Output
105
Section 5
106
High-Speed Counter/Pulse Output Instructions
106
Mode Control: INI(880)
107
Operand Specifications
108
High-Speed Counter PV Read: PRV(881)
110
Frequency Ranges
115
Pulse Frequency Calculation Methods
115
Applicable Program Areas
116
Flags
116
Counter Frequency Convert: PRV2(883)
117
Converting Frequency to Rotation Speed
118
Range of Conversion Results
118
Converting Counter PV to Total Number of Revolutions (C1 = 0001 Hex)
119
Register Comparison Table: CTBL(882)
120
P: Port Specifier
121
C: Control Data
121
TB: First Table Comparison Word
121
Speed Output: SPED(885)
125
CIO 0000 to CIO 6142 W000 to W510
126
H000 to H510
126
Independent Mode Positioning
127
Set Pulses: PULS(886)
129
A448 to A958
130
Pulse Output: PLS2(887)
131
Acceleration Control: ACC(888)
138
IR0 to ,IR15
140
2048 To +2047 ,IR0 to
140
2048 To +2047 ,IR15
140
DR0 to DR15, IR0 to IR15
140
Origin Search: ORG(889)
145
Origin Return
148
Pulse with Variable Duty Factor: PWM(891)
149
Section 6
152
Built-In I/O Function Descriptions
152
Bit Allocations
153
Built-In Inputs Overview
153
General-Purpose Inputs
153
Restrictions on General-Purpose Inputs
154
Interrupt Inputs (Direct Mode)
155
Interrupt Inputs (Counter Mode)
156
High-Speed Counter Inputs
158
Restrictions on High-Speed Counter Inputs
161
Differential Phase Mode
162
Pulse + Direction Mode
162
Pulse Input Modes
162
Increment Mode
163
Up/Down Mode
163
Counting Modes
164
Linear Mode
164
Ring Mode
164
Phase-Z Signal + Software Reset
165
Reset Methods
165
Software Reset
165
Starting Interrupt Tasks at Desired Counter Pvs
165
Range Comparison
166
Target Value Comparison
166
High-Speed Counter Frequency Measurement
167
Temporarily Stopping Input Signal Counting (Gate Function)
167
Counter PV − Total Number of Rotations Conversion
168
Frequency − Rotational Speed Conversion
168
Pulse Frequency Conversion
168
Converting the Counter PV to the Total Number of Rotations
169
Converting the Frequency to a Rotational Speed
169
Quick-Response Inputs Overview/Procedure
169
Hardware Specifications
170
Input Characteristics
170
Restrictions on Quick-Response Inputs
170
Built-In Outputs - General-Purpose Outputs
171
Overview
171
Pulse Outputs
172
Pulse Output Specifications
173
Instructions Used for Pulse Outputs
174
Pulse Output Modes
175
Pulse Output Patterns
176
Starting a Pulse Output
178
Stopping a Pulse Output
182
Conditions Required to Execute an Instruction During Operation
183
Switching from Continuous Mode (Speed Control) to Independent Mode
183
Relative Pulse Outputs and Absolute Pulse Outputs
185
Selecting Relative or Absolute Coordinates
185
Relationship between the Coordinate System and Pulse Specification
186
Operations Affecting the Origin Status
187
Movement Direction When Using Absolute Pulse Specification
188
Single-Phase Pulse Output Without Acceleration/Deceleration
188
Single-Phase Pulse Output with Acceleration/Deceleration
189
Pulse Output 0 Limit Input Signal Operation
190
Pulse Output with Trapezoidal Acceleration/Deceleration
190
Pulse Output 1 Undefine Origin Setting
191
S-Curve Acceleration/Deceleration
191
Pulse Output 0 Speed Curve
192
Pulse Output 1 Speed Curve
192
Variable Duty Ratio Pulse Outputs (PWM(891) Outputs)
193
Restrictions on the PWM(891) Outputs
194
Origin Search and Origin Return Functions
195
Overview
195
Origin Search for Pulse Output 0
196
Origin Search for Pulse Output 1
197
Limit Input Signal Settings
199
Origin Search Function Enable/Disable Settings for Pulse Outputs 0/1
199
Origin Search Parameters
201
Origin Detection Method
205
Origin Search Operation Setting
205
Origin Search Operating Mode and Origin Detection Method Settings
206
Using Reversal Mode 1
207
Using Reversal Mode 2
208
Origin Compensation
209
Origin Search Speed
209
Specifying the Origin Search Direction (CW or CCW Direction)
209
Executing an Origin Search
210
I/O Settings
210
Positioning Monitor Time
210
Origin Search Error Processing
211
Pulse Output Stop Error Codes
211
Related Auxiliary Area Flags
211
Origin Search Examples
213
Origin Return Overview
215
Executing an Origin Return
216
Explanation of the Origin Return Parameters
216
Origin Return Procedure
216
Section 7
218
Programming Examples
218
Built-In Outputs Examples
219
Using Interrupts to Read Input Pulses (Length Measurement)
219
Ladder Program
221
Outputting Pulses after a Preset Delay
222
Positioning (Trapezoidal Control)
224
Jog Operation
226
Cutting Long Material Using Fixed Feeding
228
Vertically Conveying Pcbs (Multiple Progressive Positioning)
231
Palletize: Two-Axis Multipoint Positioning
236
Feeding Wrapping Material: Interrupt Feeding
244
Appendices
248
Combinations of Pulse Control Instructions
248
Starting Instructions: SPED(885) and ACC(888), Independent
248
Starting Instructions: ACC(888), Continuous, PLS2(887), and ORG(889)
250
PLC Compatibility Table
252
Using Pulse Instructions in Other CPU Units
252
Built-In Interrupt Input Response Time
256
Interrupt Response Times
256
Pulse Output Change Response Time
257
Pulse Output Startup Time
257
Index
258
Revision History
264
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Omron CJ1M-CPU21 Specifications
General
Brand
Omron
Model
CJ1M-CPU21
Category
I/O Systems
Language
English
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