CJ2M-MD211 Mô đun xung CJ2 Omron

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Ngày: 06/06/2019

Tình trạng : Còn Hàng

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CJ2M-MD211 Mô đun xung CJ2 Omron

Pulse I/O Functions

The following functions of CJ2M can be used by installing one or two Pulse I/O Modules. Each module has 10 high-speed inputs and 6 high-speed outputs. Pulse I/O Modules can be installed on CJ2M CPU Units with Unit Version 2.0 or Later.

  • The inputs can be used as general-purpose inputs, interrupt inputs, quick-response inputs, high-speed counters, or origin search inputs.
  • The outputs can be used as general-purpose outputs, pulse outputs, origin search outputs, or PWM outputs.

One Pulse I/O Module can be mounted

CJ2M-CPU3[] / CPU1[] / MD21[] Specifications 8

Two Pulse I/O Modules can be mounted

CJ2M-CPU3[] / CPU1[] / MD21[] Specifications 9
Note: The Pulse I/O Module closest to the CPU Unit is Pulse I/O Module 0 and the other one is Pulse I/O Module 1.

Performance Specifications

Item Description
Pulse
I/O
Model of Pulse I/O
Modules
CJ2M-MD211 (Sinking-type)
CJ2M-MD212 (Sourcing-type )
External Interface 40-pin MIL connector
Pulse Inputs Can be used as normal inputs, interrupt inputs, quick-response inputs, or high-speed
counter inputs.
(Function of each input must be selected in the PLC Setup.)
Input method: Line-driver input or 24-VDC input (selected by wiring)
Normal Inputs 20 max. (10 per Pulse I/O Module)
Input constants: Set in the PLC Setup (0, 0.5, 1, 2, 4, 8, 16, or 32 ms). Default: 8 ms
Interrupt Inputs and
Quick-response
Inputs
8 max. (4 per Pulse I/O Module)
Input signal minimum ON pulse width: 30 μs
High-speed Counter
Inputs
4 max. (2 per Pulse I/O Module)
Input method: Differential-phase (×4) pulses, pulse + direction, up/down pulses, or
increment pulse
Maximum response frequency: 50 kHz for differential phases or 100 kHz for single
phase
Counting mode: Linear mode or circular (ring) mode
Count value: 32 bits
Counter reset: Phase Z + software reset or software reset
Control method: Target-value comparison or range comparison
Gate function: Supported
Pulse Outputs Can be used as normal outputs, pulse outputs, or PWM outputs. (Function of each
output must be selected in the PLC Setup.)
Output method: Sinking or sourcing transistor outputs (The method is determined by
Pulse I/O Module model.)
Normal Outputs 12 max. (6 per Pulse I/O Module)
Pulse Outputs 4 max. (2 per Pulse I/O Module)
Output method: CW/CCW or pulse + direction (The method is determined by the I/O
wiring and the instructions used in the ladder program.)
Output frequency: 1 pps to 100 kpps (in increments of 1 pps)
Output Mode: Continuous mode (for speed control) or independent mode (for position
control)
Output pulses: Relative coordinates: 0000 0000 to 7FFF FFFF hex (0 to 2,147,483,647
pulses)
Absolute coordinates: 8000 0000 to 7FFF FFFF hex (-2,147,483,648 to 2,147,483,647)
Acceleration/deceleration curves: Linear or S-curve
Origin search function: Supported
PWM Outputs 4 max. (2 per Pulse I/O Module)
Output frequency: 0.1 to 6,553.5 Hz (in 0.1-Hz increments) or 1 to 32,800 Hz (in 1-Hz
increments)
Duty ratio: 0.0% to 100.0% (in 0.1% increments)

Function Specifications

Functions Description
Pulse I/O
Functions
Pulse
Input
Func-
tions
Normal Inputs Input signals are read during I/O refreshing and stored in I/O memory.
Interrupt Inputs An interrupt task can be started when an input signal turns ON or turns OFF.
Quick-response
Inputs
Input signals that are shorter than the cycle time are read and stored in I/O
memory.
High-speed
Counter Inputs
High-speed pulse signals are counted. Interrupt tasks can also be started.
Pulse
Output
Func-
tions
Normal Outputs The status of I/O memory is output during I/O refreshing.
Pulse Outputs A pulse signal is output with the specified frequency and number of pulses
at a fixed duty ratio (50%).
PWM Outputs A pulse signal is output at the specified duty ratio.
Origin Searches The origin point of the machine is determined according to the specified
origin search parameters while actually outputting pulses and using the
origin and origin proximity input signals as conditions. (Pulse inputs and
outputs are also used for this function.)
Interrupt Input Interrupt Function A task is started for an interrupt input from a Pulse I/O Module or for a high-
speed counter input.
Input Interrupts Interrupt tasks are executed when the interrupt input turns ON or turns OFF.
Direct Mode: An interrupt task is executed each time an input signal changes.
Counter Mode: Changes in the input signal are counted up or down and the
interrupt task is executed when the counter counts out. (The maximum
response frequency is 3 kHz.)
High-speed Counter
Interrupts
An interrupt task is executed when preset comparison conditions for a high-
speed counter are met.
Target-value comparison: The interrupt task is executed when the count
matches a specified value.
Range comparison: The interrupt task is executed when the count enters or
leaves a specified range of values.

Pulse Input Functions

Interrupt Inputs

Item Direct Mode Counter Mode
Number of interrupt inputs Max.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 Incrimenting 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
interrupt inputs in Counter Mode
A536 to A539 and A548 to A551

Quick-response inputs

Item Specifications
Number of Quick-response inputs Max. 8 inputs
Quick-response inputs Signals that are shorter than the cycle time are latched for one PLC cycle, so they
can be detected in the PLC program. Minimum detectable pulse width is 30 μs.

High-speed Counter Inputs

Item Description
Number of High-speed
Counter Inputs
Max. 4 inputs
Pulse input method
(counting mode)
Incremental pulse inputs Differential phase input
(4×)
Up/down inputs Pulse + direction
inputs
Input signals Increment pulse Phase A Up pulse Pulse
Phase B Down pulse Direction
Phase Z Reset Reset
Frequency and number
of high-speed counters
100 kHz, 2 inputs × 2
I/O Modules
50 kHz, 2 inputs × 2
I/O Modules
100 kHz, 2 inputs
× 2 I/O Modules
100 kHz, 2 inputs
× 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)
Ring mode: 0000 0000 to Max. ring value
High-speed counter PV
storage locations
High-speed counter 0: A271 (upper 4 digits) and A270 (lower 4 digits)
High-speed counter 1: A273 (upper 4 digits) and A272 (lower 4 digits)
High-speed counter 2: A317 (upper 4 digits) and A316 (lower 4 digits)
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
Linear mode: 8000 0000 to 7FFF FFFF hex
0000 0000 to FFFF FFFF hex (for increment pulse)
Ring mode: 0000 0000 to Max. ring value
Control
method
Target value
comparison
Up to 48 target values and corresponding interrupt task numbers can be registered.
Range
Comparison
Up to 8 or up to 32 ranges can be registered, with a separate upper limit, lower limit, 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 (A531.00 to
A531.03) is ON.
Software reset
The counter is reset when the Reset 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.

Pulse Output Functions

Position Control and Speed Control

Item Specifications
Number of Pulse Outputs Max. 4 outputs (Pulse Output 00 to 03)
Output mode Continuous mode (for speed control) or independent mode (for position control)
Positioning (independent
mode) instructions
PULS (886) and SPED (885), PULS (886) and ACC (888), or PULS2 (887) instruction
Speed control (continuous
mode) instructions
SPED (885) and ACC (888) instructions
Origin (origin search and origin
return) instructions
ORG (889) instruction
Interrupt feeding instruction IFEED (892) instruction
Output frequency 1 pps to 100 kpps (1 pps units), two pulse outputs × 2 Pulse I/O Modules
Frequency acceleration and
eceleration rates
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
(887) instruction.
Changing SVs during
instruction execution
The target frequency, acceleration/deceleration rate, and target position can be
changed.
Pulse output method CW/CCW or pulse + direction
Number of output pulses Relative coordinates: 0000 0000 to 7FFF FFFF hex (Accelerating or decelerating in
either direction: 2,147,483,647)
Absolute coordinates: 8000 0000 to 7FFF FFFF hex (-2,147,483,648 to 2,147,483,647)
Relative/absolute coordinate
specifications for pulse output
PVs
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 coordinates must be used
when the origin is undefined.
Relative pulse/absolute pulse
specifications
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 cannot be used
when relative coordinates are specified, i.e., when the origin location is undefined.
An instruction error will occur.
Pulse output PV’s storage
location
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.

Variable-duty Pulse Outputs (PWM)

Item Specifications
Number of PWM Outputs Max.4 outputs (PWM Output 00 to 03)
Duty ratio 0.0%to 100.0%in 0.1%increments
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

Pulse I/O Modules

Input Specifications (IN00 to IN09/IN10 to IN19 )

Normal Inputs

Inputs IN00 to IN05 and
IN10 to IN15
IN06 to IN09 and
IN16 to IN19
IN00 to IN05 and
IN10 to IN15
IN06 to IN09 and
IN16 to IN19
Input form 24 VDC inputs Line driver inputs
Input current 6.0 mA typical 5.5 mA typical 13 mA typical 10 mA typical
Input voltage range 24 VDC +10%/15% RS-422A or RS-422 line driver (conforming to AM26LS31),
Power supply voltage of 5 V ±5%
Input impedance 3.6 kΩ 4.0 kΩ
Number of circuits 1 common,1 circuit
ON voltage/current 17.4 VDC min.,3 mA min.
OFF voltage/current 1 mA max.at 5 VDC max.
ON response time 8 ms max.(The input time constant can be set to 0,0.5,1,2,4,8,16,or 32 ms in the PLC Setup.)
OFF response time 8 ms max.(The input time constant can be set to 0,0.5,1,2,4,8,16,or 32 ms in the PLC Setup.)

Input Circuit Configuration

Item Specifications
Input IN00 to IN05/IN10 to IN15 IN06 to IN09/IN16 to IN19
Circuit configuration

Interrupt Input and Quick-response Input Specifications (IN00 to IN03 and IN10 to IN13)

Item Specifications
ON response time 30 μs max.
OFF response time 150 μs max.
Response pulse

High-speed Counter Input Specifications (IN06 to IN09 and IN16 to IN19)

24-VDC input Line driver input
Set to 60 kHz Phase-A/Phase-B encoder input, Single-phase
60-kHz pulse input with 50% duty ratio

2712_sp_16_1

Phase-A/Phase-B encoder inputs, Differential
phases, 30 kHz

2712_sp_16_2
Encoder input phase A or B, single-phase 60-
kHz pulse input with 50% duty ratio

2712_sp_16_6

Phase-A/Phase-B encoder inputs, Differential
phases, 30 kHz

2712_sp_16_7
Set to 100 kHz Phase-A/Phase-B encoder input, Single-phase
100-kHz pulse input with 50% duty ratio

2712_sp_16_3

Phase-A/Phase-B encoder inputs, Differential
phases, 50 kHz

2712_sp_16_4
Single-phase 100-kHz pulse input with 50% duty
ratio

2712_sp_16_8

Differential-phase 50-kHz pulse input

2712_sp_16_9
Phase Z/
reset input
Encoder input phase Z (IN02/IN03 or IN12/IN13)

2712_sp_16_5
Encoder input phase Z (IN02/IN03 or IN12/IN13)

2712_sp_16_10

Output Specifications (OUT00 to OUT05 and OUT10 to OUT15)

Item Specifications
Output Specifications Sinking-type (CJ2M-MD211) Sourcing-type (CJ2M-MD212)
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. 2.0 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 supply power
(power supply input for
outputs)
10.2 to 26.4 VDC,20 mA min.
Circuit configuration

Pulse Outputs (OUT00 to OUT03 and OUT10 to OUT13)

Item Specifications
Output Specifications Sinking-type (CJ2M-MD211) Sourcing-type (CJ2M-MD212)
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

PWM Outputs (OUT04, OUT05, OUT14, and OUT15)

Item Specifications
Output Specifications Sinking-type (CJ2M-MD211) Sourcing-type (CJ2M-MD212)
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 pulse width of 2 μs or longer)
ON duty at 6.5535 kHz or less:0.2%to +1%,
ON duty at 32.8 kHz:1%to +5%
(at switching current of 30 mA)
ON duty at 6.5535 kHz or less:±0.5%,
ON duty at 32.8 kHz:+2.5%
(at switching current of 30 mA)
Output waveform
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