Omron CPM1, CPM1A, CPM2A, CPM2C, SRM1 PROGRAMMING MANUAL

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Cat. No. W353-E1-06

SYSMAC CPM1/CPM1A/CPM2A/CPM2C/SRM1(-V2)

Programmable Controllers

PROGRAMMING MANUAL

CPM1/CPM1A/CPM2A/CPM2C/SRM1(-V2)

Programmable Controllers

Programming Manual

Revised February 2008

Notice:

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or

serious injury.

WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or

serious injury.

Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or

moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “PC” means Programmable Controller and is not used as an abbreviation for anything else.

Visual Aids

The following headings appear in the left column of the manual to help you locate different types of information.

 OMRON, 1999

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 constantly 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.

Note Indicates information of particular interest for efficient and convenient operation

of the product.

1, 2, 3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

PRECAUTIONS xvii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1 Intended Audience xviii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 General Precautions xviii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Safety Precautions xviii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Operating Environment Precautions xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Application Precautions xxi. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 1

PC Setup 1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1 PC Setup 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 Basic PC Operation and I/O Processes 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 CPM2C Changes in SW2 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 2

Special Features 25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1 CPM2A/CPM2C Interrupt Functions 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 CPM2A/CPM2C High-speed Counters 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 CPM1/CPM1A Interrupt Functions 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 SRM1(-V2) Interrupt Functions 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 CPM2A/CPM2C Pulse Output Functions 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6 CPM1A Pulse Output Functions 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7 Synchronized Pulse Control (CPM2A/CPM2C Only) 134. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8 Data Computation Standards 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-9 Analog I/O Functions (CPM1/CPM1A/CPM2A/CPM2C Only) 147. . . . . . . . . . . . . . . . . . . .

2-10 Temperature Sensor Input Functions (CPM1A/CPM2A/CPM2C Only) 147. . . . . . . . . . . . . .

2-11 CompoBus/S I/O Slave Functions (CPM1A/CPM2A/CPM2C Only) 147. . . . . . . . . . . . . . . .

2-12 CompoBus/S I/O Master Functions (SRM1(-V2) and CPM2C-S Only) 148. . . . . . . . . . . . . .

2-13 Analog Controls (CPM1/CPM1A/CPM2A Only) 150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-14 Quick-response Inputs 153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-15 Macro Function 157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-16 Calculating with Signed Binary Data 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-17 Differential Monitor 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-18 Expansion Instructions (CPM2A/CPM2C/SRM1(-V2) Only) 160. . . . . . . . . . . . . . . . . . . . . .

2-19 Using the CPM2A/CPM2C Clock Function 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 3

Using Expansion Units 165. . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-1 Analog I/O Units 166. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-2 Temperature Sensor Units 193. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-3 CompoBus/S I/O Link Units 214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3-4 DeviceNet I/O Link Unit 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 4

Communications Functions 225. . . . . . . . . . . . . . . . . . . . . . . .

4-1 Introduction 226. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-2 CPM1/CPM1A Communications Functions 227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-3 CPM2A/CPM2C Communications Functions 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-4 SRM1(-V2) Communications Functions 268. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4-5 Host Link Commands 281. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 5

Memory Areas 307. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-1 Memory Area Functions 308. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-2 I/O Allocation for CPM1/CPM1A/CPM2A PCs 313. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5-3 I/O Allocation for CPM2C PCs 323. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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SECTION 6

Ladder-diagram Programming 333. . . . . . . . . . . . . . . . . . . .

6-1 Basic Procedure 334. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-2 Instruction Terminology 334. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-3 Basic Ladder Diagrams 335. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-4 Controlling Bit Status 354. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-5 Work Bits (Internal Relays) 356. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-6 Programming Precautions 358. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6-7 Program Execution 360. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 7

Instruction Set 361. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-1 Notation 364. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-2 Instruction Format 364. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-3 Data Areas, Definer Values, and Flags 364. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-4 Differentiated Instructions 366. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-5 Coding Right-hand Instructions 367. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-6 Instruction Tables 370. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-7 Ladder Diagram Instructions 376. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-8 Bit Control Instructions 377. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-9 NO OPERATION – NOP(00) 381. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-10 END – END(01) 381. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-11 INTERLOCK and INTERLOCK CLEAR – IL(02) and ILC(03) 381. . . . . . . . . . . . . . . . . . .

7-12 JUMP and JUMP END – JMP(04) and JME(05) 383. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-13 User Error Instructions:

FAILURE ALARM AND RESET – FAL(06) and

SEVERE FAILURE ALARM – FALS(07) 385. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-14 Step Instructions:

STEP DEFINE and STEP START–STEP(08)/SNXT(09) 385. . . . . . . . . . . . . . . . . . . . . . . . .

7-15 Timer and Counter Instructions 388. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-16 Shift Instructions 404. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-17 Data Movement Instructions 411. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-18 Data Control Instructions 421. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-19 Comparison Instructions 432. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-20 Conversion Instructions 439. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-21 BCD Calculation Instructions 457. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-22 Binary Calculation Instructions 467. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-23 Special Math Instructions 471. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-24 Logic Instructions 479. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-25 Increment/Decrement Instructions 483. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-26 Subroutine Instructions 484. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-27 Pulse Output Instructions 487. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-28 Special Instructions 497. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-29 Interrupt Control Instructions 501. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7-30 Communications Instructions 505. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

SECTION 8

PC Operations and Processing Time 511. . . . . . . . . . . . . . . .

8-1 CPM1/CPM1A Cycle Time and I/O Response Time 512. . . . . . . . . . . . . . . . . . . . . . . . . . . .

8-2 CPM2A/CPM2C Cycle Time and I/O Response Time 523. . . . . . . . . . . . . . . . . . . . . . . . . . .

8-3 SRM1(-V2) Cycle Time and I/O Response Time 537. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

viii

TABLE OF CONTENTS

SECTION 9

Troubleshooting 549. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-1 Introduction 550. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-2 Programming Console Operation Errors 550. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-3 Programming Errors 551. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-4 User-defined Errors 552. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-5 Operating Errors 553. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-6 Error Log 555. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-7 Host Link Errors 557. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9-8 Troubleshooting Flowcharts 557. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Appendices

A Programming Instructions 559. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B Error and Arithmetic Flag Operation 565. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C Memory Areas 569. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D I/O Assignment Sheet 587. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

E Program Coding Sheet 589. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

F List of FAL Numbers 593. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

G Extended ASCII 595. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index 597. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Revision History 603. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

About this Manual:

This manual provides information on programming the CPM1, CPM1A, CPM2A, CPM2C (including the CPM2C-S), and SRM1(-V2) PCs. The following manuals describe the system configurations and installation of the PCs and provide a basic explanation of operating procedures for the Programming Consoles. Read the relevant manual first to acquaint yourself with the PC.

Manual Catalog No.

CPM1 Operation Manual W262 CPM1A Operation Manual W317 CPM2A Operation Manual W352 CPM2C Operation Manual W356 CPM2C-S Operation Manual W377 SRM1(-V2) Operation Manual W318

Note 1. Version 2 (-V2) of the SRM1 is included beginning with following revision of the manual:

W318-E1-3.

2. Refer to sections on the CPM2C for information on CPM2C instructions and Expansion Units.

For programming the CPM1, CPM1A, CPM2A, CPM2C (including the CPM2C-S), and SRM1(-V2) PCs, use the CX-Programmer, special Support Software that runs in a Windows environment. The SYSMAC Support Software and SYSMAC-CPT Support Software can also be used. Please refer to the relevant manuals listed in the following table when using any one of Support Software.

Name Model No. Manual Catalog

No.

CX-Programmer version 3.1 WS02-CXPC1-EV3 CX-Programmer version 4.0 WS02-CXPC1-EV4 SYSMAC Support Software C500-ZL3AT1-E

SYSMAC-CPT Support Software WS02-CPTB1-E

CX-Programmer Operation Manual

SYSMAC Support Software Operation Manual: Basic

SYSMAC Support Software Operation Manual: C-series PCs

SYSMAC-CPT Support Software Quick Start Guide

SYSMAC-CPT Support Software User Manual

W414 W425 W247

W248

W332

W333

Please read this manual carefully and be sure you understand the information provided before attempting to program or operate the PC.

Section 1 explains the PC Setup. The PC Setup can be used to control the operating parameters.

Section 2 explains special features of the PC.

Section 3 describes how to use the CPM1A-MAD01 and CPM2C-MAD11 Analog I/O Units, the CPM1A-

TS and CPM2C-TS Temperature Sensor Units, and the CPM1A-SRT21 and CPM2C-SRT21 CompoBus/S I/O Link Units.

WARNING Failure to read and understand the information provided in this manual may result in

personal injury or death, damage to the product, or product failure. Please read each section in its entirety and be sure you understand the information provided in the section and related sections before attempting any of the procedures or operations given.

About this Manual, Continued

Section 4 describes how to use the communications functions provided in the PCs.

Section 5 describes the structure of the PC memory areas and explains how to use them. Details of some

areas are provided in Appendix C.

Section 6 explains the basic steps and concepts involved in writing a basic ladder diagram program. It introduces the instructions that are used to build the basic structure of the ladder diagram and control its execution.

Section 7 explains instructions individually and provides the ladder diagram symbol, data areas, and flags used with each.

Section 8 explains the internal PC processing, as well as the time required for processing and execution.

Section 9 describes how to diagnose and correct hardware and software errors that can occur during

operation.

Various Appendices are also provided for easy reference. Refer to the table of contents for a list of appendices.

xii

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

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a period of one year (or other period if specified) from date of sale by OMRON.

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OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING

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NON–INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE

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PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS

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DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

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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

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PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR

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STRICT LIABILITY.

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In no event shall the responsibility of OMRON for any act exceed the individual price of the product on

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which liability is asserted.

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IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS

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REGARDING THE PRODUCTS UNLESS OMRON’S ANALYSIS CONFIRMS THAT THE PRODUCTS

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WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO

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CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

xiii

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to

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the combination of products in the customer’s application or use of the products.

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At the customer’s request, OMRON will provide applicable third party certification documents identifying

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ratings and limitations of use that apply to the products. This information by itself is not sufficient for a

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complete determination of the suitability of the products in combination with the end product, machine,

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system, or other application or use.

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The following are some examples of applications for which particular attention must be given. This is not

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intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the

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uses listed may be suitable for the products:

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• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions

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or uses not described in this manual.

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• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical

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equipment, amusement machines, vehicles, safety equipment, and installations subject to separate

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industry or government regulations.

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• Systems, machines, and equipment that could present a risk to life or property.

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Please know and observe all prohibitions of use applicable to the products.

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NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR

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PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCTS ARE PROPERLY RATED AND

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INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

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PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user’s programming of a programmable product, or any

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consequence thereof.

xiv

Disclaimers

CHANGE IN SPECIFICATIONS

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Product specifications and accessories may be changed at any time based on improvements and other reasons.

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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

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changed without any notice. When in doubt, special model numbers may be assigned to fix or establish

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key specifications for your application on your request. Please consult with your OMRON representative

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at any time to confirm actual specifications of purchased products.

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DIMENSIONS AND WEIGHTS

Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown.

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PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and

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does not constitute a warranty. It may represent the result of OMRON’s test conditions, and the users

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must correlate it to actual application requirements. Actual performance is subject to the OMRON

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Warranty and Limitations of Liability.

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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.

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ERRORS AND OMISSIONS

xvi

PRECAUTIONS

This section provides general precautions for using the Programmable Controller (PC) and related devices.

The information contained in this section is important for the safe and reliable application of the Programmable Controller. You must read this section and understand the information contained before attempting to set up or operate a PC system.

1 Intended Audience xviii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2 General Precautions xviii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Safety Precautions xviii. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4 Operating Environment Precautions xx. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Application Precautions xxi. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

xvii

1 Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

2 General Precautions

The user must operate the product according to the performance specifications described in the operation manuals.

Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, and other systems, machines, and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON representative.

Make sure that the ratings and performance characteristics of the product are sufficient for the systems, machines, and equipment, and be sure to provide the systems, machines, and equipment with double safety mechanisms.

This manual provides information for programming and operating the Unit. Be sure to read this manual before attempting to use the Unit and keep this manual close at hand for reference during operation.

4Safety Precautions

WARNING It is extremely important that a PC and all PC Units be used for the specified

purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a PC System to the above-mentioned applications.

3 Safety Precautions

WARNING Do not attempt to take any Unit apart while the power is being supplied. Doing so

may result in electric shock.

WARNING Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so

may result in malfunction, fire, or electric shock.

WARNING Always turn OFF the power supply to the PC before attempting any of the

following. Not turning OFF the power supply may result in malfunction or electric shock.

• Assembling the Units.

• Mounting or dismounting I/O Units, CPU Units, or any other Units.

• Connecting or wiring the cables.

• Connecting or disconnecting the connectors.

• Setting DIP switches.

• Replacing the battery

xviii

WARNING Do not touch any of the terminals or terminal blocks while the power is being

supplied. Doing so may result in electric shock.

WARNING Always ground the system to 100 Ω or less when installing the Units. Not

connecting to a ground of 100 Ω or less may result in electric shock.

WARNING 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 PC or another external factor affecting the PC operation. Not doing so may result in serious accidents.

• Emergency stop circuits, interlock circuits, limit circuits, and similar safety

measures must be provided in external control circuits.

• The PC will turn OFF all outputs when its self-diagnosis function detects any

error or when a severe failure alarm (FALS) instruction is executed. As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system.

• The PC outputs may remain ON or OFF due to deposition or burning of the

output relays or destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

• When the 24-VDC output (service power supply to the PC) is overloaded or

short-circuited, the voltage may drop and result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

3Safety Precautions

WARNING When handling the Memory Backup Battery, never drop, disassemble, distort,

short-circuit, recharge, heat to a temperature exceeding 100°C, or throw into fire. The Battery may explode, catch fire, or leak fluid if mishandled in any of these ways.

Caution Execute online edit only after confirming that no adverse effects will be caused

by extending the cycle time. Otherwise, input signals may not be readable.

Caution When transferring programs to other nodes, or when making changes to I/O

memory, confirm the safety of the destination node before transfer. Not doing so may result in injury.

Caution Tighten the screws on the terminal block of the AC Power Supply Unit to the

torque specified in the operation manual. The loose screws may result in fire or malfunction.

Caution When connecting the PC to a personal computer or other peripheral device,

either ground the 0-V side of the PC or do not ground the PC at all. Although some grounding methods short the 24-V side, as shown in the following diagram, never do so with the PC.

INCORRECT Grounding: Shorting the 24-V side of the Power Supply

Non-isolated DC

24 V

power supply

0 V 0 V

0 V

Peripheral device

xix

4 Operating Environment Precautions

Caution Do not operate the control system in the following places:

• Locations subject to direct sunlight.

• Locations subject to temperatures or humidity outside the range specified in

the specifications.

• Locations subject to condensation as the result of severe changes in tempera-

ture.

• 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.

Caution 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.

4Operating Environment Precautions

Caution The operating environment of the PC System can have a large effect on the lon-

gevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the PC System. Be sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.

5 Application Precautions

Observe the following precautions when using the PC System.

Caution Failure to abide by the following precautions could lead to faulty operation of the

PC or the system, or could damage the PC or PC Units. Always heed these precautions.

Designing Circuits or Creating Ladder Programs

• 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.

• Construct a control circuit so that power supply for the I/O circuits does not

come ON before power supply for the Unit. If power supply for the I/O circuits comes ON before power supply for the Unit, normal operation may be temporarily interrupted.

• If the operating mode is changed from RUN or MONITOR mode to PROGRAM

mode, with the IOM Hold Bit ON, the output will hold the most recent status. In such a case, ensure that the external load does not exceed specifications. (If operation is stopped because of an operating error, including errors generated by FALS instructions, the values in the internal memory of the CPU Unit will be saved, but the outputs will all turn OFF.)

• For models with only the super-capacitor installed, the contents of the READ/

WRITE enable area of the DM area, HR area, AR area, and CNT data area may be damaged if the power is turned OFF for a long time. To prevent such damage, provide ladder program that will check AR 1314 to ensure proper operation of the system.

• The life of relays largely varies depending on switching conditions. Be sure to

test operating conditions using actual Units and use the product within the specified number of switchings so as not to cause any performance problems. Using the product with performance problems may result in defective insulation between circuits or burning of the relays.

5Application Precautions

Installation

Wiring and Connection

• Install the Units properly as specified in the relevant operation manual(s). Im-

proper installation of the Units may result in malfunction.

• Do not install the PC or PC Units in places where the Units may be affected by

excessive noise. Doing so may result in malfunction.

• Install the Units properly so that they will not fall off.

• Be sure that all the mounting screws, terminal screws, and cable connector

screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

• Install the Expansion I/O Unit connector cover to the last Expansion I/O Unit to

prevent dust or foreign matter from entering inside the Unit. Not doing so may result in malfunction.

• Be sure that the terminal blocks, expansion cables, and other items with lock-

ing devices are properly locked into place. Improper locking may result in malfunction.

• Be sure to use cables as specified in the relevant manual(s).

• Install external breakers and take other safety measures against short-circuit-

ing in external wiring. Insufficient safety measures against short-circuiting may result in burning.

• When wiring signal lines, do not place them in the same duct as high-voltage

lines or power lines. Doing so may result in malfunction.

xxi

• Be sure that terminal blocks and connectors are connected in the specified

direction with the correct polarity. Not doing so may result in malfunction.

• Leave the labels attached CPM1 or CPM2A Units when wiring to prevent wir-

ing cuttings from entering the Units.

• Attach the labels supplied with CPM1A or CPM2C Units or provide other pro-

tective covers when wiring to prevent dust or wiring cuttings from entering the Units.

• Remove the labels after the completion of wiring to ensure proper heat dissipa-

tion. Leaving the labels attached may result in malfunction.

• Use the connectors and wiring materials specified in the relevant manual(s).

• Be sure to wire according to the relevant manual(s). Incorrect wiring may result

in burning.

I/O Connection and System Startup

• Disconnect the functional ground terminal when performing withstand voltage

tests.

• Always use the power supply voltages specified in the operation manual(s). An

incorrect voltage may result in malfunction or burning.

• Take appropriate measures to ensure that the specified power with the rated

voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable.

• Do not apply voltages to the input terminals in excess of the rated input voltage.

Excess voltages may result in burning.

• Do not apply voltages or connect loads to the output terminals in excess of the

maximum switching capacity. Excess voltage or loads may result in burning.

• Double-check all wiring and switch settings before turning ON the power sup-

ply. Incorrect wiring may result in burning.

• Check the user program for proper execution before actually running it on the

Unit. Not checking the program may result in an unexpected operation.

5Application Precautions

Handling Precautions

• When using, storing, or transporting the product, keep within the specifications

listed in the relevant manual(s).

• 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.

• Changing the operating mode of the PC.

• Force-setting/force-resetting any bit in memory.

• Changing the present value of any word or any set value in memory.

• Before touching a Unit, be sure to first touch a grounded metallic object to dis-

charge any static built-up. Not doing so may result in malfunction or damage.

• Do not touch the Expansion I/O Unit Connecting Cable while the power is be-

ing supplied to prevent any malfunction due to static electricity.

• 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. Doing so may break the cables.

• When disposing of Units or other products, be sure to do so according to local

laws and regulations.

• When using a Temperature Sensor Unit with a thermocouple input

(CPM1A-TS001/002, CPM2C-TS001), observe the following precautions:

• With the CPM1A-TS001/002, do not remove the cold junction compensa-

tor attached at the time of delivery. If the cold junction compensator is removed the Unit will not be able to measure temperatures correctly.

xxii

Maintenance

• When replacing a part, be sure to confirm that the rating of a new part is correct.

• When the CPU Unit is replaced, resume operation only after transferring to the

Transportation and Storage

• When transporting the Units, use special packing boxes. Do not subject the

• Store the Units within the following temperature and humidity ranges:

5Application Precautions

• With the CPM1A-TS001/002, each of the input circuits is calibrated with

the cold junction compensator attached to the Unit. If the Unit is used with the cold junction compensator from other Units, the Unit will not be able to measure temperatures correctly.

• With the CPM1A-TS001/002 or the CPM2C-TS001, do not touch the cold

junction compensator. Doing so may result in incorrect temperature measurement.

Not doing so may result in malfunction or burning.

new CPU Unit the contents of the DM and HR Areas required for operation. Not doing so may result in an unexpected operation.

Units or other products to excessive vibration or shock during transportation and do not to drop them.

Storage temperature: –25 to 65°C Storage humidity: 25% to 85% (with no icing or condensation)

xxiii

SECTION 1

PC Setup

This section explains the PC Setup in the CPM1, CPM1A, CPM2A, CPM2C (including the CPM2C-S), and SRM1(-V2) PCs. The PC Setup can be used to control the operating parameters. To change the PC Setup, refer to the Operation Manual of the PC for Programming Console procedures.

Refer to the SSS Operation Manual: C-series PCs for SSS procedures. Refer to the SYSMAC-CPT Support Software Quick Start Guide (W332) and User Manual (W333) for SYSMAC-CPT Support Software procedures.

If you are not familiar with OMRON PCs or ladder diagram program, you can read 1-1 PC Setup as an overview of the operating parameters available for the CPM1/CPM1A, CPM2A/CPM2C, and SRM1(-V2). You may then want to read Section 5 Memory Areas, Section 6 Ladder-diagram Programming, and related instructions in Section 7 Instruction Set before completing this section.

1-1 PC Setup 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1-1 Changing the PC Setup 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1-2 CPM1/CPM1A PC Setup Settings 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1-3 CPM2A/CPM2C PC Setup Settings 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1-4 SRM1(-V2) PC Setup Settings 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2 Basic PC Operation and I/O Processes 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2-1 Startup Mode 16. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2-2 Hold Bit Status 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2-3 Program Memory Write-protection 17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2-4 RS-232C Port Servicing Time (CPM2A/CPM2C/SRM1(-V2) Only) 18. . . . . . . . .

1-2-5 Peripheral Port Servicing Time 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2-6 Cycle Monitor Time 18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2-7 Minimum Cycle Time 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2-8 Input Time Constants 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-2-9 Error Log Settings 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-3 CPM2C Changes in SW2 21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1-1SectionPC Setup

1-1 PC Setup

The PC Setup comprises various operating parameters that control PC operation. In order to make the maximum use of PC functionality when using interrupt processing and communications functions, the PC Setup may be customized according to operating conditions.

At the time of shipping, the defaults are set for general operating conditions, so that the PC can be used without having to change the settings. You are, however, advised to check the default values before operation.

Default Values The default values for the PC Setup are 0000 for all words (except for the low

battery error enable in DM 6655 bits 12 to 15 for CPM2A CPU Units). The default values can be reset at any time by turning ON SR 25210 in PROGRAM mode.

Caution When data memory (DM) is cleared from a Programming Device, the PC Setup

settings will also be cleared to all zeros.

1-1-1 Changing the PC Setup

PC Setup settings are accessed at various times depending on the setting, as described below.

• DM 6600 to DM 6614: Accessed only when PC’s power supply is turned

ON.

• DM 6615 to DM 6644: Accessed only when program execution begins.

• DM 6645 to DM 6655: Accessed regularly when the power is ON.

Since changes in the PC Setup become effective only at the times given above, the PC will have to be restarted to make changes in DM 6600 to DM 6614 effective, and program execution will have to be restarted to make changes in DM 6615 to DM 6644 effective.

When DM 6602 bits 00 to 03 are set to protect the program memory, DM 6602 cannot be changed using the PC Setup operation of the Support Software. To change DM 6602, use the I/O Monitor or DM Edit operation.

Making Changes from a Programming Device

Errors in the PC Setup If an incorrect PC Setup setting is accessed, a non-fatal error (error code 9B) will

The PC Setup can be read, but not overwritten, from the user program. Writing can be done only by using a Programming Device.

Although the PC Setup is stored in DM 6600 to DM 6655, settings can be made and changed only from a Programming Device (e.g., SSS, or Programming Console). DM 6600 to DM 6644 can be set or changed only while in PROGRAM mode. DM 6645 to DM 6655 can be set or changed while in either PROGRAM mode or MONITOR mode. The cycle time will be rather long when the PC Setup is changed in MONITOR mode.

The following settings can be made in PROGRAM mode from the SSS using menu operations. All other settings must be made using the hexadecimal setting operation.

• Startup Mode (DM 6600)

• I/O Hold Bit Status and Forced Status Hold Bit Status (DM 6601)

• Cycle Monitor Time (DM 6618)

• Cycle Time (DM 6619)

• RS-232C Port Settings (DM 6645 to DM 6649)

Note The RS-232C Port Settings (DM 6645 to DM 6649) are not used in

CPM1/CPM1A PCs because these PCs aren’t equipped with an RS-232C port.

be generated, the corresponding error flag (AR 1300 to AR 1302) will be turned ON, and the default setting will be used instead of the incorrect setting.

1-1-2 CPM1/CPM1A PC Setup Settings

The PC Setup is broadly divided into four categories: 1) Settings related to basic PC operation and I/O processes, 2) Settings related to the cycle time, 3) Settings related to interrupts, and 4) Settings related to communications. This section will explain the settings according to these classifications.

The following table shows the settings for CPM1/CPM1A PCs in order. Refer to the page number in the last column for more details on that setting.

Word(s) Bit(s) Function Page

Startup Processing (DM 6600 to DM 6614)

The following settings are effective after transfer to the PC only after the PC is restarted. DM 6600

DM 6601

DM 6602

DM 6603 00 to 15 Not used. DM 6604

DM 6605 to DM 6614

Cycle Time Settings (DM 6615 to DM 6619)

The following settings are effective after transfer to the PC the next time operation is started. DM 6615,

DM 6616 DM 6617

DM 6618

DM 6619 00 to 15 Cycle time

00 to 07 Startup mode (effective when bits 08 to 15 are set to 02).

00: PROGRAM; 01: MONITOR 02: RUN

08 to 15 Startup mode designation

00: According to communications port setting switch and peripheral port connection

(See table at the bottom of this page.) 01: Continue operating mode last used before power was turned OFF. 02: Setting in 00 to 07

00 to 07 Not used. 08 to 11 IOM Hold Bit (SR 25212) Status at Startup

0: Reset; 1: Maintain (See note 3.)

12 to 15 Forced Status Hold Bit (SR 25211) Status at Startup

0: Reset; 1: Maintain (See note 3.)

00 to 03 Program memory write-protection

0: Program memory unprotected 1: Program memory write-protected (except DM 6602 itself)

04 to 07 Programming Console display language

0: English; 1: Japanese

08 to 15 Not used.

00 to 07 00: If data could not be saved with the built-in capacitor (AR 1314 ON), a memory error will not

be generated.

01: If data could not be saved with the built-in capacitor (AR 1314 ON), a memory error will be

generated. 08 to 15 Not used. 00 to 15 Not used.

00 to 15 Not used.

00 to 07 Servicing time for peripheral port (effective when bits 08 to 15 are set to 01)

00 to 99 (BCD): Percentage of cycle time used to service peripheral.

08 to 15 Peripheral port servicing setting enable

00: 5% of the cycle time 01: Use time in 00 to 07.

00 to 07 Cycle monitor time (effective when bits 08 to 15 are set to 01, 02, or 03)

00 to 99 (BCD): Setting (see 08 to 15)

08 to 15 Cycle monitor enable (Setting in 00 to 07 x unit; 99 s max.)

00: 120 ms (setting in bits 00 to 07 disabled) 01: Setting unit: 10 ms 02: Setting unit: 100 ms 03: Setting unit: 1 s

0000: Variable (no minimum) 0001 to 9999 (BCD): Minimum time in ms

1-1SectionPC Setup

Word(s) PageFunctionBit(s)

Interrupt Processing (DM 6620 to DM 6639)

The following settings are effective after transfer to the PC the next time operation is started. DM 6620

DM 6621

DM 6622

DM 6623

DM 6624

DM 6625

DM 6626 to DM 6627

DM 6628

DM 6629 to DM 6641

High-speed Counter Settings (DM 6640 to DM 6644)

The following settings are effective after transfer to the PC the next time operation is started. DM 6640 to

DM 6641 DM 6642

DM 6643, DM 6644

00 to 03 Input constant for IR 00000 to IR 00002

0: 8 ms; 1: 1 ms; 2: 2 ms; 3: 4 ms; 4: 8 ms; 5: 16 ms; 6: 32 ms; 7: 64 ms; 8: 128 ms 04 to 07 Input constant for IR 00003 and IR 00004 (Setting same as bits 00 to 03) 08 to 11 Input constant for IR 00005 and IR 00006 (Setting same as bits 00 to 03) 12 to 15 Input constant for IR 00007 to IR 00011 (Setting same as bits 00 to 03) 00 to 07 Input constant for IR 001

00: 8 ms; 01: 1 ms; 02: 2 ms; 03: 4 ms; 04: 8 ms; 05: 16 ms; 06: 32 ms; 07: 64 ms; 08:

128 ms 08 to 15 Input constant for IR 002 (Setting same as for IR 001.) 00 to 07 Input constant for IR 003 (Setting same as for IR 001.) 08 to 15 Input constant for IR 004 (Setting same as for IR 001.) 00 to 07 Input constant for IR 005 (Setting same as for IR 001.) 08 to 15 Input constant for IR 006 (Setting same as for IR 001.) 00 to 07 Input constant for IR 007 (Setting same as for IR 001.) 08 to 15 Input constant for IR 008 (Setting same as for IR 001.) 00 to 07 Input constant for IR 009 (Setting same as for IR 001.) 08 to 15 Not used. 00 to 15 Not used.

00 to 03 Interrupt enable for IR 00003 (0: Normal input; 1: Interrupt input; 2: Quick-response) 04 to 07 Interrupt enable for IR 00004 (0: Normal input; 1: Interrupt input; 2: Quick-response) 08 to 11 Interrupt enable for IR 00005 (0: Normal input; 1: Interrupt input; 2: Quick-response) 12 to 15 Interrupt enable for IR 00006 (0: Normal input; 1: Interrupt input; 2: Quick-response) 00 to 15 Not used.

00 to 15 Not used.

00 to 03 High-speed counter mode

0: Up/down counter mode; 4: Incrementing counter mode 04 to 07 High-speed counter reset mode

0: Z phase and software reset; 1: Software reset only 08 to 15 High-speed counter enable

00: Don’t use high-speed counter; 01: Use high-speed counter with settings in 00 to 07 00 to 15 Not used.

1-1SectionPC Setup

Word(s) PageFunctionBit(s)

Peripheral Port Settings

The following settings are effective after transfer to the PC. DM 6645 to

DM 6649 DM 6650

DM 6651

DM 6652 00 to 15 Transmission delay (Host Link) (See note 4.)

DM 6653

DM 6654 00 to 15 Not used.

Error Log Settings (DM 6655)

The following settings are effective after transfer to the PC. DM 6655

00 to 15 Not used.

00 to 07 Port settings

00: Standard (1 start bit, 7-bit data, even parity, 2 stop bits, 9,600 bps)

01: Settings in DM 6651

(Other settings will cause a non-fatal error and AR 1302 will turn ON.) 08 to 11 Link area for 1:1 PC Link via peripheral port:

0: LR 00 to LR 15 12 to 15 Communications mode

0: Host Link; 2: 1:1 PC Link Slave; 3: 1:1 PC Link Master; 4: 1:1 NT Link

(Other settings will cause a non-fatal error and AR 1302 will turn ON.) 00 to 07 Baud rate

00: 1.2K, 01: 2.4K, 02: 4.8K, 03: 9.6K, 04: 19.2K, 05 to 07: Cannot be used (see note

(Other settings will cause a non-fatal error and AR 1302 will turn ON.) 08 to 15 Frame format

Start Length Stop Parity 00: 1 bit 7 bits 1 bit Even 01: 1 bit 7 bits 1 bit Odd 02: 1 bit 7 bits 1 bit None 03: 1 bit 7 bits 2 bits Even 04: 1 bit 7 bits 2 bits Odd 05: 1 bit 7 bits 2 bits None 06: 1 bit 8 bits 1 bit Even 07: 1 bit 8 bits 1 bit Odd 08: 1 bit 8 bits 1 bit None 09: 1 bit 8 bits 2 bits Even 10: 1 bit 8 bits 2 bits Odd 11: 1 bit 8 bits 2 bits None

(Other settings will cause a non-fatal error and AR 1302 will turn ON.)

0000 to 9999: In ms. (Other settings will cause a non-fatal error and AR 1302 will turn ON.)

00 to 07 Node number (Host Link)

00 to 31 (BCD) (Other settings will cause a non-fatal error and AR 1302 will turn ON.)

08 to 15 Not used.

00 to 03 Style

0: Shift after 7 records have been stored 1: Store only first 7 records (no shifting) 2 to F: Do not store records

04 to 07 Not used. 08 to 11 Cycle time monitor enable

0: Detect long cycles as non-fatal errors 1: Do not detect long cycles

12 to 15 Not used.

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226

Note 1. When the startup mode is set to continue the operating mode last used be-

fore the power was turned off, that operating mode will be retained by the built-in capacitor. If the power remains off for longer than the backup time of the capacitor, the data may be lost. (For details on the holding time, refer to the CPM1A or CPM1 Operation Manual.)

1-1SectionPC Setup

2. Do not set to “05” to “07.” If set to this value, the CPM1/CPM1A will not operate properly and the RUN PC Setup Error Flag (AR 1302 ON) will not turn ON.

3. Retention of IOM Hold Bit (SR 25212) Status If the “IOM Hold Bit Status at Startup” (DM 6601, bits 08 to 11) is set to “Maintain” with the IOM Hold Bit (SR 25212) turned ON, operation can be started with the I/O memory (I/O, IR, LR) status just as it was before the power was turned OFF. (The input area is refreshed at startup, however, so it is overwritten by the most recently updated input status.)

Retention of Forced Status Hold Bit (SR 25211) Status

If the “Forced Status Hold Bit Status at Startup” (DM 6601, bits 12 to 15) is set to “Maintain” with the Forced Status Hold Bit (SR 25211) turned ON, operation can be started with the forced set/reset status just as it was before the power was turned OFF. (When starting up in RUN Mode, however, the forced set/reset status is cleared.)

Even if the “IOM Hold Bit Status at Startup” or “Forced Status Hold Bit Status at Startup” is set to “Maintain,” the IOM Hold Bit (SR 25212) or Forced Status Hold Bit (SR 25211) status may be cleared if the power remains OFF for longer than the backup time of the built-in capacitor. (For details on the holding time, refer to the CPM1A or CPM1 Operation Manual.) At this time the I/O memory will also be cleared, so set up the system so that clearing the I/O memory will not cause problems.

4. The transmission delay is the delay between the previous transmission and the next transmission.

Host computer

Programmable Controller

Command

Response

Transmission delay time

Response

5. If an out-of-range value is set, the following communications conditions will result. In that case, reset the value so that it is within the permissible range.

Communications mode: Host Link Communications format: Standard settings

(1 start bit, 7-bit data; even parity, 2 stop bits,

9,600 bps) Transmission delay: No Node number: 00

1-1-3 CPM2A/CPM2C PC Setup Settings

The PC Setup is broadly divided into four categories: 1) Settings related to basic PC operation and I/O processes, 2) Settings related to pulse output functions, 3) Settings related to interrupts, and 4) Settings related to communications. This section will explain the settings according to these classifications.

The following table shows the setting in order in the DM area. For details, refer to the page numbers shown.

Word(s) Bit(s) Function Page

Startup Processing (DM 6600 to DM 6614)

The following settings are effective after transfer to the PC only after the PC is restarted. DM 6600

DM 6601

DM 6602

DM 6603 00 to 15 Not used. DM 6604

DM 6605 to DM 6614

00 to 07 Startup mode (effective when bits 08 to 15 are set to 02).

00: PROGRAM; 01: MONITOR; 02: RUN

08 to 15 Startup mode designation

00: Mode set on Programming Console switch if Programming Console is connected.

No Programming Device connected: RUN Mode Programming Console connected: Mode set on mode switch on Programming Console

Other Programming Device connected: PROGRAM Mode 01: Continue operating mode last used before power was turned OFF. 02: Setting in 00 to 07 The setting of the switch SW2 will affect the operating mode for all CPM2C CPU Units

produced before 1 September 2000. Refer to 1-3 Changes in SW2 for details.

00 to 07 Not used. 08 to 11 IOM Hold Bit (SR 25212) Status at Startup

0: Reset to 0; 1: Maintain previous status

12 to 15 Forced Status Hold Bit (SR 25211) Status at Startup

0: Reset to 0; 1: Maintain previous status

00 to 03 Program memory write-protection

0: Program memory unprotected 1: Program memory write-protected (except DM 6602 itself)

04 to 07 Programming Console display language

0: English; 1: Japanese

08 to 11 Expansion instruction function code assignments

0: Default settings 1: User assignments

12 to 15 Not used.

00 to 07 00: A memory error will not be generated if data could not be retained by the battery.

01: A memory error will be generated if data could not be retained by the battery.

08 to 15 Not used. 00 to 15 Not used.

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1-1SectionPC Setup

Note For CPM2C PCs with lot number of 3180O or earlier, the startup operating mode

will be as shown in the following table if bits 08 to 15 of DM 6600 are set to 00.

Peripheral port

connected to

Nothing PROGRAM RUN Programming

Console

Other Programming Device

Mode set on Programming Console mode switch

PROGRAM (The CPM2C will not be able to communicate with Programming Device.)

Communications port setting switch

SW2 OFF SW2 ON

PROGRAM (The CPM2C will not be able to communicate with Programming Console.)

PROGRAM

Word(s) Bit(s) Function Page

Cycle Time Settings (DM 6615 to DM 6619)

The following settings are effective after transfer to the PC the next time operation is started.

DM 6615 00 to 15 Not used.

DM 6616

DM 6617

DM 6618

00 to 07 Servicing time for RS-232C port (Effective when bits 08 to 15 are set to 01.)

00 to 99 (BCD): Percentage of cycle time used to service RS-232C port.

08 to 15 RS-232C port servicing setting enable

00: 5% of the cycle time 01: Use time in bits 00 to 07.

00 to 07 Servicing time for peripheral port (Effective when bits 08 to 15 are set to 01.)

00 to 99 (BCD): Percentage of cycle time used to service peripheral.

08 to 15 Peripheral port servicing setting enable

00: 5% of the cycle time 01: Use time in bits 00 to 07.

00 to 07 Cycle monitor time (Effective when bits 08 to 15 are set to 01, 02, or 03.)

00 to 99 (BCD): Setting (See bits 08 to 15, below.) A fatal error will be generated and PC operation will stop if the cycle time exceeds the

cycle monitor time set here.

08 to 15 Cycle monitor enable (Setting in 00 to 07 × units; 99 s max.)

00: 120 ms (setting in bits 00 to 07 disabled) 01: Setting units: 10 ms 02: Setting units: 100 ms 03: Setting units: 1 s

1-1SectionPC Setup

DM 6619 00 to 15 Minimum cycle time

0000: Variable (no minimum) 0001 to 9999 (BCD): Minimum time in ms

Interrupt Processing (DM 6620 to DM 6639)

The following settings are effective after transfer to the PC the next time operation is started.

DM 6620

DM 6621

DM 6622

DM 6623

DM 6624

DM 6625

DM 6626 to DM 6627

DM6628

00 to 03 Input time constant for IR 00000 to IR 00002

0: 10 ms; 1: 1 ms; 2: 2 ms; 3: 3 ms; 4: 5 ms; 5: 10 ms; 6: 20 ms; 7: 40 ms; 8: 80 ms

04 to 07 Input time constant for IR 00003 and IR 00004 (Setting same as bits 00 to 03) 08 to 11 Input time constant for IR 00005 and IR 00006 (Setting same as bits 00 to 03) 12 to 15 Input time constant for IR 00007 to IR 00011 (Setting same as bits 00 to 03) 00 to 07 Input time constant for IR 001

00: 10 ms 01: 1 ms 02: 2 ms 03: 3 ms 04: 5 ms 05: 10 ms 06: 20 ms 07: 40 ms 08: 80 ms

08 to 15 Input constant for IR 002 (Setting same as for IR 001.) 00 to 07 Input constant for IR 003 (Setting same as for IR 001.) 08 to 15 Input constant for IR 004 (Setting same as for IR 001.) 00 to 07 Input constant for IR 005 (Setting same as for IR 001.) 08 to 15 Input constant for IR 006 (Setting same as for IR 001.) 00 to 07 Input constant for IR 007 (Setting same as for IR 001.) 08 to 15 Input constant for IR 008 (Setting same as for IR 001.) 00 to 07 Input constant for IR 009 (Setting same as for IR 001.) 08 to 15 Not used.

00 to 15 Not used.

(Set to 0 in CPM2C CPU Units with 10 I/O points.)

12 to 15 Interrupt enable for IR 00006 (0: Normal input; 1: Interrupt input; 2: Quick-response)

(This input does not exist in CPM2C CPU Units with 10 I/O points.)

Word(s) PageFunctionBit(s)

DM 6629

DM 6630 to DM 6641

High-speed Counter Settings (DM 6640 to DM 6644)

The following settings are effective after transfer to the PC the next time operation is started. DM 6640 to

DM 6641 DM 6642

DM 6643, DM 6644

RS-232C Port Communications Settings

The following settings are effective after transfer to the PC. If the CPM2A CPU Unit’s Communications Switch is ON, communications through the CPM2A’s RS-232C port are gov-

erned by the default settings (all 0) regardless of the settings in DM 6645 through DM 6649. If pin 2 of the CPM2C CPU Unit’s DIP switch is ON, communications through the CPM2C’s RS-232C port are governed

by the default settings (all 0) regardless of the settings in DM 6645 through DM 6649. DM 6645

00 to 03 PV coordinate system for pulse output 0

0: Relative coordinates; 1: Absolute coordinates

04 to 07 PV coordinate system for pulse output 1

0: Relative coordinates; 1: Absolute coordinates

08 to 15 Not used. 00 to 15 Not used.

00 to 15 Not used.

00 to 03 High-speed counter mode

0: Differential phase mode (5 kHz) 1: Pulse + direction input mode (20 kHz) 2: Up/down input mode (20 kHz) 4: Increment mode (20 kHz)

04 to 07 High-speed counter reset mode

0: Z phase and software reset; 1: Software reset only

08 to 15 High-speed counter/Synchronized pulse control for IR 00000 to IR 00002

00: Don’t use either function. 01: Use as high-speed counters. 02: Use for synchronized pulse control (10 to 500 Hz). 03: Use for synchronized pulse control (20 Hz to 1 kHz). 04: Use for synchronized pulse control (300 Hz to 20 kHz).

00 to 15 Not used.

00 to 03 Port settings

0: Standard (1 start bit, 7 data bits, even parity, 2 stop bits, 9,600 bps), Host Link unit

number: 0

1: Settings in DM 6646 (Any other setting will cause a non-fatal error and AR 1302 will turn ON.)

04 to 07 CTS control setting

0: Disable CTS control; 1: Enable CTS control (Any other setting will cause a non-fatal error and AR 1302 will turn ON.)

08 to 11 Link words for 1:1 data link

0: LR 00 to LR 15 (Any other settings are ineffective.)

12 to 15 Communications mode

0: Host Link; 1: No-protocol; 2: 1:1 PC Link Slave; 3: 1:1 PC Link Master; 4: NT Link (Any other setting causes a non-fatal error and turns ON AR 1302.)

101

47, 56

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1-1SectionPC Setup

Word(s) PageFunctionBit(s)

DM 6646

DM 6647 00 to 15 Transmission delay (0000 to 9999 BCD sets a delay of 0 to 99,990 ms.)

DM 6648

DM 6649

00 to 07 Baud rate

00: 1,200 bps; 01: 2,400 bps; 02: 4,800 bps; 03: 9,600 bps; 04: 19,200 bps

08 to 15 Frame format

Start bits Data bits Stop bits Parity 00: 1 bit 7 bits 1 bit Even 01: 1 bit 7 bits 1 bit Odd 02: 1 bit 7 bits 1 bit None 03: 1 bit 7 bits 2 bits Even 04: 1 bit 7 bits 2 bits Odd 05: 1 bit 7 bits 2 bits None 06: 1 bit 8 bits 1 bit Even 07: 1 bit 8 bits 1 bit Odd 08: 1 bit 8 bits 1 bit None 09: 1 bit 8 bits 2 bits Even 10: 1 bit 8 bits 2 bits Odd 11: 1 bit 8 bits 2 bits None

(Any other setting specifies standard settings (1 start bit, 7 data bits; even parity, 2 stop bits, 9,600 bps), causes a non-fatal error, and turns ON AR 1302.)

(Any other setting specifies a delay of 0 ms, causes a non-fatal error, and turns ON AR 1302.)

00 to 07 Node number (Host Link)

00 to 31 (BCD) (Any other setting specifies a node number of 00, causes a non-fatal error, and turns

ON AR 1302.)

08 to 11 Start code selection for no-protocol communications

0: Disables start code; 1: Enables start code in DM 6649 (Any other setting disables the start code, causes a non-fatal error, and turns ON

AR 1302.)

12 to 15 End code selection for no-protocol communications

0: Disables end code; 1: Enables end code in DM 6649; 2: Sets end code of CR, LF. (Any other setting disables the end code, causes a non-fatal error, and turns ON

AR 1302.)

00 to 07 Start code (00 to FF)

(This setting is valid only when bits 8 to 11 of DM 6648 are set to 1.)

08 to 15 When bits 12 to 15 of DM 6648 set to 0:

Sets the number of bytes to receive. (00: 256 bytes; 01 to FF: 1 to 255 bytes) When bits 12 to 15 of DM 6648 set to 1:

Sets the end code. (00 to FF)

1-1SectionPC Setup

226

1-1SectionPC Setup

Word(s) PageFunctionBit(s)

Peripheral Port Communications Settings

The following settings are effective after transfer to the PC. If the CPM2A CPU Unit’s Communications Switch is ON, communications through the peripheral port are governed by

the default settings (all 0) regardless of the settings in DM 6650 through DM 6654. The CPM2A’s Communications Switch setting has no effect on communications with a Programming Console connected to the peripheral port or Support Software set for peripheral bus communications. The CPM2A CPU Unit will auto-detect either Programming Device and automatically establish communications.

SW2 on the CPM2C CPU Unit must be OFF in order for communications through the CPM2C’s peripheral port to be governed by the settings in DM 6650 through DM 6654.

DM 6650

DM 6651

DM 6652 00 to 15 Transmission delay (0000 to 9999 BCD sets a delay of 0 to 99,990 ms.)

DM 6653

00 to 03 Port settings

00: Standard (1 start bit, 7 data bits, even parity, 2 stop bits, 9,600 bps), Host Link unit

number: 0

01: Settings in DM 6651 (Any other setting specifies standard settings, causes a non-fatal error, and turns ON

AR 1302.)

04 to 11 Not used. 12 to 15 Communications mode

0: Host Link or peripheral bus; 1: No-protocol (Any other setting specifies Host Link, causes a non-fatal error, and turns ON

AR 1302.)

00 to 07 Baud rate

00: 1,200 bps; 01: 2,400 bps; 02: 4,800 bps; 03: 9,600 bps; 04: 19,200 bps

08 to 15 Frame format

(Any other setting specifies standard settings (1 start bit, 7 data bits; even parity, 2 stop bits, 9,600 bps), causes a non-fatal error, and turns ON AR 1302.)

(Any other setting specifies a delay of 0 ms, causes a non-fatal error, and turns ON AR 1302.)

00 to 07 Node number (Host Link)

00 to 31 (BCD) (Any other setting specifies a node number of 00, causes a non-fatal error, and turns

ON AR 1302.)

08 to 11 Start code selection for no-protocol communications

0: Disables start code; 1: Enables start code in DM 6649 (Any other setting disables the start code, causes a non-fatal error, and turns ON

AR 1302.)

12 to 15 End code selection for no-protocol communications

0: Disables end code; 1: Enables end code in DM 6649; 2: Sets end code of CR, LF. (Any other setting disables the end code, causes a non-fatal error, and turns ON

AR 1302.)

226

Word(s) PageFunctionBit(s)

DM 6654

Error Log Settings (DM 6655)

The following settings are effective after transfer to the PC. DM 6655

00 to 07 Start code (00 to FF)

(This setting is valid only when bits 8 to 11 of DM 6648 are set to 1.)

08 to 15 When bits 12 to 15 of DM 6648 set to 0:

Sets the number of bytes to receive. (00: 256 bytes; 01 to FF: 1 to 255 bytes) When bits 12 to 15 of DM 6648 set to 1:

Sets the end code. (00 to FF)

00 to 03 Style

0: Shift after 7 records have been stored 1: Store only first 7 records (no shifting) 2 to F: Do not store records

04 to 07 Not used. 08 to 11 Cycle time monitor enable

0: Generate a non-fatal error for a cycle time that is too long. 1: Do not generate a non-fatal error.

12 to 15 Low battery error enable

0: Generate a non-fatal error for low battery voltage. 1: Do not generate a non-fatal error.

Low battery error detection is disabled (i.e., set to 1) by default in CPU Units that do not have a clock. If the PC Setup is cleared, the setting will changed to 0 and a low battery error will occur.

Bits 12 to 15 should always be set to 0 when the optional CPM2C-BAT01 is mounted.

1-1SectionPC Setup

226

1-1-4 SRM1(-V2) PC Setup Settings

The PC Setup is broadly divided into three categories: 1) Settings related to basic PC operation and I/O processes, 2) Settings related to the cycle time, and 3) Settings related to communications. This section will explain the settings according to these classifications.

The following table shows the settings for SRM1(-V2) PCs in order. Refer to the page number in the last column for more details on that setting.

Word(s) Bit(s) Function Page

Startup Processing (DM 6600 to DM 6614)

The following settings are effective after transfer to the PC only after the PC is restarted. DM 6600

DM 6601

DM 6602

DM 6603

DM 6604

DM 6605 to DM 6614

Cycle Time Settings (DM 6615 to DM 6619)

The following settings are effective after transfer to the PC the next time operation is started. DM 6615 00 to 15 Not used. DM 6616

DM 6617

00 to 07 Startup mode (effective when bits 08 to 15 are set to 02).

00: PROGRAM; 01: MONITOR 02: RUN

08 to 15 Startup mode designation

00: Programming Console switch 01: Continue operating mode last used before power was turned off 02: Setting in 00 to 07

00 to 07 Not used. 08 to 11 IOM Hold Bit (SR 25212) Status

0: Reset; 1: Maintain (See caution on page 17.)

12 to 15 Forced Status Hold Bit (SR 25211) Status

0: Reset; 1: Maintain

00 to 03 Program memory write-protection

0: Program memory unprotected 1: Program memory write-protected (except DM 6602 itself)

04 to 07 Programming Console display language

0: English; 1: Japanese

08 to 11 Expansion Instructions

0: Default settings; 1: User settings

12 to 15 Not used. 00 to 03 Maximum number of CompoBus/S devices

0: Max. no. 32 1: Max. no. 16

04 to 07 CompoBus/S communications mode setting (V2 only)

0: High-speed communications 1: Long-distance communications

08 to 15 Not used. 00 to 07 00: If data could not be saved for a power interruption (AR 1314 ON), a memory error will not be

generated. 01: If data could not be saved for a power interruption (AR 1314 ON), a memory error will be generated.

08 to 15 Not used. 00 to 15 Not used.

00 to 07 Servicing time for RS-232C port (effective when bits 08 to 15 are set)

00 to 99 (BCD): Percentage for cycle time used to service peripheral.

08 to 15 RS-232C port servicing enable

00: 5% of the cycle time 01: Use time in 00 to 07.

00 to 07 Servicing time for peripheral port (effective when bits 08 to 15 are set to 01)

00 to 99 (BCD): Percentage of cycle time used to service peripheral.

08 to 15 Peripheral port servicing setting enable

00: 5% of the cycle time 01: Use time in 00 to 07.

1-1SectionPC Setup

Word(s) PageFunctionBit(s)

DM 6618

DM 6619 00 to 15 Cycle time

DM 6620 to DM 6644

RS-232C Port Settings

The following settings are effective after transfer to the PC.

DM 6645

DM 6646

DM 6647 00 to 15 Transmission delay (Host Link)

DM 6648

00 to 07 Cycle monitor time (effective when bits 08 to 15 are set to 01, 02, or 03)

00 to 99 (BCD): Setting (see 08 to 15)

08 to 15 Cycle monitor enable (Setting in 00 to 07 x unit; 99 s max.)

00: 120 ms (setting in bits 00 to 07 disabled) 01: Setting unit: 10 ms 02: Setting unit: 100 ms 03: Setting unit: 1 s

0000: Variable (no minimum) 0001 to 9999 (BCD): Minimum time in ms

00 to 15 Not used.

00 to 03 Port settings

0: Standard (1 start bit, 7-bit data, even parity, 2 stop bits, 9,600 bps) 1: Settings in DM 6646

04 to 07 CTS control settings

0: Disable; 1: Set

08 to 11 When using a 1:1 data link: Sets the link area for 1:1 PC Link.

0: LR 00 to LR 15 Not 0: Disable

When using a 1:N NT Link: Sets the maximum PT node number.

1 to 7

12 to 15 Communications mode

0: Host Link; 1: No-protocol; 2: 1:1 PC Link Slave; 3: 1:1 PC Link Master; 4: 1:1 NT Link; 5: 1:N NT Link

(Any other setting specifies Host Link mode, causes a non-fatal error, and turns ON AR 1302.)

The 1:N NT Link is supported by SRM1-C02-V2 only.

00 to 07 Baud rate

00: 1.2K, 01: 2.4K, 02: 4.8K, 03: 9.6K, 04: 19.2K

08 to 15 Frame format

AR 1302 will turn ON to indicate a non-fatal system setting error if any value not between 00 and 11 is set.

0000 to 9999 (BCD): Set in units of 10 ms, e.g., setting of 0001 equals 10 ms

00 to 07 Node number (Host Link, effective when bits 12 to 15 of DM 6645 are set to 0.)

00 to 31 (BCD)

08 to 11 Start code enable (RS-232C, effective when bits 12 to 15 of DM 6645 are set to 1.)

0: Disable; 1: Set

12 to 15 End code enable (RS-232C, effective when bits 12 to 15 of DM 6645 are set to 1.)

0: Disable (number of bytes received) 1: Set (specified end code) 2: CR, LF

1-1SectionPC Setup

268

Word(s) PageFunctionBit(s)

DM 6649

Peripheral Port Settings

The following settings are effective after transfer to the PC. DM 6650

DM 6651

00 to 07 Start code (RS-232C)

00 to FF (binary)

08 to 15 When bits 12 to 15 of DM 6648 are set to 0:

Number of bytes received 00: Default setting (256 bytes) 01 to FF: 1 to 255 bytes

When bits 12 to 15 of DM 6648 are set to 1: End code (RS-232C) 00 to FF (binary)

00 to 03 Port settings

00: Standard (1 start bit, 7-bit data, even parity, 2 stop bits, 9,600 bps) 01: Settings in DM 6651

(Other settings will cause a non-fatal error and AR 1302 will turn ON.)

04 to 07 Not used. 08 to 11 Not used. 12 to 15 Communications mode

0: Host Link; 1: No-protocol (Other settings will cause a non-fatal error and AR 1302 will turn ON.)

00 to 07 Baud rate

00: 1.2K, 01: 2.4K, 02: 4.8K, 03: 9.6K, 04: 19.2K

08 to 15 Frame format

AR 1302 will turn ON to indicate a non-fatal system setting error if any value not between 00 and 11 is set.

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268

DM 6652 00 to 15 Transmission delay (Host Link)

0000 to 9999 (BCD): Set in units of 10 ms. (Other settings will cause a non-fatal error and AR 1302 will turn ON.)

DM 6653

00 to 07 Node number (Host Link)

00 to 31 (BCD) (Other settings will cause a non-fatal error and AR 1302 will turn ON.)

08 to 11 Start code enable (RS-232C, effective when bits 12 to 15 of DM6650 are set to 1.)

0: Disable 1: Set

12 to 15 End code enable (RS-232C, effective when bits 12 to 15 of DM6650 are set to 1.)

0: Disable (number of bytes received) 1: Set (specified end code) 2: CR, LF

268

Word(s) PageFunctionBit(s)

DM 6654

Error Log Settings (DM 6655)

The following settings are effective after transfer to the PC. DM 6655

00 to 07 Start code (effective when bits 08 to 11 of DM6650 are set to 1.)

00: 256 bytes 01 to FF: 1 to 255 bytes

08 to 15 End code

When bits 12 to 15 of DM6653 are set to 0: 00: 256 bytes 01 to FF: 1 to 255 bytes

When bits 12 to 15 of DM6653 are set to 1: Setting: 00 to FF (binary)

00 to 03 Style

0: Shift after 7 records have been stored 1: Store only first 7 records

Errors will not be stored if other values are set.

04 to 07 Not used. 08 to 11 Cycle time monitor enable

0: Detect long cycles as non-fatal errors 1: Do not detect long cycles

12 to 15 Low battery error enable

0: Generate a non-fatal error for low battery voltage. 1: Do not generate a non-fatal error.

1-2SectionBasic PC Operation and I/O Processes

268

Note If an out-of-range value is set, the following communications conditions will re-

sult. In that case, reset the value so that it is within the permissible range.

Communications mode: Host Link Communications format: Standard settings

(1 start bit, 7-bit data; even parity, 2 stop bits,

9,600 bps) Transmission delay: No Node number: 00

1-2 Basic PC Operation and I/O Processes

This section explains the PC Setup settings related to basic operation and I/O processes.

1-2-1 Startup Mode

The operation mode the PC will start in when power is turned on can be set as shown below.

Startup Mode Designation

00: Programming Console Mode Selector (If not connected: RUN mode) 01: Operating mode last used before power was turned off 02: Mode set in bits 00 to 07

Startup Mode (Bits 08 to 15: Valid when bits 00 to 07 are set to 02)

00: PROGRAM mode 01: MONITOR mode 02: RUN mode

Bit

DM6600

Default: Programming Console Mode Selector or RUN mode when Programming Console is not connected.

Note When the “startup mode designation” is set to 00 and pin 2 of the CPM2C CPU

1-2-2 Hold Bit Status

1-2SectionBasic PC Operation and I/O Processes

Unit’s DIP switch is ON, the CPM2C will enter RUN mode automatically, regardless of the Programming Console’s mode switch setting.

Make the settings shown below to determine whether, when the power supply is turned on, the Forced Status Hold Bit (SR 25211) and/or IOM Hold Bit (SR 25212) will retain the status that was in effect when the power was last turned off, or whether the previous status will be cleared.

Bit

15 0

DM6601

SR 25211 setting

0: Clear status 1: Retain status

SR 25212 setting

0: Clear status 1: Retain status

Default: Clear both.

Always 00

The Forced Status Hold Bit (SR 25211) determines whether or not the forced set/reset status is retained when changing from PROGRAM mode to MONITOR mode.

The IOM Hold Bit (SR 25212) determines whether or not the status of IR bits and LR bits is retained when PC operation is started and stopped.

Caution In PCs with capacitor backup, do not use the I/O Hold Bit Status and Forced Sta-

tus Hold Bit Status Bits (DM 6601) when the power to the PC is going to be turned off longer than the memory backup time of the internal capacitor. If the memory backup time is exceeded, memory status will be unstable even if the I/O Hold Bit Status and Forced Status Hold Bit Status Bits are used. Unpredictable results may occur if operation is attempted with unstable memory status.

Note 1. The memory backup time of the internal capacitor varies with the ambient

temperature, but is 20 days at 25C. Refer to hardware specifications for more details.

2. The memory backup time assumes that the internal capacitor is fully charged before power is turned off. Fulling charging the capacitor requires that power is supplied to the CPU Unit for at least 15 minutes.

1-2-3 Program Memory Write-protection

In CPM1, CPM1A, CPM2A, and CPM2C PCs, the program memory can be protected by setting bits 00 to 03 of DM 6602 to 1. Bits 04 to 07 determine whether Programming Console messages are displayed in English or Japanese.

Programming Console messages

0: English 1: Japanese

Program memory

0: Not write-protected 1: Write-protected

Default: English displays, not write-protected

Bit

DM6602

15 0

Always 00

Note DM 6602 itself can still be changed after the program memory has been write-

protected by setting bits 04 to 07 of DM 6602 to 1.

1-2-4 RS-232C Port Servicing Time (CPM2A/CPM2C/SRM1(-V2) Only)

The following settings are used to determine the percentage of the cycle time devoted to servicing the RS-232C port.

Bit

15 0

DM6616

Servicing time setting enable

00: Disabled (5% used) 01: Enabled (setting in bits 00 to 07 used)

Servicing time (%, valid with bits 08 to 15 are 01) 00 to 99 (BCD, two digits)

Default: 5% of cycle time

Example: If DM 6616 is set to 0110, the RS-232C port will be serviced for 10% of

the cycle time. The servicing time will be 0.34 ms minimum. The entire servicing time will not be used unless processing requests exist.

1-2SectionBasic PC Operation and I/O Processes

1-2-5 Peripheral Port Servicing Time

The following settings are used to determine the percentage of the cycle time devoted to servicing the peripheral port.

Servicing time setting enable

00: Disabled (5% used) 01: Enabled (setting in bits 00 to 07 used)

Servicing time (%, valid with bits 08 to 15 are 01) 00 to 99 (BCD, two digits)

Default: 5% of cycle time

Example: If DM 6617 is set to 0115, the peripheral port will be serviced for 15%

of the cycle time. The servicing time will be 0.34 ms minimum. The entire servicing time will not be used unless processing requests exist.

1-2-6 Cycle Monitor Time

Bit

DM6617

Bit

DM6618

15 0

Cycle Monitor Time Enable and Units

00: Setting disabled (time fixed at 120 ms) 01: Setting in 00 to 07 enabled; units:10 ms 02: Setting in 00 to 07 enabled; units:100 ms 03: Setting in 00 to 07 enabled; units:1 s

Cycle monitor time setting (When bits 08 to 15 are not 00)

00 to 99 (2 digits BCD; units set in bits 08 to 15.)

Default: 120 ms.

1-2SectionBasic PC Operation and I/O Processes

The cycle monitor time is used for checking for extremely long cycle times, as can happen when the program goes into an infinite loop. If the cycle time exceeds the cycle monitor setting, a fatal error (FALS 9F) will be generated.

Note 1. The units used for the maximum and current cycle times recorded in the AR

area (AR 14 and AR 15) are determined by the setting for the cycle monitor time in DM 6618, as shown below.

Bits 08 to 15 set to 01: 0.1 ms Bits 08 to 15 set to 02: 1 ms Bits 08 to 15 set to 03: 10 ms

2. If the cycle time is 1 s or longer, the cycle time read from Programming Devices will be 999.9 ms. The correct maximum and current cycle times will be recorded in the AR area.

Example

If 0230 is set in DM 6618, an FALS 9F error will not occur until the cycle time exceeds 3 s. If the actual cycle time is 2.59 s, the current cycle time stored in the AR area will be 2590 (ms), but the cycle time read from a Programming Device will be 999.9 ms.

A “cycle time over” error (non-fatal) will be generated when the cycle time exceeds 100 ms unless detection of long cycle times is disable using the setting in DM 6655.

1-2-7 Minimum Cycle Time

Make the settings shown below to standardize the cycle time and to eliminate variations in I/O response time by setting a minimum cycle time.

If the actual cycle time is shorter than the minimum cycle time, execution will wait until the minimum time has expired. If the actual cycle time is longer than the minimum cycle time, then operation will proceed according to the actual cycle time. AR 2405 will turn ON if the minimum cycle time is exceeded.

1-2-8 Input Time Constants

Make the settings shown below to set the time from when the actual inputs from the DC Input Unit are turned ON or OFF until the corresponding input bits are updated (i.e., until their ON/OFF status is changed). Make these settings when you want to adjust the time until inputs stabilize.

Increasing the input time constant can reduce the effects from chattering and external noise.

Bit

15 0

DM6619

Cycle time (4 digits BCD)

0000:Cycle time variable 0001 to 9999: Minimum cycle time (Unit: 1 ms)

Default: Cycle time variable

Input from an input device such as a limit switch

Input bit status

The SRM1(-V2) does not have this setting.

Input time constant

1-2SectionBasic PC Operation and I/O Processes

CPM1/CPM1A PCs Set the input time constants for CPM1/CPM1A inputs from a Programming De-

vice.

Input Time Constants for IR 000

Bit

15 0

DM 6620

Time constant for IR 00007 to IR 00011 (1 digit BCD; see below.)

Time constant for IR 00005 to IR 00006 (1 digit BCD; see below.)

Time constant for IR 00003 to IR 00004 (1 digit BCD; see below.)

Time constant for IR 00000 to IR 00002 (1 digit BCD; see below.)

Default: 0000 (8 ms for each)

Input Time Constants for IR 001 to IR 009

Bit

DM 6621: IR 001 and IR 002 DM 6622: IR 003 and IR 004 DM 6623: IR 005 and IR 006 DM 6624: IR 007 and IR 008 DM 6625: IR 009

Time constant for IR 002, IR 004, IR 006, and IR 008 Time constant for IR 001, IR 003, IR 005, IR 007, and IR 009

Default: 0000 (8 ms for each)

DM 6621 to DM 6625

15 0

The nine possible settings for the input time constant are shown below. (Set only the rightmost digit for each setting for IR 000.)

00: 8 ms 01: 1 ms 02: 2 ms 03: 4 ms 04: 8 ms 05: 16 ms 06: 32 ms 07: 64 ms 08: 128 ms

The CPM1/CPM1A’s I/O response time is the input time constant (1 ms to 128 ms; default is 8 ms) + the cycle time.

Refer to 8-1 CPM1/CPM1A Cycle Time and I/O Response Time for more details.

CPM2A/CPM2C PCs Set the input time constants for CPM2A/CPM2C inputs from a Programming De-

vice.

Input Time Constants for IR 000

Bit

15 0

DM 6620

Time constant for IR 00007 to IR 00011 (1 digit BCD; see below.)

Time constant for IR 00005 to IR 00006 (1 digit BCD; see below.)

Time constant for IR 00003 to IR 00004 (1 digit BCD; see below.)

Time constant for IR 00000 to IR 00002 (1 digit BCD; see below.)

Default: 0000 (10 ms for each)

Input Time Constants for IR 001 to IR 009

Bit

DM 6621: IR 001 and IR 002 DM 6622: IR 003 and IR 004 DM 6623: IR 005 and IR 006 DM 6624: IR 007 and IR 008 DM 6625: IR 009

DM 6621 to DM 6625

15 0

Time constant for IR 002, IR 004, IR 006, and IR 008 Time constant for IR 001, IR 003, IR 005, IR 007, and IR 009

Default: 0000 (10 ms for each)

The nine possible settings for the input time constant are shown below. (Set only

Ou pu s a d a

the rightmost digit for IR 000.) 00: 10 ms 01: 1 ms 02: 2 ms 03: 3 ms 04: 5 ms

05: 10 ms 06: 20 ms 07: 40 ms 08: 80 ms

1-2-9 Error Log Settings

Error Detection and Error Log Operation (DM 6655)

Make the settings shown below to determine whether or not a non-fatal error is to be generated when the cycle time exceeds 100 ms or when the voltage of the built-in battery drops (CPM2A/CPM2C only), and to set the method for storing records in the error log when errors occur.

Bit

DM6655

1-3SectionCPM2C Changes in SW2

15 0

Low battery voltage detection

0: Detect 1: Don’t detect

Cycle time over detection

0: Detect 1: Don’t detect

Error log storage method

0: Error records for the 7 most recent errors always stored (older errors deleted). 1: Only the first 7 error records stored (no errors stored beyond that point). 2 to F: Error records not stored.

Default: Low battery voltage and cycle time over errors detected, and error records stored for the 7 most recent errors.

Battery errors and cycle time overrun errors are non-fatal errors. For details on the error log, refer to Section 9 Troubleshooting.

Note The low battery error is applicable to CPM2A/CPM2C only. This digit isn’t used in

CPM1/CPM1A/SRM1(-V2) PCs and CPM2C PCs that aren’t equipped with a battery.

1-3 CPM2C Changes in SW2

The connection of a Programming Console to the peripheral connector is automatically detected for CPM2C CPU Units with lot numbers of 0190O (1 September 2000) or later. This has resulted in a change to the operation of SW2 on the front of the CPU Unit. Check the lot number to confirm the operation of SW2 for any of the following model numbers before attempting operations.

Always 0

CPU Units with Changed Specifications for SW2

Interpreting Lot Numbers

I/O Units with Relay

Outputs and a

Terminal Block

10 I/O points CPM2C-10CDR-D

CPM2C-10C1DR-D

20 I/O points --- CPM2C-20CDTC-D

Lot No. 01 9 0 O

Units with Transistor Outputs and a

Connector

Sinking outputs Sourcing outputs

CPM2C-10CDTC-D CPM2C-10C1DTC-D

CPM2C-20C1DTC-D

Factory identification number (indicated on the side of the product only) Year: Rightmost digit (2000 = 0)

Month: JAN to SEP = 1 to 9

OCT to NOV = X to Z

Day: 1 to 31

CPM2C-10CDT1C-D CPM2C-10C1DT1C-D

CPM2C-20CDT1C-D CPM2C-20C1DT1C-D

Operation Previous CPU Units

The following instructions apply to CPU Units with lot numbers of 3180O (August

2000) or earlier.

The previous CPU Units do not detect a Programming Console connected to the peripheral port, and SW2 of the DIP switch was used to set either “Programming Console” or “Other device.”

SW2 Setting

1-3SectionCPM2C Changes in SW2

Communications Switch

PC Setup

Address Bits Setting

DM6600 08 to 15 00 Hex

Setting Meaning

OFF Programming Console connected to peripheral port. ON Device other than Programming Console connected to peripheral port.

SW1 Setting

Setting Meaning

OFF Use PC Setup settings for RS-232C port (DM 6645 to DM 6649). ON Use default settings for RS-232C port.

The relationship between the PC Setup settings, the setting of SW2, and the startup operating mode for previous CPU Units is shown in the following table.

CPM2C Operating Mode

According to communications switch SW2 and peripheral port device.

Peripheral device

OFF ON

Nothing connected PROGRAM mode RUN mode Programming

Console Other PROGRAM mode

According to Programming Console key switch.

(See note.)

SW2 setting

PROGRAM mode (See note.)

PROGRAM mode

Note: Communications will not be possible between the CPM2C and the

peripheral device for these combinations. 01 Hex Mode used immediately before power interruption 02 Hex Mode specified in bits 00 to 07.

00 to 07

00 Hex PROGRAM mode 01 Hex MONITOR mode 02 Hex RUN mode

Note 1. The default setting for DM 6600, bits 06 to 15 is 00 Hex, i.e., according to the

communications switch on the front panel. If SW2 is set for connecting a device other than a Programming Console to the peripheral connector, the CPU Unit will start in RUN mode as soon as power is turned ON. Be sure that adequate precautions are taken to ensure safety.

2. If SW2 is for connecting a device other than a Programming Console to the peripheral connector, the CPU Unit will start in RUN mode as soon as power is turned ON even it a device is connected to the RS-232C port. Be sure that adequate precautions are taken to ensure safety.

Connections

IBM PC/AT or compatible

XW2Z-200S-V XW2Z-500S-V

1-3SectionCPM2C Changes in SW2

CPM2C-CN111

CS1W-CN118

SECTION 2

Special Features

This section explains special features of the CPM1, CPM1A, CPM2A, CPM2C (including the CPM2C-S), and SRM1(-V2).

2-1 CPM2A/CPM2C Interrupt Functions 26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-1 Processing the Same Memory Locations with the Main Program

2-1-2 Interrupt Inputs 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-3 Interval Timer Interrupts 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1-4 Precautions on Programming Interrupts 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2 CPM2A/CPM2C High-speed Counters 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-1 Using High-speed Counters 47. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-2-2 Input Interrupts In Counter Mode 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3 CPM1/CPM1A Interrupt Functions 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-1 Types of Interrupts 77. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-2 Input Interrupts 79. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-3 Masking All Interrupts 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-4 Interval Timer Interrupts 84. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-5 High-speed Counter Interrupts 86. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-3-6 Precautions on Programming Interrupts 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4 SRM1(-V2) Interrupt Functions 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-1 Types of Interrupts 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-4-2 Interval Timer Interrupts 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5 CPM2A/CPM2C Pulse Output Functions 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5-1 Using Single-phase Pulse Outputs Without Acceleration

2-5-2 Using Pulse Outputs With Variable Duty Ratio 111. . . . . . . . . . . . . . . . . . . . . . . . . . .

2-5-3 Using Pulse Outputs With Trapezoidal Acceleration and Deceleration 117. . . . . . . .

2-6 CPM1A Pulse Output Functions 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-1 Programming Example in Continuous Mode 132. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-2 Programming Example in Independent Mode 132. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-3 Using Pulse Output Instructions 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-4 Changing the Frequency 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-6-5 Stopping Pulse Output 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-7 Synchronized Pulse Control (CPM2A/CPM2C Only) 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8 Data Computation Standards 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8-1 Pulse Outputs 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-8-2 Synchronized Pulse Control 146. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-9 Analog I/O Functions (CPM1/CPM1A/CPM2A/CPM2C Only) 147. . . . . . . . . . . . . . . . . . . . .

2-10 Temperature Sensor Input Functions (CPM1A/CPM2A/CPM2C Only) 147. . . . . . . . . . . . . . .

2-11 CompoBus/S I/O Slave Functions (CPM1A/CPM2A/CPM2C Only) 147. . . . . . . . . . . . . . . . .

2-12 CompoBus/S I/O Master Functions (SRM1(-V2) and CPM2C-S Only) 148. . . . . . . . . . . . . . .

2-13 Analog Controls (CPM1/CPM1A/CPM2A Only) 150. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-14 Quick-response Inputs 153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-14-1 CPM1/CPM1A Quick-response Inputs 153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-14-2 CPM2A/CPM2C Quick-response Inputs 154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-15 Macro Function 157. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-16 Calculating with Signed Binary Data 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-16-1 Definition of Signed Binary Data 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-16-2 Arithmetic Flags 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-16-3 Inputting Signed Binary Data Using Decimal Values 159. . . . . . . . . . . . . . . . . . . . . .

2-17 Differential Monitor 159. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-18 Expansion Instructions (CPM2A/CPM2C/SRM1(-V2) Only) 160. . . . . . . . . . . . . . . . . . . . . .

2-18-1 CPM2A/CPM2C/CPM2C-S Expansion Instructions 161. . . . . . . . . . . . . . . . . . . . . .

2-18-2 SRM1(-V2) Expansion Instructions 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-19 Using the CPM2A/CPM2C Clock Function 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-19-1 Data Area Words 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-19-2 Setting the Time 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

and Interrupt Subroutines 27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

and Deceleration (Fixed Duty Ratio) 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2-1 CPM2A/CPM2C Interrupt Functions

2-1SectionCPM2A/CPM2C Interrupt Functions

Types of Interrupts

The CPM2A and CPM2C (including the CPM2C-S) provide the following kinds of interrupt processing. Interrupts may be disabled temporarily when online editing is performed during operation or STUP(––) is executed to change settings.

Note *Input points 00005 and 00006 do not exist in CPM2C CPU Units with only 10 I/O

points or in CPM2C-S CPU Units. In these CPU Units, interrupt subroutine numbers 000 and 001 are allocated to input points 00003 and 00004.

Interrupt Inputs

Interrupt programs are executed when inputs to the CPU Unit’s built-in input points (00003 to 00006*) are turned from OFF to ON. Interrupt subroutine numbers 000 to 003* are allocated to input points 00003 to 00006*.

Interval Timer Interrupts

Interval timer interrupt programs are executed with a precision of 0.1 ms. Interrupt subroutine numbers 000 to 049 are allocated by instructions.

Count-up Interrupts Using Interrupt Inputs (Counter Mode)

Input signals to the CPU Unit’s built-in input points (00003 to 00006*) are counted at high speed (2 kHz), and the normal program is stopped and an interrupt program is executed. Interrupt subroutine numbers 000 to 003* are allocated to input points 00003 to 00006*.

Count-check Interrupts Using the High-speed Counter

Pulse inputs to the CPU Unit’s input points (00000 to 00002) are counted at high speed (20 kHz/5 kHz), and an interrupt program is executed when the present value matches the target value or falls within a given range. Interrupt subroutine numbers 000 to 049 are allocated by instructions.

Writing Interrupt Programs

Note Interrupts will be temporarily disabled if online editing is performed during opera-

tion or if the PC Setup is changed during operation (including changes made with STUP(––).

Interrupt programs are defined as interrupt subroutines within the user program. Just like ordinary subroutines, an interrupt subroutine is defined by SBN(92) and RET(93). It is written at the end of the normal program.

Normal program

Interrupt program

Subroutine

1, 2, 3... 1. A new interrupt can be defined in an interrupt subroutine, and an existing

one can be cleared.

2. Within any given interrupt subroutine, it is not possible to write another subroutine for processing another interrupt. Do not nest another interrupt subroutine between the SBN(92) and RET(93) instructions.

3. It is not possible to write a subroutine program within an interrupt subroutine. Do not nest an ordinary subroutine program between the SBN(92) and RET(93) instructions.

4. It is not possible to write an interrupt subroutine within an ordinary subroutine program. Do not nest an interrupt subroutine between the SBN(92) and RET(93) instructions.

When an interrupt subroutine is defined, an SBS UNDEFD error will be generated during the program check but execution will be normal.

Caution Although IORF(97) can be used in interrupt subroutines, you must be careful of

the interval between IORF(97) executions. If IORF(97) is executed too frequently, a fatal system error may occur (FALS 9F), stopping operation. The interval between executions of IORF(97) should be at least 1.3 ms + total execution time of the interrupt subroutine.

2-1SectionCPM2A/CPM2C Interrupt Functions

Order of Priority for Interrupts

Interrupt inputs Count-up interrupts Interval timer

The order of priority for interrupts is as follows:

=>=

If an interrupt with a higher priority is generated. during interrupt program execution, the interrupt that is currently being processed will be stopped and the new interrupt will be processed first. Then the original interrupt will be resumed after the higher-priority interrupt processing has been completed.

If interrupts of the same priority are generated simultaneously, they will be processed in the following order:

Interrupt input 0 → Interrupt input 1 → Interrupt input 2 → Interrupt input 3 (in- cluding count-up mode)

Interval timer interrupt → High-speed counter interrupt

interrupts

High-speed counter count check interrupts

2-1-1 Processing the Same Memory Locations with the Main Program

and Interrupt Subroutines

If a memory location is manipulated both by the main program and an interrupt subroutine, an interrupt mask must be set to disable interrupts. When an interrupt occurs, execution of the main program will be interrupted immediately, even during execution of an instruction. The intermediate processing results is saved for use after completing the interrupt subroutine, i.e., when the interrupt subroutine has been executed, execution of the main program is started from the same position with data restored to the previous condition. If any of the memory locations being used by the main program are changed in the interrupt subroutine, the changes will be lost when data is restored to the previous state when restarting execution of the main program. It is thus necessary to disable interrupts before and enable interrupts after any instructions that should be executed to completion even if an interrupt occurs.

Processing Interrupted between 1st and 3rd Operands

Flow of Processing

2-1SectionCPM2A/CPM2C Interrupt Functions

Interrupting Writing Multiple Words of Data

When the interrupt occurs while processing ADD, the addition result, 1235, is saved temporarily in memory and not stored in DM 0000. Although #0010 is moved to DM 0000 in the interrupt program, the addition result that was saved is written to DM 0000 as soon as processing returns to the main program, effectively undoing the results of the interrupt program.

Countermeasure for Above Problem

Flow of Processing

2-1SectionCPM2A/CPM2C Interrupt Functions

Processing was interrupted for BSET when #1234 was not yet written to DM

0010. Therefore, in the comparison at point *1, the contents of DM 0000 and DM 0001 are not equal and processing stops with A in the OFF state. As a result, although the contents of DM 0000 and DM 0010 agree at the value 1234, an incorrect comparison result is reflected in comparison result output A.

Countermeasure for Above Problem

2-1-2 Interrupt Inputs

(

2-1SectionCPM2A/CPM2C Interrupt Functions

By turning the CPU Unit’s built-in input points from OFF to ON, the normal program can be stopped and the interrupt program executed. The interrupt inputs are allocated to four points (00003 to 00006, see note).

Interrupt input

(See note.) (See note.)

Normal program

Interrupt program

Subroutine

Note Input points 00005 and 00006 do not exist in CPM2C CPU Units with only 10 I/O

points or in CPM2C-S CPU Units.

Input number

(Note 1)

00003 0 000 00004 1 001 00005

(See note 3.) 00006

(See note 3.)

Interrupt

number

2 002

3 003

Subroutine

number (Note 2)

Minimum

input signal

width

50 µs 0.3 ms (from

Interrupt

response time

when input turns

until program

execution)

Note 1. Input numbers 00003 to 00006 can be used for any of the following func-

tions: interrupt inputs, interrupt inputs (counter mode), or quick-response inputs. When not being used for any of these, they can be used as ordinary inputs.

2. Subroutine numbers 000 to 003 are the subroutine numbers for interrupt programs started up when interrupt inputs or count-up interrupts for interrupt inputs (counter mode) are generated. When not being used for this purpose, they can be used as ordinary inputs.

3. Input points 00005 and 00006 do not exist in CPM2C CPU Units with only 10 I/O points or in CPM2C-S CPU Units.

2-1SectionCPM2A/CPM2C Interrupt Functions

The following table shows the relationships between interrupt inputs and the CPM2A/CPM2C PC’s other functions.

Function Interrupt inputs (counter mode) Synchronized pulse control Can be used simultaneously. Interrupt inputs See note 1. Interval timer interrupts Can be used simultaneously. High-speed counters Can be used simultaneously. Interrupt inputs (counter mode) See note 1. Pulse outputs Can be used simultaneously. Quick-response inputs See note 1. Input time constant See note 2. Clock Can be used simultaneously.

Note 1. The same input number (from 00003 to 00006) cannot be used for more

than one of the following functions: interrupt inputs, interrupt inputs (counter mode), or quick-response inputs.

2. When inputs 00003 to 00006 are set for use as interrupt inputs (counter mode), the input time constants for the relevant inputs are disabled. The input time constants remain in effect, however, for the values for refreshing the relevant input relay area.

Procedure for Using Interrupt Inputs

Set the interrupt input number.

Wire the inputs.

PC Setup (DM 6628)

Create a ladder diagram program.

Input numbers: 00003 to 00006 (See note.)

Use as interrupt inputs (interrupt input mode or counter mode)

INT(89): For masking and unmasking interrupt inputs.

SBN(92) and RET(93): For creating interrupt subroutines.

2-1SectionCPM2A/CPM2C Interrupt Functions

Interrupt input

00003

00004

00005 (See note.) 00006 (See note.)

Interrupt input 0

Interrupt input 1

Interrupt input 2

Interrupt input 3

PC Setup

DM 6628

Ladder diagram programming

INT(89) instruction

Permission to use interrupt input

Interrupt is generated.

Specified subroutine executed.

(92)

(93)

Setting the Interrupt Input Number

Wiring the Inputs

Note Input points 00005 and 00006 do not exist in CPM2C CPU Units with only 10 I/O

points or in CPM2C-S CPU Units.

With interrupt inputs (interrupt input mode), the subroutine numbers executed for the input numbers are fixed.

Input number Interrupt number Subroutine number

00003 0 000 00004 1 001 00005 (See note.) 2 002 00006 (See note.) 3 003

The same input number (from 00003 to 00006) cannot be used for more than one of the following functions: interrupt inputs, interrupt inputs (counter mode), or quick-response inputs.

With a CPM2A, wire to the input terminals as shown in the following illustration.

Input number 00003: Interrupt input 0 Input number 00004: Interrupt input 1 Input number 00005: Interrupt input 2 Input number 00006: Interrupt input 3

2-1SectionCPM2A/CPM2C Interrupt Functions

1: Interrupt input

counter mode)

With a CPM2C, wire to the input terminals as shown in the following illustration.

(See note 2.)

Input terminals Input connector

(Example for Fujitsu-compatible connector.)

00004

00003

00006

00005

00004

00003

Note 1. Refer to the operation manual for your CPU Unit for information on wiring.

2. Input terminal and pin numbers depend on the model. Refer to the CPM2C Operation Manual (W356) for details.

PC Setup

Ladder Diagram Programming

The following table shows the settings in the PC Setup area related to interrupt input usage.

Word Bits Function Setting

DM 6628

00 to 03 Interrupt setting for

input 00003

04 to 07 Interrupt setting for

input 00004

08 to 11 Interrupt setting for

input 00005*

12 to 15 Interrupt setting for

input 00006*

0: Normal input

(interrupt input mode or counter mode)

2: Quick-response input

Note *Input points 00005 and 00006 do not exist in CPM2C CPU Units with only 10 I/O

points and in CPM2C-S CPU Units.

The settings will go into effect when the mode is changed (from PROGRAM to MONITOR/RUN) or when the power supply is turned ON to the CPM2A/ CPM2C.

The following table shows the instruction operations related to interrupt input control.

Instruction Control Operation

(@)INT(89)

Mask/unmask interrupt inputs

Clear interrupt inputs Clears the cause of a prohibited interrupt

Read current mask status

Mask all interrupts Prohibits all interrupts, including interrupt

Unmask all interrupts Permits all interrupts, including interrupt

Prohibits or permits specified interrupts.

input. Reads the permitted/prohibited status of

an interrupt input.

inputs, interval timer interrupts, high-speed counters, etc.

2-1SectionCPM2A/CPM2C Interrupt Functions

Masking or Unmasking Interrupt Inputs

This function is used to mask or unmask input numbers 00003 to 00006 (interrupt inputs 0 to 3).

(@)INT(89)

Interrupt control designation (000: Mask/unmask interrupt inputs)

000

Fixed at 000.

Control data word

Specifies/stores 0.

Specifies input 00006 (interrupt input 3).

Specifies input 00005 (interrupt input 2).

Specifies input 00004 (interrupt input 1).

Specifies input 00003 (interrupt input 0).

0: Clear mask (interrupt input permitted).

1: Set mask (interrupt input prohibited).

All interrupt inputs are prohibited at the beginning of operation (in either PROGRAM mode or in RUN/MONITOR mode). To use interrupt inputs, use INT(89) to permit them.

Clearing Interrupt Inputs

This function is used to clear input numbers 00003 to 00006 (interrupt inputs 0 to

3). Since interrupt inputs are recorded, masked interrupts will be serviced after the mask is removed unless they are cleared first. Use INT(89) to clear the cause of the interrupt inputs so that they will not be executed when interrupt inputs are permitted (i.e., when the mask is removed).

(@)INT(89)

001

Interrupt control designation (001: Clear interrupt inputs)

000

Fixed at 000.

Control data word

Specifies/stores 0.

Specifies input 00006 (interrupt input 3).

Specifies input 00005 (interrupt input 2).

Specifies input 00004 (interrupt input 1).

Specifies input 00003 (interrupt input 0).

0: Retain cause of interrupt input.

1: Clear cause of interrupt input.

While interrupt inputs are masked, one cause is recorded for each interrupt input.

2-1SectionCPM2A/CPM2C Interrupt Functions

Reading Current Mask Status

This function is used to read the current mask status for input numbers 00003 to 00006 (interrupt inputs 0 to 3).

(@)INT(89)

002

Interrupt control designation (002: Read current mask status)

000

Fixed at 000.

Control data word

Specifies/stores 0.

Specifies input 00006 (interrupt input 3).

Specifies input 00005 (interrupt input 2).

Specifies input 00004 (interrupt input 1).

Specifies input 00003 (interrupt input 0).

0: Mask is cleared (interrupt inputs permitted).

1: Mask is set (interrupt inputs prohibited).

Masking or Unmasking All Interrupts

This function is used to mask or unmask all interrupt processing, including interrupt inputs (interrupt input mode and counter mode), interval timer interrupts, and high-speed counters. Masked inputs are recorded, but ignored.

Masking All Interrupts

(@)INT(89)

100

Interrupt control designation (100: Mask all interrupts)

000

Fixed at 000. Fixed at 000.

000

Unmasking All Interrupts

(@)INT(89)

200

Interrupt control designation (200: Unmask all interrupts)

000

Fixed at 000. Fixed at 000.

000

The masking or unmasking all interrupts cannot be executed within an interrupt subroutine.

If causes for interrupts occur while all interrupts are masked, the causes will be recorded for each interrupt but the interrupt processing will not be executed. When “unmask all interrupts” is executed, the processing will then be carried out according to the interrupt mask status at that point in time.

Interrupt masks cannot be cleared simply by executing “unmask all interrupts.” Executing “unmask all interrupts” merely restores the status that was in effect prior to the execution of “mask all interrupts.”

Note INT(89) must be executed in order, with “mask all interrupts” followed by “un-

mask all interrupts.”

Operation Example

Explanation

2-1SectionCPM2A/CPM2C Interrupt Functions

In this example, an interrupt subroutine is executed by turning input 00003 from OFF to ON. The interrupt subroutine adds 1 to DM 0000.

Wiring

The following diagram shows input wiring in the CPM2A.

The following diagram shows input wiring in the CPM2C.

Input terminals Input connector

(Example for Fujitsu-compatible

connector.) Input device

Input device

(See note 2.)

PC Setup

DM 6628

Input device

15 0

0 0 0 1

Input 00003 is used as an interrupt input. (Inputs 00004 to 00006 are used as ordinary inputs.)

Programming

2-1SectionCPM2A/CPM2C Interrupt Functions

ON for 1 cycle at beginning of operation

Clears Increment Area (DM 0000).

Always ON

2-1-3 Interval Timer Interrupts

One interval timer (precision: 0.1 ms) is supported and it can be set from 0.5 ms to 319,968 ms. There are two interrupt modes: the one-shot mode, in which a single interrupt is executed when the time is up, and the scheduled-interrupt mode, in which interrupts are executed at regular intervals.

(89)

Permits interrupt for interrupt input 0 (input 00003).

Executed when input 00003 turns from OFF to ON.

Normal program

Interrupt program

Subroutine

One-shot mode Scheduled-interrupt mode

Operation Interrupt is executed once

when time has elapsed. Set time 0.5 to 316,968 ms (Unit: 0.1 ms) Interrupt

response time

0.3 ms (from when time has elapsed until execution of interrupt

program)

Interval timer interrupt

Interrupts are executed at regular intervals.

The following table shows the relationships between interval timer interrupts and the CPM2A/CPM2C’s other functions.

Synchronized pulse control Can be used simultaneously. Interrupt inputs Can be used simultaneously. Interval timer interrupts --High-speed counters Can be used simultaneously. Interrupt inputs (counter mode) Can be used simultaneously. Pulse outputs Can be used simultaneously. Quick-response inputs Can be used simultaneously. Input time constant Can be used simultaneously. Clock Can be used simultaneously.

Procedure for Using Interval Timer Interrupts

Select the mode. Either one-shot mode or schedule-interrupt mode

2-1SectionCPM2A/CPM2C Interrupt Functions

Interval timer interrupts

Selecting the Mode

Ladder diagram programming STIM(69)

Interval timer

Ladder diagram programming

STIM(69)

INTERVAL TIMER instruction

Start timer One-shot mode

Scheduled-interrupt mode

Read elapsed time

Select either the one-shot mode or the scheduled-interrupt mode.

One-shot Mode

Normal program Normal program

Interrupt is executed.

Specified subroutine is executed.

SBN(92)

RET(93)

Interrupt program

Interval timer interrupt

Interval timer operation

Start timer

Scheduled-interrupt Mode

() ( )

Normal program

Interval timer interrupt

Interval timer operation

Start timer

In the scheduled-interrupt mode, the timer is reset each time the interrupt program is called when the set time elapses, and then the interval timer operates again.

Be careful with regard to the interrupt program’s execution time and the interval timer’s set time. If the interrupt program’s execution time exceeds the interval timer’s set time, scheduled interrupts cannot be executed properly.

2-1SectionCPM2A/CPM2C Interrupt Functions

Interrupt program

Ladder Diagram Programming

The following table shows the instruction operations related to interrupt input control.

Instruction Control Operation

(@)STIM(69)

Start one-shot timer Starts interval timer in one-shot mode. Start scheduled-interrupt

timer

Starts interval timer in

scheduled-interrupt mode. Read timer PV Reads the timer PV. Stop timer Stops timer operations.

(@)INT(89)

Mask all interrupts Prohibits all interrupts, including interrupt

inputs, interval timer interrupts,

high-speed counters, etc. Unmask all interrupts Permits all interrupts, including interrupt

inputs, interval timer interrupts,

high-speed counters, etc.

Starting Timers

This function sets the mode (one-shot or scheduled-interrupt) and the timer’s SV, and starts the interval timer.

One-shot Mode

(@)STIM(69)

000

Control designation (000: Start one-shot timer)

First word of timer SV

Subroutine number (4 digits BCD: 0000 to 0049)

Scheduled-interrupt Mode

(@)STIM(69)

003

C2+1

Decrementing counter initial value (4 digits Hex): 0000 to 9999

Decrementing time interval (4 digits BCD; unit: 0.1 ms): 0005 to 0320 (0.5 to 32 ms)

Control designation (003: Start scheduled-interrupt timer) First word of timer SV

Subroutine number (4 digits BCD): 0000 to 0049

2-1SectionCPM2A/CPM2C Interrupt Functions

The interval from when STIM(69) is executed until the set time elapses is calculated as follows:

(Content of word C

(0.5 to 319,968 ms)

When a constant is set for C2, that value will be taken as the decrementing counter initial value, and the decrementing time interval will become 10 (1 ms). (The SV is specified just as it is, in units of ms.)

Reading Timer PVs

This function reads interval timer PVs.

(@)STIM(69)

006

Stopping Timers

This function stops the interval timer.

) x (Content of words C2 + 1) x 0.1 ms

Control designation (006: Read timer PV)

C2+1

Number of times decrementing timer is decremented (4 digits Hex)

Decrementing time interval (4 digits BCD; unit: 0.1 ms)

Time elapsed since last decrement (4 digits BCD; unit: 0.1 ms)

(@)STIM(69)

010

Control designation (010: Stop timer)

000

Fixed: 000

000

Fixed: 000

Masking or Unmasking All Interrupts

For details on masking/unmasking all interrupts, refer to 2-1-2 Interrupt Inputs and 7-29 Interrupt Control Instructions.

Operation Example

One-shot Mode

2-1SectionCPM2A/CPM2C Interrupt Functions

Explanation

In this example, the timer is started when the execution condition (00005) turns from OFF to ON. When the time (approx. 1 s) has elapsed, the interrupt subroutine is executed one time. When the interrupt subroutine is executed, 1 is added to DM 0000.

Elapsed time: 100 x 100 x 0.1 = 1,000 ms

Programming

ON for 1 cycle at beginning of operation

Clears Increment Area (DM 0000).

Decrement counter setting

Count: 100 (0000 to 9999 BCD)

Count interval setting

Count interval setting: 10 ms (0005 to 0320 BCD)

(Execution condition)

Always ON

Starts interval timer in one-shot mode.

(69)

Executes interrupt one time only when time elapses.

Scheduled-interrupt Mode

2-1SectionCPM2A/CPM2C Interrupt Functions

Explanation

In this example, the timer is started when the execution condition (00005) turns from OFF to ON. Then the interrupt subroutine is executed each time that the set time (approx. 1 s) elapses. Each time the interrupt subroutine is executed, 1 is added to DM 0000.

Elapsed time: 100 x 100 x 0.1 = 1,000 ms

Programming

ON for 1 cycle at beginning of operation

Clears Increment Area (DM 0000).

Decrement counter setting

Count: 100 (0000 to 9999 BCD)

Count interval setting

Count interval setting: 10 ms (0005 to 0320 BCD)

Starts interval timer in scheduled-interrupt mode.

(Execution condition)

Always ON

(69)

Executes interrupt each time the set time elapses.

2-1-4 Precautions on Programming Interrupts

If words in memory are being manipulated both in the main program and in an interrupt program, the interrupts must be masked when the words are being manipulated in the main program.

When an interrupt occurs, any instruction being executed in the main program will be interrupted and processing data will be temporarily stored while the interrupt program is being executed. When execution of the interrupt program has been completed, the original execution status of the main program will be restored and execution will be continued. Thus, if the manipulation of words in the main program is interrupted and the same words are altered in the interrupt program, the words altered in the interrupt program will simply be restored to the status that was in the process of being written in the main program, effectively canceling the result of the interrupt program. If there are instructions that should not be interrupted during processing in the main program, disable interrupts before and after executing them.

The are two cases in which the above problem can occur: When manipulating the contents of one word and when manipulating the contents of multiple words.

2-1SectionCPM2A/CPM2C Interrupt Functions

Manipulating One Word

Main Program

ADD instruction

A problem can occur in the situation shown below because processing of the ADD instruction could be interrupted between the 1st and 3rd operands and the MOV instruction then executed in the interrupt program.

ADD (30)

DM0000 #0001 DM0000

Flow of Processing

The processing that would occur when the ADD instruction above is interrupted is illustrated below.

Contents of DM 0000 read (1234)

BCD add executed (1234 + 1 = 1235)

Processing interrupted

Data temporarily buffered

Add result (1235)

Interrupt Program

Interrupt generated

MOV executed

#0010 moved to DM 0000

Interrupt program ended

MOV (21)

#0010 DM0000

DM0000

1234

0010

Processing continued

Add result (1235) written

1235

Processing is interrupted before the result of the add operation can be written to DM 0000 and the result is buffered. The interrupt program writes #0010 to DM 0000, but this is immediately overwritten by the result of the add (1235) as soon as execution of the interrupt program has been completed. In other words, the result of the interrupt program have been consequently nullified.

Solution

The INT instruction can be used to enable and disable interrupts before and after the add operation as shown below.

Main program

INT (89)

100

Interrupts disabled.

000 000

ADD (30)

DM0000 #0001 DM0000

INT (89)

200

Interrupts enabled.

000 000

2-1SectionCPM2A/CPM2C Interrupt Functions

Manipulating Multiple Words

#1234 transferred to DM 0000

#1234 transferred to DM 0001

Processing interrupted

BSET instruction

A problem can occur in the situation shown below because processing of the BSET instruction could be interrupted before all of the data for BSET has been written and the CMP instruction then executed in the interrupt program.

Main Program

BEST (71)

#1234 DM0000 DM0010

Interrupt Program

25506 (=)

CMP (20)

DM0000 DM0010

Flow of Processing

The processing that would occur when the BSET instruction above is interrupted is illustrated below.

DM0010 ADM0000 DM0001 DM0002

ABCD

Processing for CMP

Interrupt generated

DM 0000 read.

DM 0010 read.

DM 0000 and DM 0010 compared

Comparison result output

Interrupt program ended

1234

003E

1234

0502

OFF

OFF∗1

Processing continued

#1234 transferred to DM 0002

#1234 transferred to DM 0010

0502

ABCD1234

1234 1234 1234 1234∗2

OFF

Processing is interrupted before #1234 can be written to DM 0010. Bit A in the interrupt program is thus turned OFF and will remain OFF when execution of the main program is resumed even though the contents of DM 0000 and DM 0010 will be the same as soon as the main program is resumed, i.e., the result of the comparison is not correct

Solution

The INT instruction can be used to enable and disable interrupts before and after the BSET instruction as shown below.

Main program

INT (89)

100

Interrupts

000

disabled.

000

BEST (71)

#1234 DM0000 DM0010

INT (89)

200 000 000

Interrupts enabled.

2-2 CPM2A/CPM2C High-speed Counters

0000

co pa so e up s

CPM2A CPU Units and most CPM2C CPU Units have five points for high-speed counters: One point for a high-speed counter with a maximum response frequency of 20 kHz, and four points for interrupt inputs (counter mode).

CPM2C CPU Units with 10 I/O points have four points for high-speed counters: One point for a high-speed counter with a maximum response frequency of 20 kHz, and three points for interrupt inputs (counter mode).

2-2SectionCPM2A/CPM2C High-speed Counters

High-speed counters

Types of High-speed Counters

High-speed counter

1 point

Interrupt inputs (counter mode)

4 points

(2 points in CPM2C CPU Units with 10 I/O points and CPM2C-S CPU Units)

No interrupts

Count check interrupts

No interrupts

Count-up interrupts

Target value comparison interrupts

Range comparison interrupts

The CPM2A/CPM2C provides both a built-in high-speed counter and built-in interrupt inputs.

High-speed Counter

The built-in high-speed counter is a counter based on inputs to the CPU Unit’s built-in points 00000 to 00002. The high-speed counter itself has one point, and it can provide either an incrementing/decrementing or just an incrementing count depending on the mode setting.

Input No.

(See note.)

00000 00001 00002

Response frequency

5 kHz Differential phase input mode

20 kHz Pulse + direction input

Input mode (count value) Control method

(-8388608 to 8388607)

mode(-8388608 to 8388607)

Up/down pulse input mode (-8388608 to 8388607)

Increment mode (0 to 16777215)

Target value comparison interrupts

Range comparison interrupts

Note Input points not used for counter inputs can be used as ordinary inputs.

Interrupt Inputs (Counter Mode)

Interrupt inputs (counter mode) are counters based on inputs to the CPU Unit’s built-in points 00003 to 00006 (00003 to 00004 in CPM2C CPU Units with 10 I/O points and in CPM2C-S CPU Units). These counters have four points, and they can provide either an incrementing or decrementing count depending on the mode setting. Since this function utilizes interrupt inputs for counting, it is not possible to use the same inputs for other interrupt inputs.

Input No.

(See note.)

00003 00004 00005 00006

Response frequency

2 kHz Incrementing counter

Input mode (count value) Control method

(0000 to FFFF)

Decrementing counter (0000 to FFFF)

Count-up interrupts

Note 1. Input points not used for counter inputs can be used as ordinary inputs.

High-speed Counter Interrupts

Current count

Target values in incrementing direction

Target values in decrementing direction

2-2SectionCPM2A/CPM2C High-speed Counters

2. Input points 00005 and 00006 do not exist in CPM2C CPU Units with 10 I/O points and CPM2C-S CPU Units.

Interrupts by High-speed Counter (Count-check Interrupts)

Target Value Comparison Interrupts

The current count is compared to each target value in the order that they are registered in the table. When the count is the same as the current target value, an interrupt subroutine is executed. Up to 16 target values and interrupt subroutines can be registered in the table in either the incrementing or decrementing direction.

Upper limit 1

Lower limit 1

Upper limit 2

Lower limit 2

Counter PV

Range comparison condition 2 satisfied.

Match with target value during incrementing count

Interrupt processing can be executed when the current count matches a target value in either the incrementing or decrementing direction.

Match with target value during decrementing count

Time

Range Comparison Interrupts

A range comparison table contains up to eight ranges which are each defined by a lower limit and an upper limit, as well as their corresponding subroutine numbers. The corresponding subroutine is called and executed when the current count (the counter PV) falls within a given range.

Range comparison condition 1 satisfied.

Range comparison condition 2 satisfied.

Interrupt processing can be executed when a range comparison condition is satisfied. Furthermore, when the counter PV is within a range between an upper limit and a lower limit, the corresponding bits (from 0 to 7) in AR 11 will turn ON.

Count-up Interrupts by Interrupt Inputs (Counter Mode)

An interrupt subroutine is executed each time the condition is satisfied that the counter PV equals the counter SV (in incrementing mode) or 0 (in decrementing mode).

2-2-1 Using High-speed Counters

The CPM2A/CPM2C’s CPU Unit has one built-in channel for a high-speed counter that can count inputs at a maximum of 20 kHz. Using this in conjunction with the interrupt function enables target value comparison control or range comparison control to be executed without deviating from the cycle time.

Counter inputs

Reset input

2-2SectionCPM2A/CPM2C High-speed Counters

Sensor Rotary encoder

Item

Differential phase Pulse + direction Up/down input Increment

Input number

Input method Differential phase

Response frequency 5 kHz 20 kHz 20 kHz 20 kHz Count value –8388608 to 8388607 0 to 16777215 Counter PV storage destination

(See note 2.) Interrupts

Counter reset method Phase-Z signal + software reset: Counter is reset when IR 00002 turns ON while

00000 Phase-A inputs Pulse inputs CW inputs Pulse inputs 00001 Phase-B inputs Direction inputs CCW inputs See note 1. 00002 Phase-Z inputs (Reset inputs) (See note 1.)

Phase inputs Phase inputs Phase inputs

inputs (4X)

Words SR 248 (rightmost digit) and SR 249 (leftmost digit)

Target value comparison

Range comparison Up to eight ranges (with upper and lower limits) and subroutine numbers can be

Up to 16 target values and interrupt subroutine numbers can be registered in either the incrementing or decrementing direction.

registered.

SR 25200 is ON.

Software reset: Counter is reset when SR 25200 turns ON.

Input mode

Note 1. Input points not used for counter inputs can be used as ordinary inputs.

2. When not used for the counter PV storage destination, these words can be used as ordinary IR words.

3. SR 25200 is read once each cycle. Up to one cycle may be required for a reset to occur on the leading edge of phase Z.

The following table shows the relationships between the high-speed counter and the CPM2A/CPM2C’s other functions.

Operation Example

2-2SectionCPM2A/CPM2C High-speed Counters

Function Interval timer interrupts Synchronized pulse control Cannot be used simultaneously. Interrupt inputs Can be used simultaneously. Interval timer interrupts Can be used simultaneously. High-speed counters --Interrupt inputs (counter mode) Can be used simultaneously. Pulse outputs Can be used simultaneously. Quick-response inputs Can be used simultaneously. Input time constant See note. Clock Can be used simultaneously.

Note When inputs 00000 to 00002 are set for use as a high-speed counter, the input

time constants for the relevant inputs are disabled. The input time constants remain in effect, however, for the values for refreshing the relevant input relay area.

Select the input mode and reset

method.

Select the interrupts to be used.

Wire the inputs.

PC Setup (DM 6642)

Create a ladder diagram program.

Input mode: Differential phase input, pulse + direction input, up/down input, or increment

Reset method: Phase-Z + software reset, or software reset

No interrupts (Read high-speed counter PV, or read range comparison results)

Target value comparison interrupts

Range comparison interrupts

Input numbers: 00000, 00001, 00002

High-speed counter setting

Input mode: Differential phase input, pulse + direction input, up/down input, or increment

Reset method: Phase-Z + software reset, or software reset

CTBL(63): Register comparison table, start comparison

INI(61): Change PV, start comparison

PRV(62): Read high-speed counter PV, read high-speed counter comparison status, read range comparison results

SBN(92) and RET(93): Create interrupt subroutine program (when count-check interrupts are used)

2-2SectionCPM2A/CPM2C High-speed Counters

Encoder inputs

High-speed counter function

Input mode

Differential phase input

Pulse + direction input

Up/down input

Increment input

PC Setup

DM 6642, bits 00 to 03

Counter PV

SR 249 SR 248

Count

Every scan

PC Setup

DM 6642, bits 08 to 15

Ladder diagram program

CTBL(63)

Start comparison

INI(61)

MODE CONTROL instruction

Change PV Start/stop comparison

Each time

PRV(62)

HIGH-SPEED COUNTER PV READ instruction

Read PV Read comparison status

Read range comparison results

Count-check interrupt generated.

Specified subroutine executed (when count-check interrupts are used).

SBN(92)

RET(93)

Range comparison results

AR 1100 to AR 1107

Selecting the Input Mode and Reset Method

Input Mode

Select the input mode for the high-speed counter according to the signal type.

Differential Phase Input Mode

In the differential phase input mode, the count is incremented or decremented according to two differential phase signals with a multiplication of 4 (phase A and phase B).

Maximum frequency: 5 kHz

Phase A

OFF

Phase B

OFF

Count

Nms → Frequency =

1,000

N x 4

2-2SectionCPM2A/CPM2C High-speed Counters

Pulse + Direction Input Mode

In the pulse + direction input mode, pulse signals and direction signals are input, and the count is incremented or decremented according to the direction signal status.

Maximum frequency: 20 kHz

Pulse inputs

Direction inputs

OFF

Count

Nms → Frequency =

1,000

Up/Down Pulse Input Mode

In the up/down pulse input mode, CW signals (up pulses) and CCW signals (down pulses) are input, and the count is incremented or decremented accordingly.

Maximum frequency: 20 kHz

CW inputs

CCW inputs

OFF

Count

Incremented Decremented

Nms → Frequency =

1,000

Increment Mode

In the increment mode, pulse signals are input and the count is incremented with each pulse. IR 00001 can be used as an ordinary input.

Maximum frequency: 20 kHz

Pulse inputs

OFF

Count

Nms → Frequency =

1,000

When the differential phase input mode is used, the inputs must be 4X differential phase inputs. When an encoder is connected in this mode, the number of counts per revolution will be four times the encoder resolution. When selecting an encoder take into account the relationship with the number of counts that are possible.

2-2SectionCPM2A/CPM2C High-speed Counters

Count Values

The range of numbers counted by the high-speed counter are in linear mode only. If the count is outside of the permissible range, an overflow or underflow will result. The PV will become 0FFFFFFF if an overflow occurs, or FFFFFFFF if an underflow occurs, and the comparison will be stopped.

Differential phase input mode

Pulse + direction input mode

Up/down pulse input mode

Increment mode

Underflow (FFFFFFFF)

To restart the count following an overflow or underflow, reset the PV. (The PV is automatically reset whenever operation is started or stopped.)

Reset Method

Either of the following two methods can be selected for resetting the counter PV to 0.

Phase-Z Signal (Reset Input) + Software Reset

The PV is reset when a phase-Z signal (i.e., a reset input) turns ON while the High-speed Counter Reset Flag (25200) is ON.

Overflow (0FFFFFFF)

Phase Z

1 scan

Reset Reset ResetNot reset Not reset

Software Reset

The PV is reset when the High-speed Counter Reset Flag (25200) turns ON.

1 scan

Reset Not reset Not resetNot reset

The High-speed Counter Reset Flag (25200) is refreshed with every scan, so it must remain ON for at least one cycle time to be certain it is read.

Even when the PV is reset, the comparison table registration status, the comparison execution status, and the range comparison results are all retained just as they were before the PV reset. (If a comparison was underway prior to the PV reset, that comparison will be continued with no change following the reset.)

Following the reset, the High-speed Counter Reset Flag (25200) must be turned OFF in order to be able to execute the next reset. To be certain that it is turned OFF, it must be remain OFF for at least one cycle time.

Selecting the Interrupts to be Used

High-speed Counter Interrupts

High-speed counter interrupts use a comparison table and perform a count check by either of the methods described below (i.e., target value comparison or range comparison). If the conditions are satisfied, then an interrupt is generated.

2-2SectionCPM2A/CPM2C High-speed Counters

For details regarding interrupt priorities, refer to Order of Priority for Interrupts under 2-1 Interrupts.

If an interrupt is generated during execution of one of the high-speed counter control instructions, i.e., CTBL(63), INI(61), or PRV(62), these instructions will not be executed within the interrupt program.

Target Value Comparison Interrupts

Up to 16 combinations of comparison conditions (target value and count direction) and interrupt subroutine numbers can be registered in the comparison table. The specified subroutine is executed when the counter PV matches a target value in the comparison table.

Comparison table

Target value: 5,000 Count direction: Increment Subroutine number: 10

Target value: 1,000 Count direction: Increment Subroutine number: 8

Target value: 3,000 Count direction: Decrement Subroutine number: 9

Increment direction

Interrupt Interrupt Interrupt

Subroutine 8 executed

Subroutine 10 executed

Decrement direction

Time

Subroutine 9 executed

The relationship between the target value comparison count check and the comparison table is different for the CPM1/CPM1A. Refer to the individual manuals for details.

It is not possible to specify more than one comparison direction condition for the same target value in the comparison table.

Either target value comparison or range comparison can be used for high-speed counter interrupts.

Range Comparison Interrupts

Up to eight combinations of comparison conditions (upper limit and lower limit) and interrupt subroutine numbers can be registered in the comparison table. The specified subroutine is executed once when the counter PV is greater than or equal to the lower limit and less than or equal to the upper limit in the comparison table.

Comparison table

Lower limit: 1,000 Upper limit: 4,000 Subroutine number: 10

Lower limit: 3,000 Upper limit: 5,000 Subroutine number: 9

Interrupt Interrupt Interrupt

Subroutine 10 executed

Subroutine 9 executed

Interrupt

Time

Subroutine 10 executed

2-2SectionCPM2A/CPM2C High-speed Counters

If two or more comparison conditions are satisfied simultaneously (in the same cycle), the interrupt for the condition closest to the beginning of the comparison table will be executed.

Either target value comparison or range comparison can be used for high-speed counter interrupts.

If an interrupt is generated while an instruction controlling the high-speed counter is being executed in the normal program area, the CTBL(63), INI(61), and PRV(62), instructions will not be executed within the interrupt program. This situation can be avoided by means of the following programming.

Method 1

Prohibit interrupts in the normal program area while executing the instruction.

Interrupt processing subroutines are defined by SBN(92) and RET(93), just like ordinary subroutines.

An SBS UNDEFD error will be generated during the program check while an interrupt processing subroutine is being defined, but execution will be normal.

Method 2

In the normal program area, re-execute the instruction that could not be executed.

Normal program area Interrupt program area

2-2SectionCPM2A/CPM2C High-speed Counters

Wiring Inputs

Wire the inputs as shown in the following illustrations, according to the input mode and the reset method.

CPM2A Inputs

Differential Phase Input Mode

00000: Phase-A input 00001: Phase-B input 00002: Phase-Z input

Pulse + Direction Input Mode Increment Mode

00000: Pulse input 00001: Direction input 00002: Reset input

Up/Down Pulse Input Mode

00000: CW input 00001: CCW input

00002: Reset input

00000: Pulse input

00002: Reset input

CPM2C Inputs

Note The following examples are for Fujitsu-compatible connectors. Input bit ad-

dresses and connector pin numbers depend on the models. Refer to the CPM2C Operation Manual (W356) or the CPM2C-S Operation Manual (W377) for de-

tails.

Differential Phase Input Mode

Input terminals Input connector

(See above note.)

00002: Phase-Z input

00001: Phase-B input

00000: Phase-A input

00002: Phase-Z input

00001: Phase-B input

00000: Phase-A input

Up/Down Pulse Input Mode

Input terminals Input connector

(See above note.)

00002: Reset input

00001: CCW input

00000: CW input

Pulse + Direction Input Mode

Input terminals Input connector

(See above note.)

2-2SectionCPM2A/CPM2C High-speed Counters

00002: Reset input

00001: CCW input

00000: CW input

00002: Reset input

00001: Direction input

00000: Pulse input

Increment Mode

Input terminals Input connector

(See above note.)

00002: Reset input

00000: Pulse input

00002: Reset input

00001: Direction input

00000: Pulse input

00002: Reset input

00000: Pulse input

When phase-Z and reset inputs are not used, 00002 can be used as an ordinary input.

2-2SectionCPM2A/CPM2C High-speed Counters

PC Setup

Set the PC Setup areas related to the high-speed counter as follows:

High-speed counter usage DM 6642, bits 08 to 15

Input mode DM 6642, bits 00 to 03

(Use/not use 00002 as ordinary input)

Word Bits Function Setting

DM 6642

00 to 03 High-speed counter input mode setting

04 to 07 High-speed counter reset method setting

08 to 15 High-speed counter usage setting

Reset method DM 6642, bits 04 to 07

0, 1, 2, or 4

0: Differential phase input 5 kHz 1: Pulse + direction input 20 kHz 2: Up/down input 20 kHz 4: Increment 20 kHz

0 or 1

0: Phase-Z signal + software reset 1: Software reset

00: Do not use. 01: Use as high-speed counter 02: Use as pulse synchronization control

(10 Hz to 500 Hz)

03: Use as pulse synchronization control

(20 Hz to 1 kHz)

04: Use as pulse synchronization control

(300 Hz to 20 kHz)

The new settings for the System Setup go into effect when operation begins (when PROGRAM mode is changed to MONITOR or RUN mode), or when the CPM2A/CPM2C’s power is turned ON.

2-2SectionCPM2A/CPM2C High-speed Counters

() ()

Ladder Diagram Programming

The following table shows the instructions related to high-speed counter control.

Instruction Control Operation

(@)CTBL(63)

(@)INI(61)

(@)PRV(62)

(@)INT(89)

Start comparison Starts comparison with registered

Stop comparison Stops comparison. Change PV Changes the high-speed counter PV. Read PV Reads the high-speed counter PV. Read status Reads the high-speed counter status. Read range comparison

result Mask all interrupts Prohibits all interrupts, including interrupt

Unmask all interrupts Permits all interrupts, including interrupt

Registers target value comparison table.

Registers range comparison table.

Registers target value comparison table and starts comparison.

Registers range comparison table and starts comparison.

comparison table.

Reads range comparison result.

inputs, interval timer interrupts, high-speed counters, etc.

The following table shows the data areas related to high-speed counter control.

Word Bits Name Contents

248 249

252 00 High-speed counter reset When this bit turns ON, a

AR11

00 to 15 00 to 15

00 to 07 High-speed counter range

08 High-speed counter

09 High-speed counter PV

High-speed counter PV Reads high-speed counter

PV.

software reset is triggered for the high-speed counter.

ON: Condition satisfied

comparison results

comparison

overflow/underflow

OFF: Condition not satisfied ON: Comparison in progress

OFF: Comparison stopped ON: Overflow/underflow

OFF: Normal

These functions register a comparison table to the CPM2A/CPM2C for the purpose of count checking in target value comparison. It is also possible to start the comparison along with the registration.

(@)CTBL(63)

000

Port specifier (000: High-speed counter)

002

Mode designation (002: Register target value comparison table only) Beginning word of comparison table

2-2SectionCPM2A/CPM2C High-speed Counters

Number of comparisons

Target value 1 (rightmost)

Target value 1 (leftmost)

Subroutine number

Target value 2 (rightmost)

Target value 2 (leftmost)

Subroutine number

(@)CTBL(63)

Port specifier (000: High-speed counter)

000

Mode designation (000: Register target value comparison table

000

and start comparison)

Beginning word of comparison table

Target Value Comparison Table

Number of comparisons

0001 to 0016 BCD

Comparison 1 setting

Comparison 2 setting

Target value (rightmost, leftmost)

Subroutine number

The leftmost digit shows the direction (increment/decrement).

Differential phase input mode Pulse + direction input mode

Up/down pulse input mode

When incrementing: F8388607 to 08388607 When decrementing: F8388608 to 08388606

Increment mode

00000001 to 16777215 The range that can be specified depends on the mode when target comparison interrupts are specified.

Increment direction: 0000 to 0049

Decrement direction: F000 to F049

It is not possible to specify more than one comparison direction condition for the same target value in the comparison table.

Once a comparison table has been registered, it will be saved in the CPM2A/ CPM2C as long as no other comparison table is registered and the mode is not changed to PROGRAM mode (and as long as the power is not turned OFF).

These functions register a comparison table to the CPM2A/CPM2C for the purpose of count checking in range comparison. It is also possible to start the comparison along with the registration.

(@)CTBL(63)

000

Port specifier (000: High-speed counter)

003

Mode designation (003: Register range comparison table only) Beginning word of comparison table

(@)CTBL(63)

Port specifier (000: High-speed counter)

000

Mode designation (001: Register range comparison table

001

and start comparison)

Beginning word of comparison table

Range Comparison Table

2-2SectionCPM2A/CPM2C High-speed Counters

Lower limit 1 (rightmost)

Lower limit 1 (leftmost)

Upper limit 1 (rightmost)

Upper limit 1 (leftmost)

Subroutine number

Lower limit 8 (rightmost)

Lower limit 8 (leftmost)

Upper limit 8 (rightmost)

Upper limit 8 (leftmost)

Subroutine number

Eight range comparison conditions consisting of upper and lower limits and subroutine numbers must be set.

Range comparison condition 1

Upper and lower limits (rightmost, leftmost)

Differential phase input mode Pulse + direction input mode

Up/down pulse input mode

F8388608 to 08388607

Increment mode

00000000 to 16777215

Subroutine number

Range comparison condition 8

0000 to 0049

If the set values do not reach 8, set FFFF.

If two or more comparison conditions are satisfied simultaneously (in the same cycle), the interrupt for the condition closest to the beginning of the comparison table will be executed.

Start/Stop Comparison

The comparison can be started or stopped according to the table that has already been registered to the CPM2A/CPM2C by CTBL(63).

Start Comparison

Stop Comparison

(@)INI(61)

000

Port specifier (000: High-speed counter)

000

Control designation (000: Start comparison)

000

Fixed: 000

000

Port specifier (000: High-speed counter)

001

Control designation (001: Stop comparison)

000

Fixed: 000

Change PV

This function changes the high-speed counter PV.

(@)INI(61)

000

Port specifier (000: High-speed counter)

002

Control designation (002: Change PV)

Beginning word of PV data to change

2-2SectionCPM2A/CPM2C High-speed Counters

C2+1

Rightmost 4 digits

Leftmost 4 digits

PV data to change (Rightmost and leftmost)

The leftmost digit shows the sign (+/–).

Differential phase input mode Pulse + direction input mode

Up/down pulse input mode

F8388608 to 08388607

Increment mode

00000000 to 16777215

No interrupt will occur during a target value comparison even if the target value registered in the comparison table is changed by INI(61).

Read PV

This function reads the high-speed counter PV.

Using an Instruction

(@)PRV(62)

000

Port specifier (000: High-speed counter)

002

Control designation (000: Read PV) Beginning word for storing PV

D+1

Rightmost 4 digits

Leftmost 4 digits

PV (Rightmost and leftmost)

The read PV will be stored here. The leftmost digit shows the sign (+/–).

Differential phase input mode Pulse + direction input mode

Up/down pulse input mode

F8388608 to 08388607

Increment mode

00000000 to 16777215

Using Data Areas

The high-speed counter PV is stored in words 248 and 249 as shown below.

SR 248

SR 249

PV (Rightmost word)

PV (Leftmost word)

Words 248 and 249 are refreshed with every scan, so there may be a discrepancy from the exact PV at any given time.

When the high-speed counter is not used, words 248 and 249 can be used as work words.

When the PV is read by executing PRV(62), words 248 and 249 are refreshed with the same timing.

2-2SectionCPM2A/CPM2C High-speed Counters

Read Status

This function reads the high-speed counter status, such as whether a comparison operation is in progress or whether an overflow or underflow has occurred.

Using an Instruction

(@)PRV(62)

Port specifier (000: High-speed counter)

000

001

Control designation (001: Read status)

Word for storing status

Overflow/underflow

0: Normal 1: Overflow/underflow

Comparison

0: Stopped 1: In progress

Using Data Areas

The status is stored in AR 1108 and AR 1109 as shown below.

Overflow/underflow

0: Normal 1: Overflow/underflow

Comparison

0: Stopped 1: In progress

AR 1108 and AR 1109 are refreshed with every scan, so there may be a discrepancy from the exact status at any given time.

When the status is read by executing PRV(62), AR 1108 and AR 1109 are refreshed with the same timing.

Read Range Comparison Result

This function reads the result of a range comparison showing whether or not the PV is within a range.

Using an Instruction

(@)PRV(62)

000

Port specifier (000: High-speed counter)

002

Control designation (002: Read range comparison result)

Beginning word for storing range comparison result

Match with 1st condition (0: No match; 1: Match) Match with 2nd condition (0: No match; 1: Match) Match with 3rd condition (0: No match; 1: Match) Match with 4th condition (0: No match; 1: Match) Match with 5th condition (0: No match; 1: Match) Match with 6th condition (0: No match; 1: Match) Match with 7th condition (0: No match; 1: Match) Match with 8th condition (0: No match; 1: Match)

Using Data Areas

The range comparison result is stored in AR 1100 through AR 1107, as shown below.

Application Examples

Target Value Comparison

2-2SectionCPM2A/CPM2C High-speed Counters

AR 1100 through AR 1107 are refreshed with every scan, so there may be a discrepancy from the exact PV range comparison result at any given time.

When the range comparison result is read by executing PRV(62), AR 1100 through AR 1107 are refreshed with the same timing.

Mask/Unmask All Interrupts

For details regarding masking and unmasking all interrupts, refer to 2-1-2 Interrupt Inputs.

Explanation

In this example, specified interrupt subroutines are executed by matching the high-speed counter’s PV with five values set as a target value comparison table. With each interrupt, the data in DM 0000 to DM 0004 is incremented by one.

Wiring (CPM2A)

E6B2-CWZ6C Rotary Encoder

Brown

Orange

White

Black

Blue

2-2SectionCPM2A/CPM2C High-speed Counters

Wiring (CPM2C)

Note The following examples are for Fujitsu-compatible connectors. Input bit ad-

dresses and connector pin numbers depend on the models. Refer to the CPM2C Operation Manual (W356) or the CPM2C-S Operation Manual (W377) for de-

tails.

Input terminals

Blue

Rotary encoder

Brown

Orange

White

Black

Input connector

(See above note.)

PC Setup

15 0

DM 6642 0

Blue

Rotary encoder

Brown

Orange

White

Black

1 0 0

0: Differential phase input

0: Reset by phase-Z signal + software reset

01: Use as high-speed counter

Programming

ON for 1 cycle at beginning of operation

Always ON

(92)

(71)

(63)

High-speed counter Register target value comparison table and begin comparison

Beginning word of comparison table

Number of comparisons: 5

Target value: 00010000

(38)

(93)

(38)

(93)

Comparison 2

Comparison 4

Increment, subroutine 049

Target value: 00003000

Increment, subroutine 040

Target value: 00000000

Decrement, subroutine 010

Target value: 00003000

Decrement, subroutine 041

Target value: 00010000

Decrement, subroutine 048

2-2SectionCPM2A/CPM2C High-speed Counters

Comparison 1

Comparison 2

Comparison 3

Comparison 4

Comparison 5

Always ON

(92)

(38)

(93)

(38)

(93)

(38)

(93)

(01)

Comparison 5

Comparison 1

Comparison 3

Range Comparison

2-2SectionCPM2A/CPM2C High-speed Counters

Explanation

In this example, specified interrupt subroutines are executed by matching the high-speed counter’s PV with five range set as a range comparison table. With each interrupt, the data in DM 0000 to DM 0004 is incremented by one.

Wiring (CPM2A)

Orange

E6B2-CWZ6C Rotary Encoder

Blue

Brown

White

Black

2-2SectionCPM2A/CPM2C High-speed Counters

Wiring (CPM2C)

Note The following examples are for Fujitsu-compatible connectors. Input bit ad-

dresses and connector pin numbers depend on the models. Refer to the CPM2C Operation Manual (W356) or the CPM2C-S Operation Manual (W377) for de-

tails.

Input terminals

Blue

Rotary encoder

Brown

Orange

White

Black

Input connector

(See above note.)

PC Setup

15 0

DM 6642 0

Blue

Rotary encoder

Brown

Orange

White

Black

1 0 0

0: Differential phase input

0: Reset by phase-Z signal + software reset

01: Use as high-speed counter

ON for 1 cycle at beginning of operation

Always ON

Programming

(71)

(63)

High-speed counter Register range comparison table and begin comparison

Beginning word of comparison table

(92)

(38)

(93)

(92)

(38)

(93)

Comparison 1

Comparison 2

Lower limit: 9,000

Upper limit: 10,000

Subroutine 040

Lower limit: 7,000

Upper limit: 8,000

Subroutine 041

Lower limit: 3,000

Upper limit: –3,000

Subroutine 010

2-2SectionCPM2A/CPM2C High-speed Counters

Comparison 1

Comparison 2

Comparison 3

Always ON

(92)

(38)

(93)

(38)

(93)

(38)

(93)

(01)

Comparison 3

Comparison 4

Comparison 5

Lower limit: –8,000

Upper limit: 7,000

Subroutine 042

Lower limit: –10,000

Upper limit: 9,000

Subroutine 043

Comparison 4

Comparison 5

Comparison 6 Not used.

Comparison 7 Not used.

Comparison 8 Not used.

2-2-2 Input Interrupts In Counter Mode

The four built-in interrupt inputs in the CPM2A/CPM2C’s CPU Unit can be used in counter mode as inputs of up to 2 kHz. These inputs can be used as either incrementing counters or decrementing counters, triggering an interrupt (i.e., executing an interrupt subroutine) when the count matches the set value.

2-2SectionCPM2A/CPM2C High-speed Counters

Counter input

Normal program

Interrupt program

Input number

(Note 2)

00003 00004 00005 2 002 00006 3 003

Count Interrupt

0 to 65535 (0000 to FFFF)

Subroutine

number

0 000 1 001

number (Note 3)

Subroutine

Response frequency

2 kHz

Note 1. Input number 00005 and 00006 cannot be used in CPM2C CPU Units with

10 I/O points and CPM2C-S CPU Units.

2. Input numbers 00003 to 00006 can be used for any of the following functions: interrupt inputs, interrupt inputs (counter mode), or quick-response inputs. When not being used for any of these, they can be used as ordinary inputs.

3. Subroutine numbers 000 to 003 are the subroutine numbers for interrupt programs started up when interrupt inputs or count-up interrupts for interrupt inputs (counter mode) are generated. When not being used for this purpose, they can be used as ordinary inputs.

Caution Although IORF(97) can be used in interrupt subroutines, you must be careful of

The following table shows the relationships between interrupt inputs (counter mode) and the CPM2A/CPM2C’s other functions.

Note 1. The same input number (from 00003 to 00006) cannot be used for more

than one of the following functions: interrupt inputs, interrupt inputs (counter mode), or quick-response inputs.

2-2SectionCPM2A/CPM2C High-speed Counters

Procedure for Using Interrupt Inputs in Counter Mode

Set the interrupt input number.

Select either incrementing or decrementing count.

Wire the inputs.

PC Setup (DM 6628)

Create a ladder diagram program.

Input numbers: 00003 to 00006 (00003 or 00004 for CPM2C CPU Units with 10 I/O points and CPM2C-S CPU Units.)

1: Use as interrupt input (interrupt input mode or counter mode)

INI(61): Change counter PV

INT(89): Refresh counter SV*

PRV(62): Read counter PV

SBN(92) and RET(93): For creating interrupt subroutines.*

*Used only for count-up interrupts.

2-2SectionCPM2A/CPM2C High-speed Counters

Interrupt input

Counter (2 kHz) 0

Counter (2 kHz) 1

Counter (2 kHz) 2

Counter (2 kHz) 3

PC Setup

DM 6628

Interrupt input (counter mode)

Ladder diagram program

INT(89)

INI(61)

INTERRUPT CONTROL instruction

Change SV (increment/ decrement)

Counter SV

Counter 0 Counter 1 Counter 2

Counter 3

SR 240 SR 241 SR 242

SR 243

MODE CONTROL instruction

Change PV

Every scan Immediately

Interrupt generated

Specified subroutine executed. (Used only for count-up interrupts.)

SBN(92)

RET(93)

Setting the Interrupt Input Number

Counter 0 Counter 1 Counter 2 Counter 3

Counter SV

SR 244 SR 245 SR 246 SR 247

PRV(62)

HIGH-SPEED COUNTER PV READ instruction

Read counter PV

With interrupt inputs in counter mode, the subroutine to be executed is determined by the interrupt corresponding to the input number.

Input number Interrupt number Subroutine number

00003 0 000 00004 1 001 00005* 2 002 00006* 3 003

Note *Input numbers 00005 and 00006 cannot be used for CPM2C CPU Units with 10

I/O points and for CPM2C-S CPU Units.

The same input number (from 00003 to 00006) cannot be used for more than one of the following functions: interrupt inputs, interrupt inputs (counter mode), or quick-response inputs.

2-2SectionCPM2A/CPM2C High-speed Counters

Selecting Incrementing or Decrementing Count

Either an incrementing or decrementing count can be used with interrupt inputs in counter mode.

Incrementing Counter Mode

As the set value (SV) is refreshed, the count is incremented from 0, and the interrupt subroutine is executed when the present value (PV) matches the SV.

The subroutine is executed when the count is up, and the PV is reset to 0.

Incrementing Incrementing

Interrupt

Subroutine executed.

Interrupt

Subroutine executed.

Time

Decrementing Counter Mode

As the set value (SV) is refreshed, the count is is decremented toward 0, and the interrupt subroutine is executed when the present value (PV) reaches 0.

Wiring the Inputs

The subroutine is executed when the count is up, and the PV is reset to the SV.

Decrementing Decrementing

Interrupt

Subroutine executed.

Interrupt

Subroutine executed.

Time

With the CPM2A, wire the input terminals as shown in the following illustration.

Input 00003: Input interrupt (counter mode) 0 Input 00004: Input interrupt (counter mode) 1 Input 00005: Input interrupt (counter mode) 2 Input 00006: Input interrupt (counter mode) 3

With the CPM2C, wire the input terminals as shown in the following illustration.

2-2SectionCPM2A/CPM2C High-speed Counters

1: Interrupt input

counter mode)

Note The following examples are for Fujitsu-compatible connectors. Input bit ad-

dresses and connector pin numbers depend on the models. Refer to the CPM2C Operation Manual (W356) or the CPM2C-S Operation Manual (W377) for de- tails.

Input terminals

00004: Input interrupt (counter mode) 1

00003: Input interrupt (counter mode) 0

Input connector

(See above note.)

PC Setup

00006: Input interrupt (counter mode) 3

00005: Input interrupt (counter mode) 2

00004: Input interrupt (counter mode) 1

00003: Input interrupt (counter mode) 0

Note Inputs 00006 and 00005 cannot

be used with CPU Units that have only 10 I/O points.

The following table shows the settings in the PC Setup area related to interrupt input usage.

Word Bits Function Setting

DM 6628

00 to 03 Interrupt setting for

input 00003

04 to 07 Interrupt setting for

input 00004

08 to 11 Interrupt setting for

input 00005*

12 to 15 Interrupt setting for

input 00006*

0: Normal input

(interrupt input mode or counter mode)

2: Quick-response input

Note *Input number 00005 and 00006 cannot be used in CPM2C CPU Units with 10

I/O points and in CPM2C-S CPU Units.

The setting will go into effect when the mode is changed (from PROGRAM to MONITOR/RUN) or when the power supply is turned ON to the CPM2A/ CPM2C.

2-2SectionCPM2A/CPM2C High-speed Counters

(SV)

(PV)

Ladder Diagram Programming

The following table shows the instruction operations related to interrupt input (counter mode) control.

Instruction Control Operation

(@)INT(89)

(@)INI(61) Change PV Changes the counter’s PV. (@)PRV(62) Read PV Reads the counter’s PV.

Refresh incrementing counter SV

Refresh decrementing counter SV

Mask all interrupts Prohibits all interrupts, including interrupt

Unmask all interrupts Permits all interrupts, including interrupt

Refreshes the counter’s SV and starts the incrementing count.

Refreshes the counter’s SV and starts the decrementing count.

inputs, interval timer interrupts, high-speed counters, etc.

The functions related to input interrupts (counter mode) are executed according to the data areas shown in the following table.

Word Bits Name Contents

240 00 to 15 SV area for input interrupt (counter mode) 0 241 00 to 15 SV area for input interrupt (counter mode) 1 242 00 to 15 SV area for input interrupt (counter mode) 2 243 00 to 15 SV area for input interrupt (counter mode) 3 244 00 to 15 PV area for input interrupt (counter mode) 0 245 00 to 15 PV area for input interrupt (counter mode) 1 246 00 to 15 PV area for input interrupt (counter mode) 2 247 00 to 15 PV area for input interrupt (counter mode) 3

Stores the counter’s set value

Stores the counter’s present value

Refresh Incrementing Counter SV / Refresh Decrementing Counter SV

These functions store the counter’s set values in data areas and refresh them by means of INT(89). In this way, they start the count operation for interrupt inputs (counter mode) and they permit interrupts.

Storing Set Values in Data Areas

The counter’s set values are stored in words 240, 241, 242, and 243.

SR 240

SR 241

SR 242

SR 243

SV for interrupt input (count mode) 0: 0000 to FFFF

SV for interrupt input (count mode) 1: 0000 to FFFF

SV for interrupt input (count mode) 2: 0000 to FFFF

SV for interrupt input (count mode) 3: 0000 to FFFF

Starting the Count Operation and Permitting Interrupts

Incrementing Counter

(@)INT(89)

Interrupt control designation (004: Refresh incrementing counter SV)

004

000

Fixed: 000

Control data word

Decrementing Counter

(@)INT(89)

003

Interrupt control designation (003: Refresh decrementing counter SV)

000

Fixed: 000

Control data word

Specify and store 0

2-2SectionCPM2A/CPM2C High-speed Counters

Specify interrupt input (counter mode) 3

Specify interrupt input (counter mode) 2 Specify interrupt input (counter mode) 1

Specify interrupt input (counter mode) 0

0: Refresh SV

1: Do not refresh SV

Note When INT(89) is executed to mask interrupts during counter operation (interrupt

control designation 000), counter operation will be stopped and the counter PV will be reset. To use the counter again, start the counter operation again as described above.

Change PV

This function refreshes the counter’s present value (PV).

(@)INT(89)

Port specifier (100. 102, 102, 103: Interrupt inputs (counter mode) 0 to 3)

002

Control designation (002: Change PV)

Change PV data word

Change PV data

Registers the PV data to be changed. 0000 to FFFF

Read PV

This function reads the counter’s present value (PV).

Using an Instruction

(@)PRV(62)

Port specifier (100. 102, 102, 103: Interrupt inputs (counter mode) 0 to 3)

000

Control designation (000: Read PV) Word for storing PV

Read PV data

The PV that is read is stored here. 0000 to FFFF

2-2SectionCPM2A/CPM2C High-speed Counters

Using Data Areas

The high-speed counter’s present value (PV) is stored in words SR 244 to SR 247 as shown below.

Application Example

Explanation

Wiring

SR 244

SR 245

SR 246

SR 247

Interrupt input (counter mode) 0

Interrupt input (counter mode) 1

Interrupt input (counter mode) 2

Interrupt input (counter mode) 3

Words SR 244 to SR 247 are refreshed with every scan, so there may be a discrepancy from the exact PV at any given time.

Words SR 244 to SR 247 cannot be used as work word even when the interrupt inputs (counter mode) are not used.

When the PV is read by executing PRV(62), words 244 to 247 are refreshed with the same timing.

Mask/Unmask All Interrupts

For details regarding masking and unmasking all interrupts, refer to 2-1-2 Interrupt Inputs.

In this example, the PV is decremented every time input 00003 is turned ON, and DM 0000 is incremented by 1 by an interrupt subroutine every 100 times (64 Hex) that input 00003 is turned ON.

The following diagram shows input wiring in the CPM2A.

Input device

The following diagram shows input wiring in the CPM2C.

Note The following examples are for Fujitsu-compatible connectors. Input bit ad-

dresses and connector pin numbers depend on the models. Refer to the CPM2C Operation Manual (W356) or the CPM2C-S Operation Manual (W377) for de- tails.

Input terminals Input connector

(See above note.)

Input device

2-2SectionCPM2A/CPM2C High-speed Counters

Input device

PC Setup

Programming

15 0

DM 6628 0

ON for 1 cycle at beginning of operation

0 0 1

Specifies bit 00003 as an interrupt input (counter mode). Inputs 00004 to 00006 are used as ordinary inputs.

(89)

Clears Increment Area (DM 0000).

Decrement counter setting

Counter SV: 64 Hex (100 times) Stores SV in word 240.

Starts counter with bit 00003 as interrupt input (counter mode).

Refreshes counter SV (decrement counter).

Always 000.

Specifies bit 00003. (Others are masked.)

Executed one time when count is up.

2-3SectionCPM1/CPM1A Interrupt Functions

2-3 CPM1/CPM1A Interrupt Functions

This section explains the settings and methods for using the CPM1/CPM1A interrupt functions.

2-3-1 Types of Interrupts

The CPM1/CPM1A has three types of interrupt processing, as outlined below.

Input Interrupts

CPM1/CPM1A PCs have two or four interrupt inputs. Interrupt processing is executed when one of these inputs is turned ON from an external source.

Interval Timer Interrupts

Interrupt processing is executed by an interval timer with a precision of 0.1 ms.

High-speed Counter Interrupts

The high-speed counter counts pulse inputs to one of CPU bits 00000 to 00002. Interrupt processing is executed when the count reaches the set value of a builtin high-speed counter.

Interrupt Priority When an interrupt is generated, the specified interrupt processing routine is

executed. Interrupts have the following priority ranking.

Interrupt Program Precautions

Input interrupts > Interval interrupts = High-speed counter interrupts

When an interrupt with a higher priority is received during interrupt processing, the current processes will be stopped and the newly received interrupt will be processed instead. After that routine has been completely executed, then processing of the previous interrupt will be resumed.

When an interrupt with a lower or equal priority is received during interrupt processing, then the newly received interrupt will be processed as soon as the routine currently being processed has been completely executed.

When two interrupts with equal priority are received at the same time, they are executed in the following order:

Input interrupt 0 > Input interrupt 1 > Input interrupt 2 > Input interrupt 3

Interval interrupts > High-speed counter interrupts

Observe the following precautions when using interrupt programs:

1, 2, 3... 1. A new interrupt can be defined within an interrupt program. Furthermore, an

interrupt can be cleared from within an interrupt program.

2. Another interrupt program cannot be written within an interrupt program.

3. A subroutine program cannot be written within an interrupt program. Do not write a SUBROUTINE DEFINE instruction, SBN(92), within an interrupt program.

High-speed Counter Instructions and Interrupts

4. An interrupt program cannot be written within a subroutine program. Do not write an interrupt program between a SUBROUTINE DEFINE instruction (SBN(92)) and a RETURN instruction (RET(93)).

Inputs used as interrupts cannot be used as regular inputs.

The following instructions cannot be executed in an interrupt subroutine when an instruction that controls high-speed counters is being executed in the main program:

INI(61), PRV(62), or CTBL(63)

2-3SectionCPM1/CPM1A Interrupt Functions

The following methods can be used to circumvent this limitation:

Method 1

All interrupt processing can be masked while the instruction is being executed.

@INT(89)

100

000

INI(61)

000

@INT(89)

200

000

Method 2

Execute the instruction again in the main program.

1, 2, 3... 1. This is the program section from the main program:

@PRV(62)

000

002

DM 0000

LR 0000

CTBL(63)

000

DM 0000

RSET LR 0000

2. This is the program section from the interrupt subroutine:

SBN(92) 000

25313

@CTBL(63)

000

DM 0000

25503

0000

Note 1. Define interrupt routines at the end of the main program with SBN(92) and

RET(93) instructions, just like regular subroutines.

2. When defining an interrupt routine, a “SBS UNDEFD” error will occur during the program check operation, but the program will be executed normally.

2-3-2 Input Interrupts



(Time until the

)

CPM1A 30CD 

CPM1 PCs

2-3SectionCPM1/CPM1A Interrupt Functions

The 10-pt CPU Units (CPM1-10CDR- and CPM1A-10CDR-) have two interrupt inputs (00003 and 00004).

The 20-, 30-, and 40-pt CPU Units (CPM1-20CDR-, CPM1A-20CDR-, CPM1-30CDR-(-V1), CPM1A-30CDR- and CPM1A-40CDR-) have four interrupt inputs (00003 to 00006).

There are two modes for input interrupts: input interrupt mode and counter mode.

10-pt CPU Units (CPM1-10CDR-)

00003

00004

20- and 30-pt CPU Units (CPM1-20CDR- and CPM1-30CDR-(-V1))

00003

00004

00005

00006

CPM1A PCs

10-pt CPU Units (CPM1A-10CDR-)

Note If input interrupts are not used, use inputs 00003 to 00006 as regular inputs.

24VDC

20-, 30-, and 40-pt CPU Units (CPM1A-20CDR-, CPM1A-30CDR-, and CPM1A-40CDR-)

CPU Unit Input Interrupt

CPM1-10CDR- CPM1A-10CD-

CPM1-20CDR- CPM1A-20CD-

CPM1-30CDR-(-V1) CPM1A-30CD-

CPM1A-40CD-

00003 00 00004 01 00003 00

00004 01

00003 02

00004 03

number

Response time

Interrupt mode Counter mode

0.3 ms max. 1 kHz

(Time until the interrupt program is executed.)

Omron CPM1, CPM1A, CPM2A, CPM2C, SRM1 PROGRAMMING MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

TABLE OF CONTENTS

Read and Understand this Manual

Disclaimers

PRECAUTIONS

1 Intended Audience

2 General Precautions

3 Safety Precautions

4Operating Environment Precautions

5Application Precautions

SECTION 1

1-1 PC Setup

1-2 Basic PC Operation and I/O Processes

1-3 CPM2C Changes in SW2

SECTION 2

2-1 CPM2A/CPM2C Interrupt Functions

2-2 CPM2A/CPM2C High-speed Counters

2-3 CPM1/CPM1A Interrupt Functions