Omron SYSMAC CJ, SYSMAC CJ2M-CPU, SYSMAC CJ2M-MD21 User Manual

Cat. No. W486-E1-01

SYSMAC CJ Series

CJ2M-CPU@@

+

CJ2M-MD21@

(Pulse I/O Module)

CJ2M CPU Unit Pulse I/O Module

USER’S MANUAL

 OMRON, 2010

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.

SYSMAC CJ Series
CJ2M-CPU@@

+

CJ2M-CPU@@

(Pulse I/O Module)

CJ2M CPU Unit Pulse I/O Module

User’s Manual

Produced July 2010

Introduction

Thank you for purchasing a CJ2M-CPU@@ CPU Unit for a CJ-series Programmable Controller.
This manual provides information that is necessary to use a CJ2M-MD211 or CJ2M-MD212 Pulse I/O
Module connected to a CJ2M CPU Unit.
Read this manual completely and be sure you understand the contents before attempting to use a
Pulse I/O Module.

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.

Applicable Products

CJ-series CP2 CPU Units

•CJ2M-CPU3@

•CJ2M-CPU1@

Note This manual refers to one or more CPU Units using the generic model number CJ2M-CPU@@.

CJ2 Series

CJ2 CPU Units

CJ2H CPU Units

CJ2H-CPU6@-EIP
CJ2H-CPU6@

CJ2M CPU Units

CJ2M-CPU3@
CJ2M-CPU1@

Pulse I/O Module for
CJ2M CPU Units

CJ1-H CPU Units

CJ1H-CPU@@H-R

CJ1H-CPU@@H

CJ1G-CPU@@H

CJ1G -CPU@@P

(Loop CPU Units)

CJ1M CPU Units

CJ1M-CPU@@

CJ1 CPU Units

CJ1G-CPU@@

CJ-series Basic I/O Units

CJ-series Special I/O Units

CJ-series CPU Bus Units

CJ-series Power Supply Units

NSJ Series

NSJ Controllers

NSJ5-TQ@@(B)-G5D

NSJ5-SQ@@(B)-G5D

NSJ8-TV@@(B)-G5D

NSJ10-TV@@(B)-G5D

NSJ12-TS@@(B)-G5D

NSJ Controllers

NSJ5-TQ@@(B)-M3D

NSJ5-SQ@@(B)-M3D

NSJ8-TV@@(B)-M3D

NSJ-series Expansion Units

CS Series

CS1-H CPU Units

CS1H-CPU@@H

CS1G-CPU@@H

CS1D CPU Units

CS1D CPU Units
for Duplex Systems

CS1D-CPU@@H

CS1D CPU Units
for Simplex Systems

CS1D-CPU@@S

CS1D Process-control CPU Units

CS1D-CPU@@P

CS1 CPU Units

CS1H-CPU@@(-V)

CS1G-CPU@@(-V)

CS-series Basic I/O Units

CS-series Special I/O Units

CS-series CPU Bus Units

CS-series Power Supply Units

Note: A special Power Supply Unit must

be used for CS1D CPU Units.

CJ2M CPU Unit Pulse I/O Module User’s Manual

1

CJ2 CPU Unit Manuals

Information on the CJ2 CPU Units is provided in the following manuals. Refer to the appropriate manual
for the information that is required.

Mounting
and Setting

1

Hardware

2

Wiring

CJ-series CJ2 CPU Unit
Hardware User’s Manual
(Cat. No. W472)

• Unit part names and

specifications

• Basic system

configuration

• Unit mounting

procedure

• Setting procedure for

DIP switch and rotary
switches on the front of
the CPU Unit

For details on built-in
EtherNet/IP port, refer to
the EtherNet/IP Unit
Operation Manual (W465)

CJ-series CJ2 CPU Unit
Software User’s Manual
(Cat. No. W473)

CS/CJ/NSJ Series
Instructions Reference
Manual (Cat. No. W474)

This Manual

CJ2M CPU Unit Pulse
I/O Module User's
Manual (Cat. No. W486)

•

Specifications and wiring

of Pulse I/O Modules

•

Available pulse I/O

functions and allocations

Connecting
Online to

3

the PLC

Software

4

Setup

Creating the

5

Program

Checking
and
Debugging

6

Operation

• Wiring the Power

Supply Unit

• Wiring Basic I/O Units

and external I/O
devices

CX-Programmer Support
Software Connecting
Cables

Procedures for connecting
the CX-Programmer
Support Software

Software setting methods for the
CPU Unit (including I/O memory
allocation, PLC Setup settings,
Special I/O Unit parameters,
CPU Bus Unit parameters, and
routing tables.)

For details on built-in EtherNet/IP
port, refer to the EtherNet/IP Unit
Operation Manual (W465).

• Program types and basic

information

• CPU Unit operation

• Internal memory

• Data management using

file memory in the CPU
Unit

• Built-in CPU functions

• Settings

Detailed information
on programming
instructions

•

Wiring methods between

Pulse I/O Modules and
external I/O devices

Software setting
procedures for Pulse
I/O Modules (I/O
memory allocations
and PLC Setup
settings)

Pulse I/O functions

Maintenance
and

7

Troubleshooting

2

• Checking I/O wiring, setting the

Auxiliary Area settings, and
performing trial operation

• Monitoring and debugging with

the CX-Programmer

Error codes and
remedies if a problem
occurs

CJ2M CPU Unit Pulse I/O Module User’s Manual

Manual Configuration

The CJ2 CPU manuals are organized in the sections listed in the following tables. Refer to the appropri­ate section in the manuals as required.

Hardware User’s Manual (Cat. No. W472)

Section Content

Section 1 Overview

Section 2 Basic System Configu­ration and Devices

Section 3 Nomenclature and
Functions

Section 4 Support Software

Section 5 Installation

Section 6 Troubleshooting

Section 7 Inspection and Mainte­nance

Section 8 Backup Operations This section describes the procedure to back up PLC data.

Appendices

This section gives an overview of the CJ2 CPU Units and describes the features and
specifications.

This section describes the system configuration for the CJ2 CPU Unit.

This section describes the part names and functions of the CPU Unit and Configuration
Units.

This section describes the types of Support Software to use to perform programming and
debugging and how to connect the PLC to the Support Software.

This section describes the installation locations and how to wire CPU Units and Configu­ration Units.

This section describes how to check the status for errors that occur during system opera­tion and the remedies for those errors.

This section describes periodic inspection, the service life of the Battery and Power Sup­ply Unit, and how to replace the Battery.

The appendices provide Unit dimensions, details on fatal and non-fatal errors, informa­tion on connecting to serial ports on the CPU Unit, the procedure for installing the USB
driver on a computer, and information on load short-circuit protection and line disconnec­tion detection.

Software User’s Manual (Cat. No. W473)

Section Content

Section 1 Overview

Section 2 Internal Memory in the
CPU Unit

Section 3 CPU Unit Operation This section describes the internal operation of the CPU Unit.

Section 4 CPU Unit Initialization This section describes the initial setup of the CPU Unit.

Section 5 Understanding Pro­gramming

Section 6 I/O Memory Areas This section describes the I/O memory areas in the CPU Unit.

Section 7 File Operations

Section 8 I/O Allocations and
Unit Settings

Section 9 PLC Setup

Section 10 CPU Unit Functions This section describes functions that are built into the CPU Unit.

Section 11 Programming Devices
and Communications

Section 12 CPU Unit Cycle Time This section describes how to monitor and calculate the cycle time.

Appendices

This section gives an overview of the CJ2 CPU Units and describes the features and
specifications.

This section describes the types of memory in the CPU Unit and the data that is stored.

This section describes program types and programming details, such as symbols and
programming instructions.

This section describes the files that can be stored in the CPU Unit, the storage destina­tion for those files, and file operations.

This section describes the I/O allocations used to exchange data between the CPU Unit
and other Units.

This section describes details on the PLC Setup settings, which are used to perform
basic settings for the CPU Unit.

This section describes the procedure for connecting the CJ2 CPU Unit to the CX-Pro­grammer or other Support Software and to other devices.

The appendices provide information on programming instructions, execution times, num­ber of steps, Auxiliary Area words and bits, a memory map of the continuous PLC mem­ory addresses, I/O memory operation when power is interrupted, and a comparison of
CJ-series and CS-series PLCs.

CJ2M CPU Unit Pulse I/O Module User’s Manual

3

Instructions Reference Manual (Cat. No. W474)

Section Content

Section 1 Basic Understanding
of Instructions

Section 2 Summary of Instruc­tions

Section 3 Instructions

Section 4 Instruction Execution
Times and Number of Steps

Appendices

This section provides basic information on designing ladder programs for a CS/CJ/NSJ­series CPU Unit.

This section provides a summary of instructions used with a CS/CJ/NSJ-series CPU
Unit.

This section describes the functions, operands and sample programs of the instructions
that are supported by a CS/CJ/NSJ-series CPU Unit.

This section provides the instruction execution times for each CS/CJ/NSJ-series CPU
Unit instruction.

The appendices provide a list of instructions by function code and by mnemonic and an
ASCII table for the CS/CJ/NSJ-series CPU Units.

Pulse I/O Module User's Manual (Cat. No. W486) (This Manual)

Section Content

Section 1 Overview This section gives an overview of the Pulse I/O Module and describes its features.

Section 2 I/O Application Proce­dures and Function Allocations

Section 3 I/O Specifications and
Wiring for Pulse I/O Modules

Section 4 Normal I/O This section describes the normal I/O.

Section 5 Quick-response Inputs

Section 6 Interrupts This section describes the interrupt input function.

Section 7 High-speed Counters This section describes the high-speed counter inputs and high-speed counter interrupts.

Section 8 Pulse Outputs

Section 9 PWM Outputs This section describes the variable-duty-factor pulse (PWM) outputs.

Appendices

This section lists the pulse functions of the CJ2M CPU Units and describes the overall
application flow and the allocation of the functions.

This section provides the specifications and describes the wiring of the Pulse I/O Module.

This section describes the quick-response function that can be used to input signals that
are shorter than the cycle time.

This section describes positioning functions, such as trapezoidal control, S-curve control,
jogging, and origin search functions.

The appendices provide a table of flag changes for pulse outputs, a comparison table
with other models, and a performance table.

4

CJ2M CPU Unit Pulse I/O Module User’s Manual

Manual Structure

Page Structure

The following page structure is used in this manual.

Level 2 heading

Level 3 heading

A step
in a procedure

Special Information
(See below.)

5-2 Installation

5-2-1 Connecting PLC Components

The Units that make up a CJ-series PLC can be connected simply by pressing the Units together and
locking the sliders by moving them toward the back of the Units. The End Cover is connected in the
same way to the Unit on the far right side of the PLC.

1. Join the Units so that the connectors fit exactly.

2. The yellow sliders at the top and bottom of each Unit lock the Units together. Move the sliders

toward the back of the Units as shown below until they click into place.

Precautions for Correct UsePrecautions for Correct Use

If the locking tabs are not secured properly, the connectors may become loose and not function
properly. Be sure to slide the locking tabs until they are securely in place.

Hook

Connector

Move the sliders toward the back
until they lock into place.

Hook holes

Release

Lock

Slider

5 Installation

Level 1 heading

Level 2 heading

Level 3 heading

Gives the current
headings.

noitallatsnI 2-5

5

Page tab

Gives the number
of the section.

gnitcennoC 1-2-5
P

opmoC CL

stnen

Manual name

CJ2 CPU Unit Hardware User’s Manual

This illustration is provided only as a sample and may not literally appear in this manual.

Special Information

Special information in this manual is classified as follows:

Precautions for Safe Use

Precautions on what to do and what not to do to ensure using the product safely.

Precautions for Correct Use

Precautions on what to do and what not to do to ensure proper operation and performance.

Additional Information

Additional information to increase understanding or make operation easier.

5-13

CJ2M CPU Unit Pulse I/O Module User’s Manual

5

6

CJ2M CPU Unit Pulse I/O Module User’s Manual

Sections in this Manual

1

2

1

2

3

4

5

6

Overview

I/O Application Procedures and Function Allocations

I/O Specifications and Wiring for Pulse I/O Modules

Normal I/O

Quick-response Inputs

Interrupts

3

4

5

6

7

8

7

8

9

A

9

High-speed Counters

A

Pulse Outputs

PWM Outputs

Appendices

CJ2M CPU Unit Pulse I/O Module User’s Manual

7

8

CJ2M CPU Unit Pulse I/O Module User’s Manual

CONTENTS

Introduction............................................................................................................... 1

CJ2 CPU Unit Manuals ............................................................................................. 2

Manual Structure ...................................................................................................... 5

Sections in this Manual............................................................................................ 7

Safety Precautions ................................................................................................. 17

Application Precautions......................................................................................... 21

Operating Environment Precautions .................................................................... 26

Regulations and Standards ................................................................................... 27

Unit Versions of CJ2 CPU Units ............................................................................ 30

Related Manuals ..................................................................................................... 31

Section 1 Overview

1-1 Pulse I/O Modules.................................................................................................................... 1-2

1-2 Overview of the Functions of CJ2M Pulse I/O ...................................................................... 1-4

1-3 Functions of CJ2M Pulse I/O ..................................................................................................1-6

Section 2 I/O Application Procedures and Function Allocations

2-1 Pulse I/O Module Application Procedure .............................................................................. 2-2

2-2 Allocating I/O Functions ......................................................................................................... 2-4

2-2-1 Specifying the Functions to Use ................................................................................................. 2-4

2-2-2 Selecting Functions in the PLC Setup ........................................................................................ 2-4

2-2-3 Allocating Functions to Input Terminals ...................................................................................... 2-5

2-2-4 Allocating Functions to Output Terminals ...................................................................................2-7

2-3 PLC Setup ................................................................................................................................ 2-8

2-3-1 Normal Input Operation Setting .................................................................................................. 2-9

2-3-2 Interrupt Input and Quick-response Input Detailed Settings ...................................................... 2-9

2-3-3 High-speed Counter Settings.................................................................................................... 2-10

2-3-4 Pulse Output and Origin Search Settings ................................................................................. 2-11

Section 3 I/O Specifications and Wiring for Pulse I/O Modules

3-1 I/O Specifications .................................................................................................................... 3-2

3-1-1 Input Specifications..................................................................................................................... 3-2

3-1-2 Output Specifications for Sinking Transistor Outputs.................................................................. 3-4

3-1-3 Output Specifications for Sourcing Transistor Outputs ............................................................... 3-5

3-2 Wiring ....................................................................................................................................... 3-7

3-2-1 Connector Pin Allocations........................................................................................................... 3-7

3-2-2 I/O Circuit Configurations............................................................................................................ 3-8

3-2-3 Wiring ......................................................................................................................................... 3-8

CJ2M CPU Unit Pulse I/O Module User’s Manual

9

Section 4 Normal I/O

4-1 Normal Inputs .......................................................................................................................... 4-2

4-1-1 Overview .....................................................................................................................................4-2

4-1-2 Application Procedure ................................................................................................................. 4-2

4-2 Normal Outputs ....................................................................................................................... 4-5

4-2-1 Overview .....................................................................................................................................4-5

4-2-2 Flow of Operation........................................................................................................................ 4-5

4-3 Wiring ....................................................................................................................................... 4-7

4-3-1 Connector Pin Assignments........................................................................................................4-7

4-3-2 Wiring Examples .........................................................................................................................4-9

Section 5 Quick-response Inputs

5-1 Overview................................................................................................................................... 5-2

5-2 Application Procedure ............................................................................................................ 5-3

5-2-1 PLC Setup...................................................................................................................................5-3

5-2-2 Applicable Input Terminals .......................................................................................................... 5-5

5-3 Wiring ....................................................................................................................................... 5-6

5-3-1 Connector Pin Assignments........................................................................................................5-6

5-4 Creating Ladder Programs .....................................................................................................5-7

Section 6 Interrupts

6-1 Types of Interrupts .................................................................................................................. 6-2

6-1-1 Overview .....................................................................................................................................6-2

6-2 Interrupt Inputs ........................................................................................................................ 6-3

6-2-1 Overview .....................................................................................................................................6-3

6-2-2 Application Procedure ................................................................................................................. 6-5

6-2-3 Specifications..............................................................................................................................6-5

6-2-4 PLC Setup...................................................................................................................................6-6

6-2-5 Wiring........................................................................................................................................6-10

6-2-6 Creating Ladder Programs........................................................................................................ 6-10

6-2-7 Application Example..................................................................................................................6-14

Section 7 High-speed Counters

7-1 Overview................................................................................................................................... 7-2

7-1-1 Overview .....................................................................................................................................7-2

7-1-2 Application Procedure ................................................................................................................. 7-3

7-1-3 Specifications..............................................................................................................................7-3

7-1-4 PLC Setup...................................................................................................................................7-4

7-1-5 Wiring..........................................................................................................................................7-7

7-1-6 Creating Ladder Programs........................................................................................................ 7-12

7-2 High-speed Counter Inputs................................................................................................... 7-13

7-2-1 Pulse Input Methods Settings ................................................................................................... 7-13

7-2-2 Counting Mode Settings............................................................................................................7-14

7-2-3 Reset Methods.......................................................................................................................... 7-16

7-2-4 Reading the Present Value .......................................................................................................7-16

7-2-5 Frequency Measurement ..........................................................................................................7-17

7-2-6 Measuring the Rotational Speed or Total Rotations .................................................................. 7-18

7-2-7 Reading the Count Direction.....................................................................................................7-19

7-2-8 Temporarily Stopping Input Signal Counting (Gate Function) ...................................................7-20

10

CJ2M CPU Unit Pulse I/O Module User’s Manual

7-3 High-speed Counter Interrupts ............................................................................................ 7-21

7-3-1 Overview................................................................................................................................... 7-21

7-3-2 Present Value Comparison ....................................................................................................... 7-25

7-3-3 High-speed Counter Interrupt Instructions................................................................................ 7-28

7-4 Related Auxiliary Area Words and Bits ............................................................................... 7-35

7-5 Application Examples .......................................................................................................... 7-43

Section 8 Pulse Outputs

8-1 Overview................................................................................................................................... 8-3

8-1-1 Overview..................................................................................................................................... 8-3

8-1-2 Application Procedure................................................................................................................. 8-4

8-1-3 Specifications.............................................................................................................................. 8-5

8-1-4 Wiring ....................................................................................................................................... 8-11

8-2 Position Control..................................................................................................................... 8-27

8-2-1 Position Control Configuration .................................................................................................. 8-27

8-2-2 Relative Positioning and Absolute Positioning .......................................................................... 8-28

8-2-3 Application Example ................................................................................................................. 8-30

8-3 Jogging................................................................................................................................... 8-32

8-3-1 High-speed Jogging.................................................................................................................. 8-32

8-3-2 Low-speed Jogging................................................................................................................... 8-32

8-3-3 Application Example ................................................................................................................. 8-33

8-4 Implementing Interrupt Feeding........................................................................................... 8-35

8-4-1 Using the IFEED(892) (INTERRUPT FEEDING) Instruction .................................................... 8-35

8-4-2 Setting Procedure..................................................................................................................... 8-35

8-4-3 PLC Setup ................................................................................................................................ 8-36

8-4-4 INTERRUPT FEEDING Instruction: IFEED(892)...................................................................... 8-37

8-5 Defining the Origin ................................................................................................................ 8-39

8-5-1 Origin Searches........................................................................................................................ 8-39

8-5-2 Setting Procedure..................................................................................................................... 8-40

8-5-3 PLC Setup ................................................................................................................................ 8-40

8-5-4 Origin Search Instructions ........................................................................................................ 8-45

8-5-5 Origin Search Operations ......................................................................................................... 8-46

8-5-6 Origin Return ............................................................................................................................ 8-51

8-5-7 Changing the PV of the Pulse Output....................................................................................... 8-52

8-5-8 Application Example ................................................................................................................. 8-52

8-6 Reading the Pulse Output Present Value ............................................................................ 8-56

8-7 Reading the Pulse Output Frequency ................................................................................. 8-57

8-8 Related Auxiliary Area Bits................................................................................................... 8-58

8-9 Application Example ............................................................................................................. 8-63

8-9-1 Cutting Long Material Using Fixed Feeding.............................................................................. 8-63

8-9-2 Palletize: Two-axis Multipoint Positioning.................................................................................. 8-66

8-9-3 Vertically Conveying PCBs (Multiple Progressive Positioning) ................................................. 8-74

8-9-4 Feeding Wrapping Material: Interrupt Feeding ......................................................................... 8-80

8-10 Precautions when Using Pulse Outputs ............................................................................. 8-82

8-11 Pulse Output Patterns ........................................................................................................... 8-87

8-11-1 Speed Control (Continuous Mode) ...........................................................................................8-87

8-11-2 Positioning Control (Independent Mode) .................................................................................. 8-89

CJ2M CPU Unit Pulse I/O Module User’s Manual

11

Section 9 PWM Outputs

9-1 PWM Outputs (Variable Duty Ratio Pulse Outputs).............................................................. 9-2

9-1-1 Overview .....................................................................................................................................9-2

9-1-2 Application Procedure ................................................................................................................. 9-3

9-1-3 Wiring..........................................................................................................................................9-4

9-1-4 Ladder Program Example ...........................................................................................................9-5

Appendices

A-1 Flag Operations during Pulse Output....................................................................................A-2

A-2 Combinations of Pulse Control Instructions .......................................................................A-3

A-3 Comparison to CJ1M Built-in I/O Functions .........................................................................A-7

A-4 Performance Information ......................................................................................................A-10

A-4-1 Interrupt Input Response Time .................................................................................................A-10

A-4-2 Pulse Output Start Time............................................................................................................A-11

A-4-3 Response Times of Pulse Output Changes ..............................................................................A-11

Index................................................................................................................ Index-1

Revision History........................................................................................Revision-1

12

CJ2M CPU Unit Pulse I/O Module User’s Manual

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

OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON­INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE
PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS
DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR
INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED.

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

In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which
liability is asserted.

IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS
REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS
WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR.

CJ2M CPU Unit Pulse I/O Module User’s Manual

13

Application Considerations

SUITABILITY FOR USE

OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the
combination of products in the customer's application or use of the products.

At the customer's request, OMRON will provide applicable third party certification documents identifying
ratings and limitations of use that apply to the products. This information by itself is not sufficient for a
complete determination of the suitability of the products in combination with the end product, machine,
system, or other application or use.

The following are some examples of applications for which particular attention must be given. This is not
intended to be an exhaustive list of all possible uses of the products, nor is it intended to imply that the uses
listed may be suitable for the products:

• Outdoor use, uses involving potential chemical contamination or electrical interference, or conditions or
uses not described in this manual.

• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, medical
equipment, amusement machines, vehicles, safety equipment, and installations subject to separate
industry or government regulations.

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

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

NEVER USE THE PRODUCTS FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR
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
INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM.

PROGRAMMABLE PRODUCTS

OMRON shall not be responsible for the user's programming of a programmable product, or any
consequence thereof.

14

CJ2M CPU Unit Pulse I/O Module User’s Manual

Disclaimers

CHANGE IN SPECIFICATIONS

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

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 changed
without any notice. When in doubt, special model numbers may be assigned to fix or establish key
specifications for your application on your request. Please consult with your OMRON representative at any
time to confirm actual specifications of purchased products.

DIMENSIONS AND WEIGHTS

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

PERFORMANCE DATA

Performance data given in this manual is provided as a guide for the user in determining suitability and does
not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must
correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and
Limitations of Liability.

ERRORS AND OMISSIONS

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.

CJ2M CPU Unit Pulse I/O Module User’s Manual

15

16

CJ2M CPU Unit Pulse I/O Module User’s Manual

Safety Precautions

Definition of Precautionary Information

The following notation is used in this manual to provide precautions required to ensure safe usage of a
CJ-series PLC. The safety precautions that are provided are extremely important to safety. Always read
and heed the information provided in all safety precautions.

WARNING

Caution

Precautions for Safe Use

Indicates precautions on what to do and what not to do to ensure using the product safely.

Precautions for Correct Use

Indicates precautions on what to do and what not to do to ensure proper operation and performance.

Indicates a potentially hazardous situation which, if not avoided,
could result in death or serious injury. Additionally, there may be
severe property damage.

Indicates a potentially hazardous situation which, if not avoided,
may result in minor or moderate injury, or property damage.

CJ2M CPU Unit Pulse I/O Module User’s Manual

17

Symbols

The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in
text. This example indicates a precaution for electric shock.

The circle and slash symbol indicates operations that you must
not do. The specific operation is shown in the circle and
explained in text.

The filled circle symbol indicates operations that you must do.
The specific operation is shown in the circle and explained in
text. This example shows a general precaution for something
that you must do.

The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in
text. This example indicates a general precaution.

The triangle symbol indicates precautions (including warnings).
The specific operation is shown in the triangle and explained in
text. This example indicates a precaution for hot surfaces.

18

CJ2M CPU Unit Pulse I/O Module User’s Manual

WARNING

Do not attempt to take any Unit apart or touch the inside of any Unit while the
power is being supplied. Doing so may result in electric shock.

Do not touch any of the terminals or terminal blocks while the power is being
supplied. Doing so may result in electric shock.

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 Programmable Controller or
another external factor affecting the operation of the Programmable Control­ler. “Programmable Controller” indicates the CPU Unit and all other Units and
is abbreviated “PLC” in this manual. 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 PLC will turn OFF all outputs when its self-diagnosis function detects
any error or when a severe failure alarm (FALS) instruction is executed.
Unexpected operation, however, may still occur for errors in the I/O control
section, errors in I/O memory, and other errors that cannot be detected by
the self-diagnosis function. As a countermeasure for all such errors, exter­nal safety measures must be provided to ensure safety in the system.

• The PLC 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.

• Provide measures in the computer system and programming to ensure
safety in the overall system even if communications errors or malfunctions
occur in data link communications or remote I/O communications.

Confirm safety before transferring data files stored in the file memory (Mem­ory Card or EM file memory) to the I/O area (CIO) of the CPU Unit using a
peripheral tool. Otherwise, the devices connected to the output unit may mal­function regardless of the operation mode of the CPU Unit.

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. Serious accidents
may result from abnormal operation if proper measures are not provided.

CJ2M CPU Unit Pulse I/O Module User’s Manual

19

Caution

Execute online edit only after confirming that no adverse effects will be
caused by extending the cycle time. Otherwise, the input signals may not be
readable.

Confirm safety at the destination node before transferring a program, PLC
Setup, I/O tables, I/O memory contents, or parameters to another node or
changing contents of the any of these items. Transferring or changing data
can result in unexpected system operation.

The CJ2 CPU Units automatically back up the user program and parameter
data to flash memory when these are written to the CPU Unit. I/O memory
including the DM, EM, and Holding Areas), however, is not written to flash
memory.

The DM, EM, and Holding Areas can be held during power interruptions with
a battery. If there is a battery error, the contents of these areas may not be
accurate after a power interruption. If the contents of the DM, EM, and Hold­ing Areas are used to control external outputs, prevent inappropriate outputs
from being made whenever the Battery Error Flag (A402.04) is ON.

Tighten the terminal screws on the AC Power Supply Unit to the torque spec­ified in the operation manual. The loose screws may result in burning or mal­function.

Do not touch the Power Supply Unit when power is being supplied or immedi­ately after the power supply is turned OFF. The Power Supply Unit will be hot
and you may be burned.

When connecting a personal computer or other peripheral device to a PLC to
which a non-insulated Power Supply Unit (CJ1W-PD022) is mounted, either
ground the 0 V side of the external power supply or do not ground the exter­nal power supply at all ground. A short-circuit will occur in the external power
supply if incorrect grounding methods are used. Never ground the 24 V side,
as shown below.

Wiring in Which the 24-V Power Supply Will Short

Non-insulated
DC power supply

24 V

Peripheral

0 V

cable

0 V

20

FG

Power Supply
Unit

CPU Unit

Peripheral device (e.g.,
personal computer)

CJ2M CPU Unit Pulse I/O Module User’s Manual

Application Precautions

Observe the following precautions when using a CJ-series PLC.

z Power Supply

• Always use the power supply voltages specified in the user’s manuals. An incorrect voltage may
result in malfunction or burning.

• Exceeding the capacity of the Power Supply Unit may prevent the CPU Unit or other Units from
starting.

• 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. An incor­rect power supply may result in malfunction.

• Always turn OFF the power supply to the PLC before attempting any of the following. Not turning
OFF the power supply may result in malfunction or electric shock.

• Mounting or dismounting Power Supply Units, I/O Units, CPU Units, Option Boards, Pulse I/O
Modules or any other Units.

• Assembling the Units.

• Setting DIP switches or rotary switches.

• Connecting cables or wiring the system.

• Connecting or disconnecting the connectors.

• When cross-wiring terminals, the total current for all the terminal will flow in the wire. Make sure
that the current capacity of the wire is sufficient.

• Observe the following precautions when using a Power Supply Unit that supports the Replace­ment Notification Function.

• Replace the Power Supply Unit within six months if the display on the front of the Power Sup­ply Unit alternates between 0.0 and A02, or if the alarm output automatically turns OFF.

• Keep the alarm output cable separated from power line and high-voltage lines.

• Do not apply a voltage or connect a load exceeding the specifications to the alarm output.

• When storing the Power Supply Unit for more than three months, store it at −20 to 30°C and
25% to 70% humidity to preserve the Replacement Notification Function.

• If the Power Supply Unit is not installed properly, heat buildup may cause the replacement noti­fication signal to appear at the wrong time or may cause interior elements to deteriorate or
become damaged. Use only the standard installation method.

• Do not touch the terminals on the Power Supply Unit immediately after turning OFF the power
supply. Residual voltage may cause electrical shock.

• Observe the following precautions to prevent failure due to difference in electrical potential if the
computer is connected to the PLC.

• Before connecting a laptop computer to the PLC, disconnect the power supply plug of the
computer from the AC outlet. Residual current in the AC adaptor may cause difference in elec­trical potential to occur between the computer and the PLC. After you connect the computer
and PLC, supply the power again from the AC adaptor.

• If the computer has an FG terminal, make the connections so that it has the same electrical
potential as the FG (GR) terminal on the PLC.

• If the computer is grounded to a separate location, difference in electrical potential may occur
depending on the grounding conditions.

z Installation

• Do not install the PLC near sources of strong high-frequency noise.

• Before touching a Unit, be sure to first touch a grounded metallic object in order to discharge any
static build-up. Not doing so may result in malfunction or damage.

CJ2M CPU Unit Pulse I/O Module User’s Manual

21

• Be sure that the terminal blocks, connectors, Memory Cards, Option Boards, Pulse I/O Modules,
expansion cables, and other items with locking devices are properly locked into place.

• The sliders on the tops and bottoms of the Power Supply Unit, CPU Unit, I/O Units, Special I/O
Units, CPU Bus Units, and Pulse I/O Modules must be completely locked (until they click into
place) after connecting to adjacent Units. It may not be possible to achieve proper functionality if
the sliders are not locked.

z Wiring

• Follow the instructions in this manual to correctly perform wiring.

• Double-check all wiring and switch settings before turning ON the power supply. Incorrect wiring
may result in burning.

• Be sure that all terminal screws, and cable connector screws are tightened to the torque specified
in the relevant manuals. Incorrect tightening torque may result in malfunction.

• Mount terminal blocks and connectors only after checking the mounting location carefully.

• Leave the label attached to the Unit when wiring. Removing the label may result in malfunction if
foreign matter enters the Unit.

• Remove the label after the completion of wiring to ensure proper heat dissipation. Leaving the
label attached may result in malfunction.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connec­tion of bare stranded wires may result in burning.

• Do not apply voltages to the Input Units in excess of the rated input voltage. Excess voltages may
result in burning.

• Always connect to a ground of 100 Ω or less when installing the Units. Not connecting to a ground
of 100 Ω or less may result in electric shock.
A ground of 100 Ω or less must be installed when shorting the GR and LG terminals on the Power
Supply Unit.

• Do not apply voltages or connect loads to the Output Units in excess of the maximum switching
capacity. Excess voltage or loads may result in burning.

• 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 or other wiring lines. Doing so may break the cables.

• Do not use commercially available RS-232C personal computer cables. Always use the special
cables listed in this manual or make cables according to manual specifications. Using commer­cially available cables may damage the external devices or CPU Unit.

• Never connect pin 6 (5-V power supply) on the RS-232C port on the CPU Unit to any device other
than an NT-AL001 Link Adapter, CJ1W-CIF11 Converter, and Programmable Terminals (NV3W­M@20L). The external device or the CPU Unit may be damaged.

22

z Handling

• The Power Supply Unit may possibly be damaged if the entire voltage for a dielectric strength test
is applied or shut OFF suddenly using a switch. Use a variable resistor to gradually increase and
decrease the voltage.

• Separate the line ground terminal (LG) from the functional ground terminal (GR) on the Power
Supply Unit before performing withstand voltage tests or insulation resistance tests. Not doing so
may result in burning.

• Make sure that the DIP switches and DM Area are set correctly before starting operation.

• After replacing the CPU Unit, a Special I/O Unit, or a CPU Bus Unit, make sure that the required
data for the DM Area, Holding Area, and other memory areas has been transferred to the new
Unit before restarting operation.

• 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 operation mode of the PLC (including the setting of the startup operation mode).

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

CJ2M CPU Unit Pulse I/O Module User’s Manual

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

• Do not attempt to disassemble, repair, or modify any Units. Any attempt to do so may result in mal­function, fire, or electric shock.

• Do not drop the PLC or subject abnormal vibration or shock to it.

• The life of the battery will be reduced if the PLC is left for a period of time without a battery
installed and without power supply, and then a battery is installed without turning ON the power
supply.

• Replace the battery as soon as a battery error occurs or as soon as the specified battery backup
time expires. Be sure to install a replacement battery within two years of the production date
shown on the battery's label.

• Before replacing the battery, turn ON power for at least 5 minutes before starting the replacement
procedure and complete replacing the battery within 5 minutes of turning OFF the power supply.
Memory contents may be corrupted if this precaution is not obeyed.

• If the Battery Error Flag is used in programming the application, confirm system safety even if the
system detects a battery error before you replace the battery while the power is ON.

• Do not short the battery terminals or charge, disassemble, heat, or incinerate the battery. Do not
subject the battery to strong shocks. Doing any of these may result in leakage, rupture, heat gen­eration, or ignition of the battery. Dispose of any battery that has been dropped on the floor or oth­erwise subjected to excessive shock. Batteries that have been subjected to shock may leak if they
are used.

• UL standards require that only an experienced engineer can replace the battery. Make sure that
an experienced engineer is in charge of battery replacement. Follow the procedure for battery
replacement given in this manual.

• Dispose of the product and batteries according to local ordinances as they apply.

• If the I/O Hold Bit is turned ON, the outputs from the PLC will not be turned OFF and will maintain
their previous status when the PLC is switched from RUN or MONITOR mode to PROGRAM
mode. Make sure that the external loads will not produce dangerous conditions when this occurs.
(When operation stops for a fatal error, including those produced with the FALS(007) instruction,
all outputs from Output Unit will be turned OFF and only the internal output status will be main­tained.)

• Unexpected operation may result if inappropriate data link tables or parameters are set. Even if
appropriate data link tables and parameters have been set, confirm that the controlled system will
not be adversely affected before starting or stopping data links.

• Write programs so that any data that is received for data link communications is used only if there
are no errors in the CPU Units that are the sources of the data. Use the CPU Unit error informa­tion in the status flags to check for errors in the source CPU Units. If there are errors in source
CPU Units, they may send incorrect data.

• All CPU Bus Units will be restarted when routing tables are transferred from a Programming
Device to the CPU Unit. Restarting these Units is required to read and enable the new routing
tables. Confirm that the system will not be adversely affected before transferring the routing
tables.

• Tag data links will stop between related nodes while tag data link parameters are being trans­ferred during PLC operation. Confirm that the system will not be adversely affected before trans­ferring the tag data link parameters.

• If there is interference with network communications, output status will depend on the devices that
are being used. When using devices with outputs, confirm the operation that will occur when there
is interference with communications, and implement safety measures as required.

CJ2M CPU Unit Pulse I/O Module User’s Manual

23

• When creating an AUTOEXEC.IOM file from a Programming Device (a Programming Console or
the CX-Programmer) to automatically transfer data at startup, set the first write address to
D20000 and be sure that the size of data written does not exceed the size of the DM Area. When
the data file is read from the Memory Card at startup, data will be written in the CPU Unit starting
at D20000 even if another address was set when the AUTOEXEC.IOM file was created. Also, if
the DM Area is exceeded (which is possible when the CX-Programmer is used), the remaining
data will be written to the EM Area.

• The user program and parameter area data in the CJ2 CPU Units are backed up in the built-in
flash memory. The BKUP indicator will light on the front of the CPU Unit when the backup opera­tion is in progress. Do not turn OFF the power supply to the CPU Unit when the BKUP indicator is
lit. The data will not be backed up if power is turned OFF.

• Check the user program and Unit parameter settings for proper execution before actually running
them on the Unit. Not checking the program and parameter settings may result in an unexpected
operation.

• When setting a Special I/O Unit or CPU Bus Unit in the I/O tables, carefully check the safety of the
devices at the connection target before restarting the Unit.

• Do not turn OFF the power supply to the PLC when reading or writing a Memory Card. Also, do
not remove the Memory Card when the BUSY indicator is lit. Doing so may make the Memory
Card unusable.
To remove a Memory Card, first press the memory card power supply switch and then wait for the
BUSY indicator to go out before removing the Memory Card.

• When restoring data, carefully check that the selected data is the correct data to be restored
before executing the restore operation. Depending on the contents of the selected data, the con­trol system may operate unexpectedly after the data is restored.

• Some Special I/O Units and CPU Bus Units operate with parameters stored in the CPU Unit (e.g.,
words allocated in DM Area, data link tables, or Ethernet settings). Information on restrictions will
be displayed in the Information Area in the PLC Backup Tool if there are any restrictions for the
selected CPU Bus Unit or Special I/O Unit. Check the restrictions, and then be sure to select both
the CPU Unit and the CPU Bus Unit or Special I/O Unit when backing up or restoring data. The
control system may operate unexpectedly if the equipment is started with the data backed up or
restored without selecting both Units.

• Information on restrictions will be displayed in the Information Area in the PLC Backup Tool if the
data to be stored includes a Unit that has restrictions on backup. Check the information on restric­tions and take the required countermeasures. The control system may operate unexpectedly
when the equipment is operated after the data is restored

• Before restoring data during PLC operation, be sure that there will be no problem if PLC operation
stops. If the PLC stops at an unexpected time, the control system may operate unexpectedly.

• Be sure to turn the PLC power supply OFF and then back ON after restoring data. If the power is
not reset, the system may not be updated with the restored data, and the control system may
operate unexpectedly.

• Data on forced status can be backed up but it cannot be restored. Perform the procedure to force­set or force-reset bits from the CX-Programmer as required before starting operation after restor­ing data that includes forced status. Depending on the difference in the forced status, the control
system may operate unexpectedly.

• If a symbol or memory address (only symbols are allowed for ST programming) is specified for the
suffix of an array variable in ladder or ST programming, be sure that the specified element number
does not exceed the maximum memory area range.
Specifying an element number that exceeds the maximum range of the memory area specified for
the symbol will result accessing data in a different memory area, and may result in unexpected
operation.

• If a symbol or address is specified for an offset in a ladder diagram, program so that the memory
area of the start address is not exceeded when the offset is specified indirectly using a word
address or symbol.
If an indirect specification causes the address to exceed the area of the start address, the system
will access data in other area, and unexpected operation may occur.

24

CJ2M CPU Unit Pulse I/O Module User’s Manual

z External Circuits

• Always turn ON power to the PLC before turning ON power to the control system. If the PLC
power supply is turned ON after the control power supply, temporary errors may result in control
system signals because the output terminals on DC Output Units and other Units will momentarily
turn ON when power is turned ON to the PLC.

• Install external breakers and take other safety measures against short-circuiting in external wiring.
Insufficient safety measures against short-circuiting may result in burning.

CJ2M CPU Unit Pulse I/O Module User’s Manual

25

Operating Environment Precautions

z Follow the instructions in this manual to correctly perform installation.

z Do not operate the control system in the following locations:

• 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 temperature.

• 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.

z 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.

26

CJ2M CPU Unit Pulse I/O Module User’s Manual

Regulations and Standards

Conformance to EC Directives

Applicable Directives

• EMC Directives

• Low Voltage Directive

Concepts

z EMC Directives

OMRON devices that comply with EC Directives also conform to the related EMC standards so that
they can be more easily built into other devices or the overall machine. The actual products have
been checked for conformity to EMC standards (see the following note). Whether the products con­form to the standards in the system used by the customer, however, must be checked by the cus­tomer.

EMC-related performance of the OMRON devices that comply with EC Directives will vary depend­ing on the configuration, wiring, and other conditions of the equipment or control panel on which the
OMRON devices are installed.

The customer must, therefore, perform the final check to confirm that devices and the overall
machine conform to EMC standards.

* Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility):
EN 61000-6-2

* EMI (Electromagnetic Interference):

EN 61000-6-4 (Radiated emission: 10-m regulations)

z Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 VAC and 75 to 1,500 VDC meet the
required safety standards for the PLC (EN 61131-2).

z Conformance to EC Directives

The CJ-series PLCs comply with EC Directives. To ensure that the machine or device in which the
CJ-series PLC is used complies with EC Directives, the PLC must be installed as follows:

• The CJ-series PLC must be installed within a control panel.

• You must use reinforced insulation or double insulation for the DC power supplies connected to
DC Power Supply Units and I/O Units.

• CJ-series PLCs complying with EC Directives also conform to the Common Emission Standard
(EN 61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending on the
configuration of the control panel used, other devices connected to the control panel, wiring, and
other conditions. You must therefore confirm that the overall machine or equipment complies with
EC Directives.

CJ2M CPU Unit Pulse I/O Module User’s Manual

27

Conformance to Shipbuilding Standards

This product conforms to the following shipbuilding standards. Applicability to the shipbuilding stan­dards is based on certain usage conditions. It may not be possible to use the product in some loca­tions. Contact your OMRON representative before attempting to use a PLC on a ship.

Usage Conditions for NK and LR Shipbuilding Standards

z Usage Conditions for Applications Other Than on the Bridge or Deck

• The PLC must be installed in a control panel.

• Gaps in the door to the control panel must be completely filled or covered with gaskets or other
material.

z Usage Conditions for Bridge and Deck (Certified Only by NK)

• The PLC must be installed in a control panel.

• Gaps in the door to the control panel must be completely filled or covered with gaskets or other
material.

• The following noise filter must be connected to the power supply line.

Noise Filter

Manufacturer Cosel Co., Ltd.

Model TAH-06-683

Conformance to UL and CSA Standards

This product complies with applicable UL and CSA standards. The following application conditions were
specified for compliance. Refer to Precaution for Compliance with Standards and CSA Standards pro­vided with the product in advance.

Application Conditions for the CJ2M-MD21@

z The temperature inside the control panel must be 50°C or less.

z The following Connector-Terminal Block Conversion Unit and Connecting

Cable must be used to wire I/O.

• Connector-Terminal Block Conversion Unit: XW2B-40G4

• Connecting Cable: XW2Z-@@@K@

28

z A power supply that complies with UL Class 2 must be used for the output

power supply.

CJ2M CPU Unit Pulse I/O Module User’s Manual

Trademarks

SYSMAC is a registered trademark for Programmable Controllers made by OMRON Corporation.

CX-One is a registered trademark for Programming Software made by OMRON Corporation.

Windows is a registered trademark of Microsoft Corporation.

Other system names and product names in this document are the trademarks or registered trademarks
of their respective companies.

CJ2M CPU Unit Pulse I/O Module User’s Manual

29

Unit Versions of CJ2 CPU Units

Unit Versions and Programming Devices

When using a Pulse I/O Module, use the following unit version of a CJ2M CPU Unit and the following
version of the CX-Programmer.

CJ2M CPU Unit Unit version 2.0 (Built-in Ether-

Net/IP section: Unit version 2.0)

CX-Programmer Ver. 9.12

Refer to the CJ2 CPU Unit Hardware Manual (Cat. No. W472) or the CJ2 CPU Unit Software Manual
(Cat. No. W473) for information on unit versions.

30

CJ2M CPU Unit Pulse I/O Module User’s Manual

Related Manuals

Manuals related to a PLC built using a CJ-series CJ2 CPU Unit are listed in the following table. Use
these manuals for reference.

Manual Cat. No. Model Application Description

CJ-series CJ2M
CPU Unit Pulse I/O
Module User's Man­ual (this manual)

CJ-series CJ2 CPU
Unit Hardware
User’s Manual

CJ-series CJ2 CPU
Unit Software User’s
Manual

EtherNet/IP Units
Operation Manual

CS/CJ/NSJ-series
Instructions Refer­ence Manual

W486 CJ2M-CPU@@

+
CJ2M-MD21@

W472 CJ2H-CPU6@-EIP

CJ2H-CPU6@
CJ2M-CPU@@

W473 CJ2H-CPU6@-EIP

CJ2H-CPU6@
CJ2M-CPU@@

W465 CJ2H-CPU6@-EIP

CJ2M-CPU@@
CS1W-EIP21
CJ1W-EIP21

W474 CJ2H-CPU6@-EIP

CJ2H-CPU6@
CJ2M-CPU@@
CS1G/H-CPU@@H
CS1G/H-CPU@@-V1
CJ1G/H-CPU@@H
CJ1G-CPU@@
CJ1M-CPU@@
NSJ@-@@@@(B)-G5D
NSJ@-@@@@(B)-M3D

Information on using pulse
I/O on CJ2M CPU Units

Hardware specifications for
CJ2 CPU Units

Software specifications for
CJ2 CPU Units

Using the built-in Ether­Net/IP port of the CJ2 CPU
Unit

Information on instructions Describes each programming instruction in

Provides the following information on the CJ2M
CPU Units:

• Specifications and wiring methods

• I/O functions

• Quick-response inputs

• Interrupt functions

• High-speed counters

• Pulse outputs

• PWM outputs

When programming, use this manual together
with the Instructions Reference Manual (Cat.
No. W474).

Describes the following for CJ2 CPU Units:

• Overview and features

• Basic system configuration

• Part nomenclature and functions

• Mounting and setting procedure

• Remedies for errors

• Also refer to the Software User’s Manual
(W473).

Describes the following for CJ2 CPU Units:

• CPU Unit operation

• Internal memory

• Programming

• Settings

• Functions built into the CPU Unit

Also refer to the Hardware User’s Manual
(W472)

Describes the built-in EtherNet/IP port and Eth­erNet/IP Units.

Describes basic settings, tag data links, FINS
communications, and other functions.

detail.

Also refer to the Software User’s Manual (W473)
when you do programming.

CJ2M CPU Unit Pulse I/O Module User’s Manual

31

Manual Cat. No. Model Application Description

CS/CJ/CP/NSJ­series Communica­tions Command Ref­erence Manual

CX-One Setup Man­ual

CX-Programmer
Operation Manual

CX-Programmer
Operation Manual
Functions
Blocks/Structured
Te xt

CX-Programmer
Operation Manual
SFC Programming

CS/CJ/CP/NSJ­series CX-Simulator
Operation Manual

CS/CJ/CP/NSJ­series CX-Integrator
Network Configura­tion Software Opera­tion Manual

W342 CJ2H-CPU6@-EIP

CJ2H-CPU6@
CJ2M-CPU@@
CS1G/H-CPU@@H
CS1G/H-CPU@@-V1
CS1D-CPU@@H
CS1D-CPU@@S
CS1W-SCU@@-V1
CS1W-SCB@@-V1
CJ1H-CPU@@H-R
CJ1G/H-CPU@@H
CJ1G-CPU@@P
CJ1M-CPU@@
CJ1G-CPU@@
CJ1W-SCU@@-V1
CP1H-X@@@@-@
CP1H-XA@@@@-@
CP1H-Y@@@@-@
CP1L-M/L@@@-@
CP1E-E@@D@-@
CP1E-N@@D@-@
CP1L-M/L@@@-@@
CP1E-E/N@@D@-@
NSJ@-@@@@(B)-G5D
NSJ@-@@@@(B)-M3D

W463 CXONE-AL@@C-

V@/AL@@D-V@

W446 WS02-CX@@-V@ Support Software for Win-

W447

W469

W366 WS02-SIMC1-E Operating procedures for

W464 CXONE-AL@@C-V@/

CXONE-AL@@D-V@

Information on communi­cations for CS/CJ/CP­series CPU Units and NSJ­series Controllers

Installing software from the
CX-One

dows computers

CX-Programmer operating
procedure

CX-Simulator Simulation
Support Software for Win­dows computers

Using simulation in the CX­Programmer with CX-Pro­grammer version 6.1 or
higher

Network setup and moni­toring

Describes C-mode commands and FINS com­mands

Refer to this manual for a detailed description of
commands for communications with the CPU
Unit using C mode commands or FINS com­mands.

Note This manual describes the communica-

tions commands that are addressed to
CPU Units. The communications path that
is used is not relevant and can include any
of the following: serial ports on CPU Units,
communications ports on Serial Commu­nications Units/Boards, and Communica­tions Units. For communications
commands addressed to Special I/O Units
or CPU Bus Units, refer to the operation
manual for the related Unit.

Provides an overview of the CX-One FA Inte­grated Tool Package and describes the installa­tion procedure.

Describes operating procedures for the CX-Pro­grammer.

Also refer to the Software User’s Manual (W473)
and CS/CJ/NSJ-series Instructions Reference
Manual (W474) when you do programming.

Describes the operating procedures for the CX­Simulator.

When you do simulation, also refer to the CX-

Programmer Operation Manual (W446), Soft­ware User’s Manual (W473), and CS/CJ/NSJ­series Instructions Reference Manual (W474).

Describes the operating procedures for the CX­Integrator.

32

CJ2M CPU Unit Pulse I/O Module User’s Manual

Overview

This section gives an overview of the Pulse I/O Modules for CJ2M CPU Units and the
functions of the pulse I/O of the CJ2M CPU Units.

1-1 Pulse I/O Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

1-2 Overview of the Functions of CJ2M Pulse I/O . . . . . . . . . . . . . . . . . . . . . . . 1-4

1-3 Functions of CJ2M Pulse I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6

1

CJ2M CPU Unit Pulse I/O Module User’s Manual

1-1

1 Overview

1-1 Pulse I/O Modules

A Pulse I/O Module is required as the interface between the CJ2M and external devices when using
CJ2M pulse I/O. Up to two Pulse I/O Modules can be connected to the left side of a CJ2M CPU Unit.

Connecting One Pulse I/O Module Connecting Two Pulse I/O Modules

Pulse I/O Module

I/O Module 0

Connected

CJ2M Simple or
Standard CPU Unit

Pulse I/O Modules

Connected

Connected

I/O Module 0

I/O Module 1

CJ2M Simple or
Standard CPU Unit

The following models are supported.

Name Model Model with transistor outputs Specifications

Pulse I/O Module CJ2M-MD211 Sinking outputs 40-pin MIL connectors

CJ2M-MD212 Sourcing outputs

1-2

Note The connector for the Connecting Cable is not provided with the Pulse I/O Module. Purchase and use a Con-

nector or Connecting Cable (sold separately). Refer to 3-2-3 Wiring for details.

CJ2M CPU Unit Pulse I/O Module User’s Manual

1 Overview

Detection of Pulse I/O Modules

• The CJ2M CPU Unit detects the configuration of mounted Pulse I/O Modules each time the power
supply is turned ON. An error will not occur even if the number or models of the mounted Pulse I/O
Modules are different from the last time the PLC was operated.

• A fatal error (too many I/O points) will occur and the CPU Unit will not operate if three or more Pulse
I/O Modules are mounted.

1-1 Pulse I/O Modules

z Configuration Example of a CJ2M System with a Pulse I/O Module

Connecting One Servo Drive

Pulse I/O Module

XW2Z-100J-A@@
Connecting Cable for
Servo Drive

One-axis Servo Relay Unit
for Servo Drive

CJ2M CPU Unit

Connecting Cable for
Servo Drive

Servo Drive

Servomotor

1

Additional Information

• Pulse I/O Modules can be connected only to CJ2M CPU Units. They cannot be used with
CJ2H CPU Units.

• The pin arrangement of the I/O connected on the CJ2M-MD211 (sinking outputs) is compatible
with the built-in I/O connector on the CJ1M-CPU2@ CPU Unit.

CJ2M CPU Unit Pulse I/O Module User’s Manual

1-3

1 Overview

1-2 Overview of the Functions of CJ2M

Pulse I/O

The following functions of the pulse I/O of the CJ2M can be used by installing a Pulse I/O Module.

Select which function to use for each input and output in the PLC Setup.

Functions of Normal I/O

The inputs and outputs on the Pulse I/O Module can be used as normal inputs and normal outputs.
(Each Pulse I/O Module provides up to 10 inputs and 6 outputs.) The input time constant can be set to
0 ms (no filter), 0.5 ms, 1 ms, 2 ms, 4 ms, 8 ms, 16 ms, or 32 ms. The same setting is used for all 20
inputs. Chattering and the effects of external noise can be reduced by increasing the input time con­stant.

Quick-response Inputs

By setting an input on the Pulse I/O Module to quick-response input operation, inputs with signal widths
as small as 30 µs can be read with certainty regardless of the cycle time. Up to four quick-response
inputs can be used for each Pulse I/O Module (eight for the entire CJ2M PLC).

Interrupt Inputs

An interrupt task can be started when an input on the Pulse I/O Module turns ON or OFF (Direct Mode).
Alternatively, the rising or falling edge of the inputs can be counted. When the count reaches a specified
value, an interrupt task can be started. This is called Counter Mode. Up to four interrupt inputs can be
used for each Pulse I/O Module (eight for the entire CJ2M PLC).

High-speed Counters

A rotary encoder can be connected to the Pulse I/O Module input to accept differential phase or single­phase high-speed pulse counter inputs.

High-speed counter inputs (differential phase: 50 kHz, single-phase: 100 kHz) for up to 2 axes can be
used for each Pulse I/O Module (up to 4 axes for the entire CJ2M PLC).

z Use the Linear Mode or Ring Mode for the Counting Mode

The maximum value of the ring counter can be changed during operation using the MODE CON­TROL (INI(880)) instruction.

1-4

z Start Interrupt Tasks Using Target Value Comparison or Range Comparison

for High-speed Processing

Interrupt tasks can be started when the PV reaches a target value for target value comparison, or
when it enters a specified range for range comparison.

z Frequency Measurement

The input pulse frequency can be measured by executing the HIGH-SPEED COUNTER PV READ
(PRV(881)) instruction. (Applicable only to high-speed counter 0.) It is possible to convert the fre­quency to a rotational speed by executing the COUNTER FREQUENCY CONVERT (PRV2(883))
instruction.

CJ2M CPU Unit Pulse I/O Module User’s Manual

1 Overview

1-2 Overview of the Functions

z Maintain or Refresh (Selectable) High-speed Counter PVs

The High-speed Counter Gate Bit can be turned ON/OFF from the ladder program to select whether
the high-speed counter PVs will be maintained or refreshed.

Pulse Outputs

Fixed duty ratio pulse outputs can be output from the Pulse I/O Module outputs and used to perform
position or speed control with a Servo Drive or a stepping motor that accepts pulse inputs. Each Pulse
I/O Module provides 100-kHz pulse outputs for up to 2 axes (up to 4 axes for entire CJ2M PLC).

z Trapezoidal or S-curve Acceleration and Deceleration for Positioning

Trapezoidal or S-curve acceleration and deceleration can be used for position control using the
PULSE OUTPUT (PLS2(887)) instruction.

z Triangular Control for Pulse Outputs

If the target frequency cannot be reached when the setting is changed with a PLS2(887) or
ACC(888) instruction, triangular control will be performed. If the target position is exceeded using
the specified deceleration ratio, the deceleration ratio will be automatically corrected.

z Jogging Can Be Performed

Jogging can be performed by executing the SPED(885) or ACC(888) instruction.

of CJ2M Pulse I/O

1

z Pulse Output Frequency Tracing

Changes in the pulse output frequency can be checked graphically by using the CX-Programmer's
Data Trace Window.

z Easy Interrupt Feeding

An interrupt input can be used as a trigger to switch from speed control to position control and out­put the specified number of pulses, then decelerate to a stop using the INTERRUPT FEEDING
(IFEED(892)) instruction.

z Origin Searches and Origin Returns Can Be Performed Using the ORIGIN

SEARCH Instruction

An accurate origin search combining all I/O signals can be executed with a single instruction. It is
also possible to move directly to an established origin using the ORIGIN SEARCH (ORG(889))
instruction. It is also possible to perform origin returns by directly moving to a defined origin.

The origin search and origin return settings can be changed during operation using the MODE
CONTROL (INI(880)) instruction.

PWM Outputs

Lighting and power control can be performed by outputting variable duty ratio pulse (PWM) output sig­nals from the outputs of the Pulse I/O Module.

Up to two PWM outputs can be used for each Pulse I/O Module (four for the entire CJ2M PLC).

CJ2M CPU Unit Pulse I/O Module User’s Manual

1-5

1 Overview

1-3 Functions of CJ2M Pulse I/O

The following functions of the CJ2M can be used by installing a Pulse I/O Module.

Additional Information

For information on installing Pulse I/O Modules, the number of Blocks and their positions, indica­tors, part names, part functions, and the external dimensions, refer to the CJ2 CPU Unit Hard-
ware User's Manual (Cat. No. W472).

Item Function Reference

Inputs Normal inputs The status of input signals for normal I/O is read and

stored in I/O memory during the I/O refresh period.

Interrupt inputs in
Direct Mode

Interrupt inputs in
Counter Mode

High-speed
counter inputs

Outputs Normal outputs Outputs according to the content of the I/O memory

Pulse outputs The specified number of pulses are output at a fixed

PWM outputs
(variable duty ratio
pulse outputs)

Defining the origin Defines the machine origin by actually executing

The input signal triggers an interrupt task when it
turns ON or OFF.

The number of ON transitions or OFF transitions in
the input signal is counted and an interrupt task is
started when the specified count is reached.

High-speed counter inputs can be used to count
high-speed pulse signals. Interrupt tasks can also
be started.

and refresh timing.

duty ratio (50%) at the specified frequency.
Pulse are output at the specified duty ratio. Section 9 PWM Outputs

pulse output based on the pattern specified in the
origin search parameters, using the origin proximity
input and origin input signals as conditions. (Inputs
and outputs are used in combination.)

4-1 Normal Inputs

6-2 Interrupt Inputs

Section 7 High-speed
Counters

4-2 Normal Outputs

Section 8 Pulse Outputs

8-5 Defining the Origin

1-6

CJ2M CPU Unit Pulse I/O Module User’s Manual

I/O Application Procedures and
Function Allocations

This section describes the procedures for using the I/O functions of the Pulse I/O Mod­ule and how to allocate functions to the I/O.

2-1 Pulse I/O Module Application Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

2-2 Allocating I/O Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-2-1 Specifying the Functions to Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-2-2 Selecting Functions in the PLC Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-4

2-2-3 Allocating Functions to Input Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-5

2-2-4 Allocating Functions to Output Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-7

2-3 PLC Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-8

2-3-1 Normal Input Operation Setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-9

2-3-2 Interrupt Input and Quick-response Input Detailed Settings . . . . . . . . . . . . . . 2-9

2-3-3 High-speed Counter Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-10

2-3-4 Pulse Output and Origin Search Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-11

2

CJ2M CPU Unit Pulse I/O Module User’s Manual

2-1

2 I/O Application Procedures and Function Allocations

2-1 Pulse I/O Module Application

Procedure

The following procedure shows how to use the I/O functions of the Pulse I/O Module.

1

Assign functions.

2

Install the Pulse I/O

Assign the functions to be used to the I/O ter­minals on the Pulse I/O Unit.

Connect up to two Pulse I/O Modules to the
left of the CJ2M CPU Unit.

Refer to 2-2 Allocat-
ing I/O Functions.

Modules.

3

Wire the Pulse I/O
Modules.

4

Make the settings
in PLC Setup.

• Normal connection: Connect with XW2Z-

@@@K Connecting Cable to the XW2D/B­40@G Connector-Terminal Block Conver­sion Unit.

• Connecting with OMRON Servo Drives:
Connect with the special Connecting Cable
via a special Servo Relay Unit.

Set the port numbers for functions using the
CX-Programmer.

Example: When Using Interrupt Input IN03
and High-speed Counter 0
Parameters in the PLC Setup must be set for
the following functions.

Refer to 3-2-3 Wir-
ing.

Refer to 2-2 Allocat-
ing I/O Functions
and the section on
the PLC Setup in the
section for each
function.

• Interrupt Inputs

• Quick-response
Inputs

• High-speed
Counter Inputs

• Origin Search

2-2

CJ2M CPU Unit Pulse I/O Module User’s Manual

2 I/O Application Procedures and Function Allocations

2-1 Pulse I/O Module Application Procedure

5

Create Ladder

Write ladder programs using the CX-Pro­grammer.

Programming.

Example: Enable interrupts with the

Special Instructions

Write related
Auxiliary Area bits.

Read related
Auxiliary Area bits.

6

Transfer the PLC
Setup and ladder

MSKS(690) instruction and program high­speed counters with the CTBL(882) instruc­tion.

Example: Resetting a high-speed counter.

Example: Reading the present value of a
high-speed counter.

Transfer the PLC Setup and ladder programs
from the CX-Programmer to the CJ2M CPU
Unit.

Refer to the informa­tion on the Auxiliary
Area in the CJ2 CPU

Unit Software User's
Manual (Cat. No.

W473).

2

programs.

7

Restart the CJ2M

Turn OFF the power supply to the CJ2M
PLC, then turn it ON again.

PLC.

8

Start the operation of the CJ2M CPU Unit.

Start operation.

CJ2M CPU Unit Pulse I/O Module User’s Manual

2-3

2 I/O Application Procedures and Function Allocations

2-2 Allocating I/O Functions

2-2-1 Specifying the Functions to Use

Each of the Pulse I/O Module inputs and outputs are used for one of the I/O functions.

Some I/O terminals may support more than one function. However, only one function can be
assigned to each terminal. Specify the input functions in the PLC Setup from the CX-Programmer,
and specify the output functions in PLC Setup and programming instructions.

Multiple terminals are sometimes used in combination depending on the function, so some functions
cannot be combined. Allocate functions to be used to terminals in the CX-Programmer's PLC Setup.
The CX-Programmer automatically displays the combination of terminals that can be selected so
that there is no need to be concerned about allocating more than one function to the same terminal.

To see which functions can be allocated to which I/O terminals, refer to 2-2-3 Allocating Functions to
Input Terminals and 2-2-4 Allocating Functions to Output Terminals.

2-2-2 Selecting Functions in the PLC Setup

• Inputs can be selected on the I/O Module Tab Page.

2-4

Click the Set Button in the Interrupt Inputs and Quick-response Inputs Area to display a dialog box to
allocate functions to interrupt inputs and quick-response inputs.

The order of preference for allocating functions to inputs is as follows:

Origin Search > High-speed Counter (Phase Z/Reset) > Normal Inputs, Interrupt Inputs, and Quick­response Inputs

CJ2M CPU Unit Pulse I/O Module User’s Manual

2 I/O Application Procedures and Function Allocations

2-2-3 Allocating Functions to Input Terminals

Allocating Functions to Input Terminals

Input terminals are allocated functions by setting parameters in the PLC Setup. Do not allocate more

than one function to the same input terminal.

Interrupt

Pulse I/O

Module

No.

0 (on the
right)

Input

terminal

symbol

IN00 CIO

IN01 CIO

IN02 CIO

IN03 CIO

IN04 CIO

IN05 CIO

IN06 CIO

IN07 CIO

IN08 CIO

IN09 CIO

address

2960.00

2960.01

2960.02

2960.03

2960.04

2960.05

2960.06

2960.07

2960.08

2960.09

Bit

Normal

inputs

Normal
input 0

Normal
input 1

Normal
input 2

Normal
input 3

Normal
input 4

Normal
input 5

Normal
input 6

Normal
input 7

Normal
input 8

Normal
input 9

inputs*

(Direct

Mode/Coun

ter Mode)

Interrupt
input 0

Interrupt
input 1

Interrupt
input 2

Interrupt
input 3

--- --- --- Pulse output 0

--- --- --- Pulse output 1

--- --- Counter 1 phase

--- --- Counter 1 phase

--- --- Counter 0 phase

--- --- Counter 0 phase

Quick-

response

inputs

Quick­response
input 0

Quick­response
input 1

Quick­response
input 2

Quick­response
input 3

High-speed

counter inputs

--- Pulse output 0

--- Pulse output 0

Counter 1 phase
Z or reset

Counter 0 phase
Z or reset

A, increment, or
count input

B, decrement, or
direction input

A, increment, or
count input

B, decrement, or
direction input

Pulse output

origin search

inputs

origin input sig­nal

origin proximity
input signal

Pulse output 1
origin input sig­nal

Pulse output 1
origin proximity
input signal

positioning com­pleted signal

positioning com­pleted signal

---

---

---

---

2-2 Allocating I/O Functions

2

2-2-3 Allocating Functions to Input Terminals

CJ2M CPU Unit Pulse I/O Module User’s Manual

2-5

2 I/O Application Procedures and Function Allocations

Interrupt

Pulse I/O

Module

No.

1 (on the
left)

* Only specific pairs of interrupt inputs and pulse outputs can be used together when using interrupt

inputs with the INTERRUPT FEEDING (IFEED(892))) instruction. For details, refer to 8-4-4 INTER-
RUPT FEEDING Instruction: IFEED(892).

Input

terminal

symbol

IN10 CIO

IN11 CIO

IN12 CIO

IN13 CIO

IN14 CIO

IN15 CIO

IN16 CIO

IN17 CIO

IN18 CIO

IN19 CIO

address

2962.00

2962.01

2962.02

2962.03

2962.04

2962.05

2962.06

2962.07

2962.08

2962.09

Bit

Normal

inputs

Normal
input 10

Normal
input 11

Normal
input 12

Normal
input 13

Normal
input 14

Normal
input 15

Normal
input 16

Normal
input 17

Normal
input 18

Normal
input 19

inputs*

(Direct

Mode/Coun

ter Mode)

Interrupt
input 4

Interrupt
input 5

Interrupt
input 6

Interrupt
input 7

--- --- --- Pulse output 2

--- --- --- Pulse output 3

--- --- Counter 3 phase

--- --- Counter 3 phase

--- --- Counter 2 phase

--- --- Counter 2 phase

Quick­response
input 4

Quick­response
input 5

Quick­response
input 6

Quick­response
input 7

Quick-

response

inputs

High-speed

counter inputs

--- Pulse output 2

--- Pulse output 2

Counter 3 phase
Z or reset

Counter 2 phase
Z or reset

A, increment, or
count input

B, decrement, or
direction input

A, increment, or
count input

B, decrement, or
direction input

Pulse output

origin search

inputs

origin input sig­nal

origin proximity
input signal

Pulse output 3
origin input sig­nal

Pulse output 3
origin proximity
input signal

positioning com­pleted signal

positioning com­pleted signal

---

---

---

---

2-6

Prohibition of Duplicated Use of Input Terminal Numbers

The bits 00 to 09 of CIO 2960 and CIO 2962 are used for interrupt inputs, quick-response inputs, high­speed counters, origin searches, and normal inputs. The same input terminal can be used for only one
of these functions. For example, if quick-response input 2 is used, then input terminal 02 cannot be
used for normal input 2, interrupt input 2, counter 1 phase Z/reset, or pulse output 1 origin input signal.

CJ2M CPU Unit Pulse I/O Module User’s Manual

2 I/O Application Procedures and Function Allocations

2-2-4 Allocating Functions to Output Terminals

Allocating Functions to Output Terminals

Functions are assigned to output terminals when an instruction is executed for an output bit. (The
instructions that can be used include OUT, ORG(889), and PWM(891).) If the origin search operation is
set to mode 1 or mode 2 in the PLC Setup, PWM outputs cannot be used for the output terminals that
are used for error counter reset outputs.

Pulse I/O

Module

No.

0 (on the
right)

1 (on the
left)

* The pulse output method is specified with an operand in the Pulse Output Instruction.

Output

terminal

symbol

OUT00 CIO

OUT01 CIO

OUT02 CIO

OUT03 CIO

OUT04 CIO

OUT05 CIO

OUT10 CIO

OUT11 CIO

OUT12 CIO

OUT13 CIO

OUT14 CIO

OUT15 CIO

address

2961.00

2961.01

2961.02

2961.03

2961.04

2961.05

2963.00

2963.01

2963.02

2963.03

2963.04

2963.05

Bit

Normal

outputs

Normal
output 0

Normal
output 1

Normal
output 2

Normal
output 3

Normal
output 4

Normal
output 5

Normal
output 6

Normal
output 7

Normal
output 8

Normal
output 9

Normal
output 10

Normal
output 11

CW/CCW

outputs

CW pulse
output 0

CCW pulse
output 0

CW pulse
output 1

CCW pulse
output 1

--- --- Pulse output 0

--- --- Pulse output 1

CW pulse
output 2

CCW pulse
output 2

CW pulse
output 3

CCW pulse
output 3

--- --- Pulse output 2

--- --- Pulse output 3

Pulse outputs*

Pulse +

direction

outputs

Pulse out­put 0

Pulse out­put 1

Direction
output 0

Direction
output 1

Pulse out­put 2

Pulse out­put 3

Direction
output 2

Direction
output 3

Origin search

output

--- ---

--- ---

--- ---

--- ---

error counter
reset output

error counter
reset output

--- ---

--- ---

--- ---

--- ---

error counter
reset output

error counter
reset output

PWM output

PWM output
0

PWM output
1

PWM output
2

PWM output
3

2-2 Allocating I/O Functions

2

2-2-4 Allocating Functions to Output Terminals

CJ2M CPU Unit Pulse I/O Module User’s Manual

2-7

2 I/O Application Procedures and Function Allocations

2-3 PLC Setup

The following dialog box will be displayed when the I/O Module Tab Page is opened in the PLC Setup.

I/O Module 0 Allocations and I/O Module 1 Allocations

The current settings of the I/O terminals on the Pulse I/O Modules are displayed here. Settings made
on the dialog boxes that are accessed from this dialog box are shown here so that you can see the cur­rent I/O terminal functions settings.

Normal Input Operation Setting

The input constant is set here.

Interrupt Inputs and Quick-response Inputs

The interrupt inputs and quick-response inputs are set here.

High-speed Counters

The functions and operating parameters of the high-speed counters are set here.

Pulse Outputs and Origin Searches

The functions and operating parameters of pulse outputs and the origin search function are set here.

2-8

CJ2M CPU Unit Pulse I/O Module User’s Manual

2 I/O Application Procedures and Function Allocations

2-3-1 Normal Input Operation Setting

Param ete r Setting Default Description

Input Time
Constant

• Default (8 ms)

•No filter

• 0.5 ms

•1 ms

•2 ms

•4 ms

•8 ms

•16 ms

•32 ms

Default

(8 ms)

Set the input time constant for normal
inputs IN00 to IN19.

Note The input constant is ignored for

input terminals that are set for inter­rupt inputs, quick-response inputs,
and high-speed counters.

Related Auxiliary

Area words and bits

--- Refreshed when

Update timing in

power is turned ON.

2-3-2 Interrupt Input and Quick-response Input Detailed Settings

The following dialog box will be displayed if the Set Button in the Interrupt Inputs and Quick-response
Inputs Area of the I/O Module Tab Page in the PLC Setting Dialog Box. Items that cannot be set will be
grayed out. The items that are grayed out can be set if the required Input Operation is set.

CPU Unit

2-3 PLC Setup

2

2-3-1 Normal Input Operation Setting

Param ete r Setting Default Description

Input Operation • Normal Input

• Quick-response
Input

• Interrupt Input

Edge • Rising Edge

• Falling Edge

Latch • Do not Use

• Pulse Output 0

• Pulse Output 1

• Pulse Output 2

• Pulse Output 3

• High-speed
Counter 0

• High-speed
Counter 1

• High-speed
Counter 2

• High-speed
Counter 3

Normal Input Set the function of the inter-

nal input.*

Rising Edge This setting is valid only

when the input is set to
Interrupt Input.

Set whether an interrupt will
occur when the input turns
ON or OFF.

Do not Use This setting is valid only

when the input is set to
Interrupt Input.

Select the item to latch
when using the software
latch for the input for a
pulse output/high-speed
counter.

Related Auxiliary

Area words and bits

--- Refreshed when

--- Refreshed when

Latched PV: A10144
to A10159

Update timing in

CPU Unit

power is turned ON.

operation is started.

Refreshed when
power is turned ON.

* Only specific pairs of interrupt inputs and pulse outputs can be used together when using interrupt

inputs with the INTERRUPT FEEDING (IFEED(892))) instruction. For details, refer to 8-4-4 INTER-
RUPT FEEDING Instruction: IFEED(892).

CJ2M CPU Unit Pulse I/O Module User’s Manual

2-9

2 I/O Application Procedures and Function Allocations

2-3-3 High-speed Counter Settings

The following dialog box will be displayed if the Set Button is clicked in the High-speed Counters Area of
the I/O Module Tab Page in the PLC Setting Dialog Box. Items that cannot be set will be grayed out. The

items that are grayed out can be set if the required Counter Setting and Counting Mode are set.

Param eter Setting Default Description

Counter Setting • Not Use

• Input pulse fre­quency (60 kHz
max.)

• Input pulse fre­quency (100 kHz
max.)

Counting Mode • Linear mode

• Ring mode

Ring Counter
Max. Value

Reset Method • Z phase, soft-

Comparing After
Counter Reset

Pulse Input
Mode

0 to 4,294,967,295 0 Set the maximum value of the ring

ware reset

• Software reset

•Stop

•Continue

• Differential
Phase

• Pulse + Direction

• Up/Down pulses

• Increment pulse

Not Use Set whether to use the high-speed

Linear mode Set whether to use the counter as a

Z phase,
software
reset

Stop Set whether to stop the comparison

Differential
Phase

counter.

When using the high-speed counter,
set the upper limit of the input fre­quency.

Note The frequency of the noise fil-

ter will change.

linear counter or a ring counter.

*This setting is valid only when using
the high-speed counter is enabled.

counter. The PV of the counter will
return to 0 when this value is
exceeded.

*This setting is valid only when using
the high-speed counter is enabled
and it is set to Ring mode.

*If 0 is set, the maximum value of the
counter will be 4,294,967,295.

Set the reset method for the PV of
the high-speed counter.

*This setting is valid only when using
the high-speed counter is enabled.

operation or continue it when the
counter is reset.

*This setting is valid only when using
the high-speed counter is enabled.

Set the counting method for the high­speed counter.

*This setting is valid only when using
the high-speed counter is enabled.

Related Auxiliary

Area words and bits

--- Refreshed when

--- Refreshed when

Ring counter maxi­mum value: A10136
to A10143

Reset Bits:
A531.00
A531.01
A531.02
A531.03

Comparison In­progress Flags:
A274.08
A275.08
A320.08
A321.08

--- Refreshed when

Update timing in

CPU Unit

power is turned ON.

power is turned ON or
operation is started.

Refreshed when
power is turned ON or
operation is started.

Refreshed when
power is turned ON.

Refreshed when
power is turned ON.

power is turned ON.

2-10

CJ2M CPU Unit Pulse I/O Module User’s Manual

2 I/O Application Procedures and Function Allocations

The settings for one high-speed counter can be copied to another high-speed counter.

Use the following procedure to copy the settings.

1. Click the Copy High-speed Counter Settings Button in the High-speed Counter Detailed Set-

tings Dialog Box.
The Copy High-speed Counter Settings Dialog Box will be displayed.

2. Select a high-speed counter to be copied in the box in the Copy Source Area and select another

high-speed counter in the Copy Destination Area.

2-3 PLC Setup

2

2-3-4 Pulse Output and Origin Search Settings

3. Click the OK Button.

The settings in the High-speed Counter Detailed Settings Dialog Box will be updated.

To initialize the settings of the high-speed counters, click the Defaults Button in the High-speed
Counter Detailed Settings Dialog Box.

2-3-4 Pulse Output and Origin Search Settings

The following dialog box will be displayed if the Set Button in the Pulse Outputs and Origin Searches
Area is selected from the I/O Module Tab Page in the PLC Setting Dialog Box. Items that cannot be set
will be grayed out. The items that are grayed out can be set if the required Origin Search Setting and
Operation Mode are set.

CJ2M CPU Unit Pulse I/O Module User’s Manual

2-11

2 I/O Application Procedures and Function Allocations

Parameter Setting Default Description

Internal Pulse
Control Cycle

•4 ms

•1 ms

4 ms Set the control frequency of the pulse output.

This setting affects the response to speed
changes when accelerating or decelerating and
to change instructions. If 1 ms is set, accelera­tion and deceleration will be performed in 1-ms
increments, providing a faster response for
change instructions for pulse outputs when
pulses are being output.

*Acceleration and deceleration rates are set in 4­ms increments, but internal processing is per­formed in 1-ms increments.

Related Auxiliary

Area words and bits

--- Refreshed when

Update timing in

CPU Unit

operation is started.

The following operation will be performed for the HUNDRED-MS TIMER (TIM/TIMX(550)), TEN-MS
TIMER (TIMH(015)/TIMHX(551)), and ONE-MS TIMER (TMHH(540)/TMHHX(552)) instructions if the
pulse control cycle is set to 1 ms.

• An error of up to one cycle time will occur in the timer PV accuracy.

• The timers will not operate correctly if the cycle time exceeds 100 ms.

• If the instructions above are in a task that is stopped or is not executed because it is jumped by a
JMP(004), CJMP(510), or CJPN(511) instruction, the timer will not operate correctly.

z Base Settings

Param eter Setting Default Description

Limit Input Signal
Operation

Limit Input Signal
Ty pe

Clear Origin at
Limit Input Signal

Search/Return
Initial Speed (pps)

Speed Curve • Linear

• Search Only

•Always

• NC (Normally
Closed)

• NO (Normally Open)

• Hold Origin

• Clear Origin

0 to 100,000 0 Set the starting speed when

•S-curve

Search Only Set whether to enable the

NC (Nor­mally
Closed)

Hold Origin Set whether to hold or clear

Linear Set the profile for accelera-

CW/CCW limit input signals
all the time or only for origin
searches.

Set the contact form for the
origin input signal.

the origin when the CW or
CCW limit input is received.

performing an origin search
or origin return.

tion/deceleration for pulse
outputs with accelera­tion/deceleration.

*This setting is used for
acceleration/deceleration for
all ports.

Related Auxiliary Area

words and bits

CW Limit Input Signal
Flags:
A540.08
A541.08
A542.08
A543.08

CCW Limit Input Signal
Flags:
A540.09
A541.09
A542.09
A543.09

No-origin Flags:
A280.05
A281.05
A326.05
A327.05

--- Refreshed when

--- Refreshed when

Update timing in

CPU Unit

Refreshed when
operation is started.

Refreshed when
operation is started.

Refreshed when
operation is started.

operation is started.

operation is started.

2-12

CJ2M CPU Unit Pulse I/O Module User’s Manual

Origin Search

2 I/O Application Procedures and Function Allocations

Parameter Setting Default Description

Origin Search
Setting

Search Direction • CW

Origin Detected
after Prox Input

Origin Search at
Limit Input

Operation Mode • Mode 0: Stepping

Origin Input Sig­nal Type

Proximity Input
Signal Type

• Disable

• Enable

•CCW

• 0: Turns ON and
then OFF

• 1: Turns ON

• 2: Proximity Input
Not Used

•0: Reverse

• 1: Stop with Error

Motor

• Mode 1: Servomo­tor

• Mode 2: Servomo­tor with INP

• NC (Normally
Closed)

• NO (Normally
Open)

• NC (Normally
Closed)

• NO (Normally
Open)

Disable Set whether to use origin

CW Set the direction in which to detect

0: Turns ON
and then OFF

0: Reverse Set the operation to perform when

Mode 0:
Stepping
Motor

NC (Nor­mally Closed)

NC (Nor­mally Closed)

searches.

signals for origin searches.

*This setting is valid only when the
origin search function is enabled.

Set the timing for detecting the ori­gin during origin searches.

*This setting is valid only when the
origin search function is enabled.

a CW/CCW limit input is received
during an origin search.

*This setting is valid only when the
origin search function is enabled.

Set the type of motor drive to use.

This setting affects the signals that
are used for origin searches and
positioning.

*This setting is valid only when the
origin search function is enabled.

Set the contact form for the origin
input signal.

*This setting is valid only when the
origin search function is enabled.

Set the contact form for the prox­imity input signal.

*This setting is valid only when the
origin search function is enabled.

Related Auxiliary

Area words and bits

--- Refreshed when

--- Refreshed when

--- Refreshed when

--- Refreshed when

--- Refreshed when

--- Refreshed when

--- Refreshed when

Update timing in

CPU Unit

power is turned ON.

operation is started.

power is turned ON.

operation is started.

operation is started.

operation is started.

operation is started.

2-3 PLC Setup

2

2-3-4 Pulse Output and Origin Search Settings

High Speed (pps) 1 to 100,000 pps 0 pps Set to speed to use in origin

Proximity Speed
(pps)

Correction Value −2,147,483,648 to

1 to 100,000 pps 0 pps Set to speed to use in origin

0 Set the correction to apply after

+2,147,483,647

searches until the proximity input
signal is received.

*This setting is valid only when the
origin search function is enabled.

searches until the origin input sig­nal is received.

*This setting is valid only when the
origin search function is enabled.

detecting the origin input signal.

*This setting is valid only when the
origin search function is enabled.

--- Refreshed when
operation is started.

--- Refreshed when
operation is started.

--- Refreshed when
operation is started.

CJ2M CPU Unit Pulse I/O Module User’s Manual

2-13

2 I/O Application Procedures and Function Allocations

Param eter Setting Default Description

Acceleration Rate 1 to 65,535 0 Set the acceleration rate in pps

Deceleration Rate 1 to 65,535 0 Set the deceleration rate in pps

Positioning Moni­tor Time (ms)

0 to 9,999 ms 0 Set the time to monitor for the

per 4 ms for accelerating during
origin searches.

*This setting is valid only when the
origin search function is enabled.

per 4 ms for decelerating during
origin searches.

*This setting is valid only when the
origin search function is enabled.

positioning completed signal after
pulse output has been completed.
A Positioning Timeout Error (error
code 0300) will occur if the posi­tioning completed signal is not
received within the positioning
monitor time.

*This setting is valid only when the
origin search function is enabled
and operation mode 2 is set.

Origin Return

Parameter Setting Default Description

Target Speed (pps) 1 to 100,000 pps 0 pps Set the operating speed for

Acceleration Rate 1 to 65,535 0 Set the acceleration rate in

Deceleration Rate 1 to 65,535 0 Set the deceleration rate in

origin returns.

pps per 4 ms for accelerating
during origin returns.

pps per 4 ms for decelerating
during origin returns.

Related Auxiliary

Area words and bits

--- Refreshed when

--- Refreshed when

Pulse Output
Stopped Error Flags:
A280.07
A281.07
A326.07
A327.07

Related Auxiliary

Area words and bits

--- Refreshed when

--- Refreshed when

--- Refreshed when

Update timing in

CPU Unit

operation is started.

operation is started.

Refreshed when
operation is started.

Update timing in

CPU Unit

operation is started.

operation is started.

operation is started.

The settings for one pulse output can be copied to another pulse output.

Use the following procedure to copy the settings.

1. Click the Copy Pulse Output Settings Button in the Pulse Output and Origin Search Detailed

Settings Dialog Box.
The Copy Pulse Output Settings Dialog Box will be displayed.

2. Select the pulse output to be copied in the box in the Copy Source Area and select another pulse

output in the Copy Destination Area.

3. Click the OK Button.

The settings in the Pulse Output and Origin Search Detailed Settings Dialog Box will be updated.

To initialize the settings of the pulse outputs, click the Defaults Button in the Pulse Output and Origin
Search Detailed Settings Dialog Box.

2-14

CJ2M CPU Unit Pulse I/O Module User’s Manual

I/O Specifications and Wiring for
Pulse I/O Modules

This section gives the I/O specifications and describes the wiring of the Pulse I/O Mod­ules.

3-1 I/O Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-1 Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-2

3-1-2 Output Specifications for Sinking Transistor Outputs . . . . . . . . . . . . . . . . . . . . 3-4

3-1-3 Output Specifications for Sourcing Transistor Outputs . . . . . . . . . . . . . . . . . . 3-5

3-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3-2-1 Connector Pin Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-7

3-2-2 I/O Circuit Configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3-2-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-8

3

CJ2M CPU Unit Pulse I/O Module User’s Manual

3-1

3 I/O Specifications and Wiring for Pulse I/O Modules

3-1 I/O Specifications

3-1-1 Input Specifications

z Normal Inputs

Inputs

Input form 24-VDC input Line driver inputs
Input current 6.0 mA typical 5.5 mA typical 13 mA typical 10 mA typical

Input voltage
range

Input impedance 3.6 kΩ 4.0 kΩ ---
Number of cir-

cuits
ON voltage/cur-

rent
OFF voltage/cur-

rent
ON response

time
OFF response

time

*1 The power supply voltage on the line driver side is 5 V ±5%.

*2 The input time constant can be set in the PLC Setup. When it is set to 0 ms, the delay due to internal compo-

nents results in an ON delay of 30 µs max. for IN00 to IN05 and IN10 to IN15 (2 µs max. for IN06 to IN09 and
IN16 to IN19) and an OFF delay of 150 µs max. for IN00 to IN05 and IN10 to IN15 (2 µs max. for IN06 to IN09
and IN16 to IN19).

IN00 to IN05 and

IN10 to IN15

24 VDC +10%/−15% RS-422A line driver

1 common, 1 circuit

17.4 VDC min., 3 mA min. ---

1 mA max. at 5 VDC max. ---

8 ms max. (The input time constant can be set to 0, 0.5, 1, 2, 4, 8, 16, or 32 ms.)

8 ms max. (The input time constant can be set to 0, 0.5, 1, 2, 4, 8, 16, or 32 ms.)

IN06 to IN09 and

IN16 to IN19

IN00 to IN05 and

IN10 to IN15

AM26LS31 or equivalent

IN06 to IN09 and

IN16 to IN19

*1

*2

*2

z Interrupt Input and Quick-response Input Specifications

(IN00 to IN03 and IN10 to IN13)

Item Specifications

ON response time 30 µs max.
OFF response

time
Response pulse

150 µs max.



30 µs min. 150 µs min.

ON

OFF

3-2

CJ2M CPU Unit Pulse I/O Module User’s Manual

3 I/O Specifications and Wiring for Pulse I/O Modules

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

24-VDC input Line driver input

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

16.6 µs min.

8.3 µs min.

ON

50%

OFF

8.3 µs min.

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

Changes in phases A and B must be separated by at least

4.0 µs.

33.3 µs min.

ON

50%

OFF
ON

50%

OFF

T1 T 2

T1, T2, T3, T4: 4.0 µs min.

T3 T4

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

10.0 µs min.

5.0 µs min.

ON

50%

OFF

Differential-phase 50-kHz pulse input

Changes in phases A and B must be separated
by at least 2.5 µs.

ON

50%

OFF
ON

50%

OFF

T1 T 2

T1, T2, T3, T4: 2.5 µs min.

5.0 µs min.

20.0 µs min.

T3 T4

Set to
60 kHz

Set to
100 kHz

Phase-A/Phase-B encoder input, Single-phase
60-kHz pulse input with 50% duty ratio

Rise time and fall time: 3.0 µs max.

ON

50%

OFF

3 µs max. 3 µs max.

16.6 µs min.

8.3 µs min.

8.3 µs min.

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

Changes in phases A and B must be
separated by at least 4.0 µs.

ON

50%

OFF
ON

50%

OFF

33.3 µs min.

T1 T 2

T1, T2, T3, T4: 4.0 µs min.

T3 T4

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

Rise time and fall time: 2.5 µs max.

ON

50%

OFF

2.5 µs max. 2.5 µs max.

10.0 µs min.

5.0 µs min.

5.0 µs min.

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

Changes in phases A and B must be
separated by at least 2.5 µs.

ON

50%

OFF
ON

50%

OFF

20.0 µs min.

T1 T 2

T1, T2, T3, T4: 2.5 µs min.

T3 T4

3-1 I/O Specifications

3

3-1-1 Input Specifications

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

Maintain an ON time of 30 µs min.

Phase
Z/reset
input

and an OFF time of 150 µs min.

ON

50%

OFF

30 µs min.

Additional Information

For the counter inputs, it is necessary to check the factors that can affect the pulses, such as the type of output driver
in the encoder, cable length, and count pulse frequency. When counting pulses that exceed 60 kHz, we recommend
using an encoder with a line-driver output. To ensure that pulses can be counted stably, use a shielded twisted-pair
cable and keep the cable to 3 m or less in length.

CJ2M CPU Unit Pulse I/O Module User’s Manual

150 µs min.

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

Maintain an ON time of 30 µs min.
and an OFF time of 150 µs min.

30 µs min. 150 µs min.

ON

50%

OFF

3-3

3 I/O Specifications and Wiring for Pulse I/O Modules

3-1-2 Output Specifications for Sinking Transistor Outputs

z Normal Outputs (OUT00 to OUT05 and OUT10 to OUT15)

Output Specifications

Rated voltage 5 to 24 VDC
Allowable voltage range 4.75 to 26.4 VDC
Maximum switching current 0.3 A/output; 1.8 A/Unit
Number of circuits 6 outputs (6 outputs/common)
Maximum inrush current 3.0 A/output, 10 ms max.*
Leakage current 0.1 mA max.
Residual voltage 0.6 V max.
ON response time 0.1 ms max.
OFF response time 0.1 ms max.
Fuse None
External power supply (power

supply input +V for outputs)

*Refer to 4-3-2 Wiring Examples for details on suppressing the load's inrush current and modify the circuit if nec-

essary.

10.2 to 26.4 VDC 20 mA min.

z Pulse Outputs (OUT00 to OUT03 and OUT10 to OUT13)

Item Specifications

Rated voltage 5 to 24 VDC
Allowable voltage range 4.75 to 26.4 VDC
Maximum switching capacity 30 mA
Minimum switching capacity 7 mA
Maximum output frequency 100 kHz
Output waveform

Note The ON/OFF status given above is for the output element.

Additional Information

• The load for the above values is assumed to be the resistance load, and does not take into
account the impedance for the connecting cable to the load.

• Due to distortions in pulse waveforms resulting from connecting cable impedance, the pulse
widths in actual operation may be smaller than the values shown above.

OFF

ON

90%

10%

2 µs min.

4 µs min.

3-4

CJ2M CPU Unit Pulse I/O Module User’s Manual

3 I/O Specifications and Wiring for Pulse I/O Modules

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

Item Specifications

Rated voltage 5 to 24 VDC
Allowable voltage range 4.75 to 26.4 VDC
Maximum switching capacity 6.5535 kHz or less: 300 mA, 6.5535 to 32.8 kHz: 100 mA
Maximum output frequency 32,800 Hz
PWM output accuracy (for ON

pulse width of 2 µs or longer)
Output waveform

ON duty at 6.5535 kHz or less: −0.2% to +1%, ON duty at

32.8 kHz: −1% to +5% (at switching current of 30 mA)

OFF

50%

3-1 I/O Specifications

ON

t

ON

T

ON duty =

t

ON

X 100%

T

Note The ON/OFF status given above is for the output element.

3-1-3 Output Specifications for Sourcing Transistor Outputs

z Normal Outputs (OUT00 to OUT05 and OUT10 to OUT15)

Output OUT0 to OUT5

Rated voltage 5 to 24 VDC
Operating load voltage range 4.75 to 26.4 VDC
Maximum switching current 0.3 A/output, 1.8 A/Unit
Number of circuits 6 outputs (6 outputs/common)
Maximum inrush current 2.0 A/output, 10 ms max.*
Leakage current 0.1 mA max.
Residual voltage 0.6 V max.
ON response time 0.1 ms max.
OFF response time 0.1 ms max.
Fuse None
External supply power (power

supply input −V for outputs)

10.2 to 26.4 VDC, 20 mA min.

3

3-1-3 Output Specifications for Sourcing Transistor Outputs

*Refer to 4-3-2 Wiring Examples for details on suppressing the load's inrush current and modify the circuit if nec-

essary.

z Pulse Outputs (OUT00 to OUT03 and OUT10 to OUT13)

Item Specifications

Rated voltage 5 to 24 VDC
Allowable voltage range 4.75 to 26.4 VDC
Maximum switching capacity 30 mA
Minimum switching capacity 7 mA
Maximum output frequency 100 kHz
Output waveform

Note The ON/OFF status given above is for the output element.

CJ2M CPU Unit Pulse I/O Module User’s Manual

ON

OFF

90%

10%

4 µs min.

2 µs min.

3-5

3 I/O Specifications and Wiring for Pulse I/O Modules

Additional Information

• The load for the above values is assumed to be the resistance load, and does not take into
account the impedance for the connecting cable to the load.

• Due to distortions in pulse waveforms resulting from connecting cable impedance, the pulse
widths in actual operation may be smaller than the values shown above.

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

Item Specifications

Rated voltage 5 to 24 VDC
Allowable voltage range 4.75 to 26.4 VDC
Maximum switching capacity 6.5535 kHz or less: 300 mA, 6.5535 to 32.8 kHz: 100 mA
Maximum output frequency 32,800 Hz
PWM output accuracy (for ON

pulse width of 2 µs or longer)
Output waveform

ON duty at 6.5535 kHz or less: ±0.5%, ON duty at 32.8 kHz:
±2.5% (at switching current of 30 mA)

ON

50%

OFF

t

ON

T

Note The ON/OFF status given above is for the output element.

ON duty =

t

ON

X 100%

T

3-6

CJ2M CPU Unit Pulse I/O Module User’s Manual

3 I/O Specifications and Wiring for Pulse I/O Modules

3-2 Wiring

3-2-1 Connector Pin Allocations

z Connector on Sinking-type I/O Module (CJ2M-MD211)

Pin layout Terminal symbol

IN00/IN10 24 VDC 1 A1 IN01/IN11 24 VDC 2 B1

IN02/IN12 24 VDC 7 A4 IN03/IN13 24 VDC 8 B4

1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39

* Terminals numbers on the XW2D-@@G@ Connector-Terminal Block Conversion Unit.

2
4
6
8
10

IN04/IN14 24 VDC 13 A7 IN05/IN15 24 VDC 14 B7

12
14
16
18
20

IN06/IN16 24 VDC 19 A10 IN07/IN17 24 VDC 20 B10

22
24
26
28
30

IN08/IN18 24 VDC 25 A13 IN09/IN19 24 VDC 26 B13

32
34
36
38
40

OUT00/OUT10 --- 31 A16 OUT01/OUT11 --- 32 B16
OUT02/OUT12 --- 33 A17 OUT03/OUT13 --- 34 B17
OUT04/OUT14 --- 35 A18 OUT05/OUT15 --- 36 B18
Power supply input +V
for outputs
COM --- 39 A20 COM --- 40 B20

Input sig-

nal type

LD+ 3 A2 LD+ 4 B2
0 V/LD− 5A3 0 V/LD− 6B3

LD+ 9 A5 LD+ 10 B5
0 V/LD− 11 A6 0 V/LD− 12 B6

LD+ 15 A8 LD+ 16 B8
0 V/LD− 17 A9 0 V/LD− 18 B9

LD+ 21 A11 LD+ 22 B11
0 V/LD− 23 A12 0 V/LD− 24 B12

LD+ 27 A14 LD+ 28 B14
0 V/LD− 29 A15 0 V/LD− 30 B15

--- 37 A19 Power supply input +V

Pin * Terminal symbol

for outputs

Input sig-

nal type

--- 38 B19

Pin *

3-2 Wiring

3

3-2-1 Connector Pin Allocations

z Sourcing-type I/O Module (CJ2M-MD212)

Pin layout Terminal symbol

IN00/IN10 24 VDC 1 A1 IN01/IN11 24 VDC 2 B1

IN02/IN12 24 VDC 7 A4 IN03/IN13 24 VDC 8 B4

1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
39

2
4
6
8
10
12

IN04/IN14 24 VDC 13 A7 IN05/IN15 24 VDC 14 B7

14
16
18
20
22
24

IN06/IN16 24 VDC 19 A10 IN07/IN17 24 VDC 20 B10

26
28
30
32
34
36

IN08/IN18 24 VDC 25 A13 IN09/IN19 24 VDC 26 B13

38
40

OUT00/OUT10 --- 31 A16 OUT01/OUT11 --- 32 B16

OUT02/OUT12 --- 33 A17 OUT03/OUT13 --- 34 B17

OUT04/OUT14 --- 35 A18 OUT05/OUT15 --- 36 B18

COM --- 37 A19 COM --- 38 B19
Power supply input −V

for outputs

* Terminals numbers on the XW2D-@@G@ Connector-Terminal Block Conversion Unit.

Input sig-

nal type

LD+ 3 A2 LD+ 4 B2
0 V/LD− 5A3 0 V/LD− 6B3

LD+ 9 A5 LD+ 10 B5
0 V/LD− 11 A6 0 V/LD− 12 B6

LD+ 15 A8 LD+ 16 B8
0 V/LD− 17 A9 0 V/LD− 18 B9

LD+ 21 A11 LD+ 22 B11
0 V/LD− 23 A12 0 V/LD− 24 B12

LD+ 27 A14 LD+ 28 B14
0 V/LD− 29 A15 0 V/LD− 30 B15

--- 39 A20 Power supply input −V

Pin * Terminal symbol

for outputs

Input sig-

nal type

--- 40 B20

Pin *

CJ2M CPU Unit Pulse I/O Module User’s Manual

3-7

3 I/O Specifications and Wiring for Pulse I/O Modules

3-2-2 I/O Circuit Configurations

z Input Circuits (IN00 to IN05 and IN10 to IN15)

24 V

LD+

0 V/LD−

3.6 kΩ

100 Ω

100 Ω

Internal circuits

z Input Circuits (IN06 to IN09 and IN16 to IN19)

24 V

LD+

0 V/LD−

4.0 kΩ

100 Ω

100 Ω

Internal circuits

z Output Circuits (OUT00 to OUT05 and OUT10 to OUT15)

• Sinking-type I/O Module (CJ2M-MD211) • Sourcing-type I/O Module (CJ2M-MD212)

Rated
voltage
circuit

+V

OUT

COM

Internal circuits

3-2-3 Wiring

There are the following three methods for wiring a Pulse I/O Module.

• Using Connector-Terminal Block Conversion Units
Connector-Terminal Block Conversion Units are used when using normal I/O, quick-response
inputs, interrupt inputs, PWM outputs, or pulse outputs to stepping motors or other manufacturer's
Servo Drives.

• Using Servo Relay Units
Servo Relay Units are used when using OMRON's Servo Drives.

• Directly Connecting a Self-made Cable with a Connector
A self-made cable with a Connector can be used to directly connect the I/O.

Isolation
circuit

COM

Internal circuits

Isolation
circuit

Rated
voltage
circuit

OUT

−V

3-8

CJ2M CPU Unit Pulse I/O Module User’s Manual

3 I/O Specifications and Wiring for Pulse I/O Modules

Precautions for Safe Use

• Never apply a voltage that exceeds the input voltage of the I/O circuits or the maximum switch­ing capacity of the output circuits.

• When the power supply has positive and negative terminals, always wire them correctly.

• Use reinforced insulation or double insulation for the DC power supplies used for I/O to comply
with the EC Low Voltage Directive.

• Always double-check the connector wiring before turning ON the power.

• Do not pull on the cable. Doing so will damage the cable.

• Do not bend the cable past its natural bending radius. Doing so will damage the cable.

• The connector pin allocation of the CJ1W-ID232/262 and OD233/263 connectors is not com­patible. The Unit's internal circuits may be damaged if one of these connectors is connected.

• Do not connect a 24-VDC output device to a line driver input. Doing so may damage the inter­nal circuits.

• Do not connect a line driver output device to the DC input. Doing so will not damage the inter­nal circuits, but the input will not be recognized.

3-2 Wiring

3

3-2-3 Wiring

Using Connector-Terminal Block Conversion Units

A special OMRON Connecting Cable with a connector is used to connect the Connector-Terminal
Block Conversion Unit.

z Cables for Connector-Terminal Block Conversion Units

Applicable Connector-Terminal Block Conversion Units

Connecting Cable

XW2Z-@@@K

@@@: 100: 1 m

150: 1.5 m
200: 2 m
300: 3 m
500: 5 m

Compatible Con-

nector-Terminal

Block Conversion

Unit

XW2D-40G6 Slim type

XW2B-40G4 Through cable

XW2B-40G5 Through cable

Type

(M3 screw termi­nals)

(M3 screw termi­nals)

(M3.5 screw termi­nals)

Num-

ber of

pins

40P Com-

Size

pact

Stan­dard

Tempera-

ture (°C)

0 to 55

0 to 55

CJ2M CPU Unit Pulse I/O Module User’s Manual

3-9

3 I/O Specifications and Wiring for Pulse I/O Modules

z Corresponding Connector-Terminal Block Conversion Unit Terminals

The following figure shows the corresponding terminals on the Connector-Terminal Block Conver­sion Unit when it is connected to a Pulse I/O Module.

Pulse I/O Module CJ2M-MD211, CJ2M-MD212
Connector-Terminal Block Conver-

sion Unit
Connecting Cable XW2Z-@@@K

XW2D-40G6

Pulse I/O Module
connector pin numbers

XW2D-40G6 Connector-Terminal
Block Conversion Unit

39

37

35

33

31

29

27

25

23

21

19

17

15

13

11

9

7

5

3

1

Pulse I/O Module
connector pin numbers

40

38

36

34

32

30

28

26

24

22

20

18

16

14

12

10

8

6

4

2

3-10

CJ2M CPU Unit Pulse I/O Module User’s Manual

3 I/O Specifications and Wiring for Pulse I/O Modules

z Connection Example When Using a Connector-Terminal Block Conversion

Unit

CJ2M

Pulse I/O Module

CPU Unit

XW2Z-@@@K Connecting Cable
for Connector-Terminal Block
Conversion Unit

@@@: Indicates the cable length.
Examples: 100 = 1 m, 150 = 1.5 m

XW2@-40G@
Connector-Terminal Block
Conversion Unit

Normal outputs, quick-response inputs,
interrupt inputs, PWM outputs, and
pulse outputs to stepping motors or
other manufacturer's Servo Drives.

Using Servo Relay Units (Sinking Outputs Only)

Use special OMRON Connecting Cables with Connectors to connect between the Sinking-type
Pulse I/O Module and the Servo Relay Unit and between the Servo Relay Unit and Servo Drive.

z Connecting Cable for Servo Relay Units

OMRON Servo Drive

SMARTSTEP A Series
(pulse string input)

SMARTSTEP Junior
(pulse string input)

W Series
(pulse string input)

G Series
(pulse string input)

G5 Series
(pulse string input)

SMARTSTEP 2 Series
(pulse string input)

Connecting Cable for

Pulse I/O Module to

Servo Relay Unit

XW2Z-100J-A26

1 m:

1 m: XW2Z-100J-A26 1 m:

0.5 m:

XW2Z-050J-A27

1 m:

XW2Z-100J-A27

0.5 m:

XW2Z-050J-A33

1 m:

XW2Z-100J-A33

0.5 m:

XW2Z-050J-A33

1 m:

XW2Z-100J-A33

0.5 m:

XW2Z-050J-A33

1 m:

XW2Z-100J-A33

Servo Relay Unit

Connecting one axis:
XW2B-20J6-8A

Connecting two axes:
XW2B-40J6-9A

Connecting Cable for

Servo Relay Unit to

Servo Drive

XW2Z-100J-B5

1 m:

2 m:

XW2Z-200J-B5
XW2Z-100J-B17

2 m:

XW2Z-200J-B17

1 m:

XW2Z-100J-B4

2 m:

XW2Z-200J-B4

1 m:

XW2Z-100J-B31

2 m:

XW2Z-200J-B31

1 m:

XW2Z-100J-B31

2 m:

XW2Z-200J-B31

1 m:

XW2Z-100J-B32

2 m:

XW2Z-200J-B32

3-2 Wiring

3

3-2-3 Wiring

CJ2M CPU Unit Pulse I/O Module User’s Manual

3-11

3 I/O Specifications and Wiring for Pulse I/O Modules

z Connection Example When Using a Servo Relay Unit

This is a connection example when the Servo Drive is connected to one or two axes using the Servo
Relay Unit. In the connection example, the positioning/origin search connections (origin input signal,
origin proximity input signal, and error counter reset output) with the Servo Drive are also wired.

Connecting One Servo Drive Using Pulse Output 0

Connecting to SMARTSTEP A-series or SMARTSTEP Junior Servo Drives

Pulse
I/O Module

CJ2M
CPU Unit

Connecting Cable (1 m)
XW2Z-100J-A26

One-axis Servo Relay Unit
XW2B-20J6-8A

20-point terminal block

• Four normal inputs (IN6 to IN9)

• One origin proximity input, etc.

SMARTSTEP A-series Connecting Cable
XW2Z-@@@J-B5
SMARTSTEP Junior Connecting Cable
XW2Z-@@@J-B17

*

SMARTSTEP A-series or
SMARTSTEP Junior Servo Drive

SMARTSTEP A-series or
Junior Servomotor

* If a One-axis Servo Relay Unit is connected to pulse output 0, the remaining outputs (normal outputs 2 and 3

(OUT2 and OUT3) and PWM output 1 (OUT5)) cannot be used.

Connecting to OMNUC W-series Servo Drives

Pulse
I/O Module

CJ2M
CPU Unit

3-12

Connecting Cable (1 m)
XW2Z-100J-A27

One-axis Servo Relay Unit
XW2B-20J6-8A

20-point terminal block

• Four normal inputs (IN6 to IN9)

• One origin proximity input, etc.

W-series Connecting Cable
XW2Z-@@@J-B4

*

OMNUC W-series
Servo Drive

OMNUC W-series
Servomotor

* If a One-axis Servo Relay Unit is connected to pulse output 0, the remaining outputs (normal outputs 2 and 3

(OUT2 and OUT3) and PWM output 1 (OUT5)) cannot be used.

CJ2M CPU Unit Pulse I/O Module User’s Manual

3 I/O Specifications and Wiring for Pulse I/O Modules

Connecting an OMNUC G-series, G5-series, or SMARTSTEP 2-series Servo Drive

Connecting Cable (1 m)
XW2Z-100J-A33

One-axis Servo Relay Unit
XW2B-20J6-8A

* If a One-axis Servo Relay Unit is connected to pulse output 0, the remaining outputs (normal outputs 2 and 3

(OUT2 and OUT3) and PWM output 1 (OUT5)) cannot be used.

Pulse
I/O Module

20-point terminal block

• Four normal inputs (IN6 to IN9)

• One origin proximity input, etc.

CJ2M
CPU Unit

*

G-series Connecting Cable
XW2Z-@@@J-B31
G5-series Connecting
XW2Z-@@@J-B31
SMARTSTEP 2-series Connecting Cable
XW2Z-@@@J-B32

Connecting an OMNUC G-series,
G5-series, or SMARTSTEP
2-series Servo Drive

OMNUC G-series or
G5-series Servomotor

3-2 Wiring

3

3-2-3 Wiring

Connecting Two Servo Drives Using Pulse Outputs 0 and 1

Connecting to SMARTSTEP A-series Servo Drives

Pulse
I/O Module

SMARTSTEP A-series Connecting Cable
XW2Z-@@@J-B5
SMARTSTEP Junior Connecting Cable
XW2Z-@@@J-B17

Connecting Cable (1 m)
XW2Z-100J-A26

Two-axis Servo Relay Unit
XW2B-40J6-9A

CJ2M
CPU Unit

SMARTSTEP A-series Connecting Cable
XW2Z-@@@J-B5
SMARTSTEP Junior Connecting Cable
XW2Z-@@@J-B17

SMARTSTEP A-series
or SMARTSTEP Junior
Servo Drive

SMARTSTEP A-series
or Junior Servomotor

SMARTSTEP A-series
or SMARTSTEP Junior
Servo Drive

40-point terminal block

• Four normal inputs (IN6 to IN9)

• Two origin proximity inputs, etc.

CJ2M CPU Unit Pulse I/O Module User’s Manual

SMARTSTEP A-series
or Junior Servomotor

3-13

3 I/O Specifications and Wiring for Pulse I/O Modules

Connecting to OMNUC W-series Servo Drives

Connecting Cable (1 m)
XW2Z-100J-A27

Two-axis Servo Relay Unit
XW2B-40J6-9A

Pulse
I/O Module

W-series Connecting Cable
XW2Z-@@@J-B4

40-point terminal block

• Four normal inputs (IN6 to IN9)

• Two origin proximity inputs, etc.

CJ2M
CPU Unit

W-series Connecting Cable
XW2Z-@@@J-B4

OMNUC W-series
Servo Drive

OMNUC W-series
Servomotor

OMNUC W-series
Servo Drive

OMNUC W-series
Servomotor

Connecting to OMNUC G-series, G5-series, or SMARTSTEP 2-series Servo Drives

Connecting
Cable (1 m)
XW2Z-100J-A33

Two-axis Servo
Relay Unit
XW2B-40J6-9A

Pulse
I/O Module

CJ2M
CPU Unit

G-series Connecting Cable
XW2Z-@@@ J-B31
G5-series Connecting Cable
XW2Z-@@@ J-B31
SMARTSTEP 2-series
Connecting Cable
XW2Z-@@@ J-B32

G-series Connecting Cable
XW2Z-@@@ J-B31
G5-series Connecting Cable
XW2Z-@@@ J-B31
SMARTSTEP 2-series
Connecting Cable
XW2Z-@@@ J-B32

Connecting an OMNUC G-series,
G5-series, or SMARTSTEP
2-series Servo Drive

OMNUC G-series or
G5-series Servomotor

Connecting an OMNUC G-series,
G5-series, or SMARTSTEP
2-series Servo Drive

3-14

40-point terminal block

• Four normal inputs (IN6 to IN9)

• Two origin proximity inputs, etc.

OMNUC G-series or
G5-series Servomotor

CJ2M CPU Unit Pulse I/O Module User’s Manual

3 I/O Specifications and Wiring for Pulse I/O Modules

Directly Connecting a Self-made Cable with a Connector

z Types of Connectors

MIL Flat Cable Connectors (40-pin Pressure-fitted Connectors)

Strain relief

Socket

3-2 Wiring

Name OMRON model number

Socket XG4M-4030 FRC5-AO40-3TON
Strain Relief XG4T-4004 --­Set model number XG4M-4030-T FRC5-AO40-3TOS
Recommended Flat Cable XY3A-400@ ---

Daiichi Electronics model

number

MIL Connectors with Loose Wires (40-pin Pressure-fitted Connectors)

Hood Cover

Partial Cover

Socket

Name OMRON model number

Socket AWG24 XG5M-4032-N

AWG 26 to 28 XG5M-4035-N

Contacts

Hood Cover

Semi-cover

(2 required for each socket)

*1

AWG24 XG5W-0031-N
AWG 26 to 28 XG5W-0034-N

*2

*2

XG5S-4022

XG5S-2001

3

3-2-3 Wiring

*1 Contacts are included with the Socket.

*2 Select either the Hood Cover or the Partial Cover.

z Wire Sizes

We recommend using a cable with wires sized between 28 and 24 AWG (0.2 to 0.08 mm2). Use a
wire with an outer diameter of 1.61 mm max.

CJ2M CPU Unit Pulse I/O Module User’s Manual

3-15

3 I/O Specifications and Wiring for Pulse I/O Modules

3-16

CJ2M CPU Unit Pulse I/O Module User’s Manual

Normal I/O

This section gives an overview of the normal inputs and outputs of the Pulse I/O Mod­ule, their functions, as well as the wiring methods.

4-1 Normal Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-1-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-1-2 Application Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2

4-2 Normal Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4-2-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4-2-2 Flow of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4-3-1 Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4-3-2 Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-1

4 Normal I/O

4-1 Normal Inputs

4-1-1 Overview

The status of input signals for normal inputs are read and stored in I/O memory during the I/O refresh
period in the same way as it is for Input Units. The input time constant (ON/OFF response time) can
also be set.

Bits 00 to 09 of CIO 2960 and CIO 2962 can be allocated as normal inputs.

Select the inputs in the PLC Setup.

4-1-2 Application Procedure

1

2

Write the ladder program.

PLC Setup

• The input terminals that are used for normal inputs on a
Pulse I/O Module are also used for interrupt inputs,
quick-response inputs, high-speed counter inputs, and
origin searches.

• In the default settings for the PLC Setup, all input termi­nals are set for use as normal inputs.

• The input terminals that can be used as normal inputs
can be checked in the Pulse I/O Module 0 or 1 assign­ments on the I/O Module Tab Page.

• Set the Normal Input Operation Setting (Input Time
Constant Setting) in the PLC Setup to set the input time
constant (ON/OFF response time). The settings are the
same for IN00 to IN09 and IN10 to IN19.
The default is 8 ms.
Select from 0 ms (no filter), 0.5 ms, 1 ms, 2 ms, 4 ms, 8
ms, 16 ms, and 32 ms.

• Read the status using the LD instruction or other
instructions.

• Use !LD instructions and other immediate refreshing
version of instructions when immediate refreshing is
required.
Note: Immediate refreshing cannot be performed by the
IORF(097) instruction.

4-2

CJ2M CPU Unit Pulse I/O Module User’s Manual

4 Normal I/O

Applicable Input Terminals

The inputs listed in the following table can be used as normal inputs.

The input terminals that are used for normal inputs are also used for interrupt inputs, quick-response
inputs, high-speed counter inputs, and origin searches. The same input terminal can be used for
only one of these functions. For example, if normal output 2 is used, the high-speed counter 1
phase-Z signal + software reset, quick-response input 2, interrupt input 2, and pulse output 1 origin
input (when performing origin searches) cannot be used.

Other functions that cannot be used at the same time

Pulse I/O

Module

No.

0 (on the
right)

Termi nal

symbol

IN00 CIO

IN01 01 Nor mal input 1--- Quick-response

IN02 02 Nor mal input 2Counter 1 phase

IN03 03 Nor mal input 3Counter 0 phase

IN04 04 Nor mal input 4--- --- --- Pulse output 0

IN05 05 Nor mal input 5--- --- --- Pulse output 1

IN06 06 Nor mal input 6Counter 1 phase

IN07 07 Nor mal input 7Counter 1 phase

IN08 08 Nor mal input 8Counter 0 phase

IN09 09 Nor mal input 9Counter 0 phase

Word Bit Function

00 Normal input 0--- Quick-response

2960

High-speed

counter inputs

Z or reset input

Z or reset input

A, increment, or
count input

B, decrement, or
direction input

A, increment, or
count input

B, decrement, or
direction input

Quick-

response

inputs

input 0

input 1

Quick-response
input 2

Quick-response
input 3

--- --- ---

--- --- ---

--- --- ---

--- --- ---

Interrupt

inputs

Interrupt
input 0

Interrupt
input 1

Interrupt
input 2

Interrupt
input 3

Origin search

inputs for

pulse outputs

0 to 3

Pulse output 0
origin input sig­nal

Pulse output 0
origin proximity
input signal

Pulse output 1
origin input sig­nal

Pulse output 1
origin proximity
input signal

positioning
completed sig­nal

positioning
completed sig­nal

4-1 Normal Inputs

4

4-1-2 Application Procedure

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-3

4 Normal I/O

Pulse I/O

Module

No.

1 (on the
left)

Other functions that cannot be used at the same time

Termi nal

symbol

IN10 CIO

IN11 01 Nor mal input 11--- Quick-response

IN12 02 Nor mal input 12Counter 3 phase

IN13 03 Nor mal input 13Counter 2 phase

IN14 04 Nor mal input 14--- --- --- Pulse output 2

IN15 05 Nor mal input 15--- --- --- Pulse output 3

IN16 06 Nor mal input 16Counter 3 phase

IN17 07 Nor mal input 17Counter 3 phase

IN18 08 Nor mal input 18Counter 2 phase

IN19 09 Nor mal input 19Counter 2 phase

Word Bit Function

00 Normal input 10--- Quick-response

2962

High-speed

counter inputs

Z or reset input

Z or reset

A, increment, or
count input

B, decrement, or
direction input

A, increment, or
count input

B, decrement, or
direction input

Quick-

response

inputs

input 4

input 5

Quick-response
input 6

Quick-response
input 7

--- --- ---

--- --- ---

--- --- ---

--- --- ---

Interrupt

inputs

Interrupt
input 4

Interrupt
input 5

Interrupt
input 6

Interrupt
input 7

Origin search

inputs for

pulse outputs

0 to 3

Pulse output 2
origin input sig­nal

Pulse output 2
origin proximity
input signal

Pulse output 3
origin input sig­nal

Pulse output 3
origin proximity
input signal

positioning
completed sig­nal

positioning
completed sig­nal

Specifications

Item Specifications

Number of inputs 20 inputs
Allocated bit CIO 2960 and CIO 2962, bits 00 to 09
Input time constant

(ON/OFF response
time)

Default: 8 ms

The following settings can be made in the PLC Setup: 0 ms (no filter), 0.5 ms, 1 ms, 2
ms, 4 ms, 8 ms, 16 ms, or 32 ms.

4-4

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-2 Normal Outputs

4-2-1 Overview

Normal outputs are used to output standard output signals. The output point is refreshed when the allo­cated bit goes ON or OFF. Normal outputs are allocated to bits 00 to 05 of CIO 2961 and CIO 2963.

4 Normal I/O

4-2-2 Flow of Operation

1

2

Determine the normal outputs to use.

Write the ladder program.

• Functions are assigned to output terminals when an

instruction (such as OUT, ORG(889), or PWM(891)) is
executed for an output bit.

• Execute the OUT instruction or other instructions.

• Use !OUT instructions and other immediate refreshing

version of instructions when immediate refreshing is
required.
Note: Immediate refreshing cannot be performed by the
IORF(097) instruction.

4-2 Normal Outputs

4

4-2-1 Overview

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-5

4 Normal I/O

Applicable Output Terminals

The outputs listed in the following table can be used as normal outputs.

The output terminals that are used for normal outputs are also used for pulse outputs, origin
searches, and PWM outputs. The same output terminal can be used for only one of these functions.
For example, if normal output 4 is used, PWM output 0 and the error counter reset for pulse output 0
(when performing origin searches) cannot be used.

Pulse I/O

Module

No.

0 (on the
right)

1 (on the
left)

Termi-

nal

symbol

OUT00 CIO

OUT01 01 Normal

OUT02 02 Normal

OUT03 03 Normal

OUT04 04 Normal

OUT05 05 Normal

OUT10 CIO

OUT11 01 Normal

OUT12 02 Normal

OUT13 03 Normal

OUT14 04 Normal

OUT15 05 Normal

Word Bit Function

00 Normal

2961

00 Normal

2963

output 0

output 1

output 2

output 3

output 4

output 5

output 6

output 7

output 8

output 9

output 10

output 11

Other functions that cannot be used at the same time

Pulse outputs

CW/CCW

outputs

CW pulse
output 0

CCW pulse
output 0

CW pulse
output 1

CCW pulse
output 1

--- --- Pulse output 0

--- --- Pulse output 1

CW pulse
output 2

CCW pulse
output 2

CW pulse
output 3

CCW pulse
output 3

--- --- Pulse output 2

--- --- Pulse output 3

Pulse +

direction

outputs

Pulse output 0--- ---

Pulse output 1--- ---

Direction out­put 0

Direction out­put 1

Pulse output 2--- ---

Pulse output 3--- ---

Direction out­put 2

Direction out­put 3

Origin search

outputs

--- ---

--- ---

error counter
reset output

error counter
reset output

--- ---

--- ---

error counter
reset output

error counter
reset output

PWM out-

puts

PWM out­put 0

PWM out­put 1

PWM out­put 2

PWM out­put 3

4-6

Specifications

Item Specifications

Number of outputs 12 outputs
Allocated bit CIO 2961 and CIO 2963, bits 00 to 05

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-3 Wiring

4-3-1 Connector Pin Assignments

Normal Inputs

Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left)

Input type

and num-

ber

Normal
input 0

Normal
input 1

Normal
input 2

Normal
input 3

Normal
input 4

Normal
input 5

Normal
input 6

Normal
input 7

Normal
input 8

Normal
input 9

* Terminals numbers on the XW2D-@@G@ Connector-Terminal Block Conversion Unit.

Termi-

nal

symbol

IN00 1 A1 24-VDC

IN01 2 B1 24-VDC

IN02 7 A4 24-VDC

IN03 8 B4 24-VDC

IN04 13 A7 24-VDC

IN05 14 B7 24-VDC

IN06 19 A10 24-VDC

IN07 20 B10 24-VDC

IN08 25 A13 24-VDC

IN09 26 B13 24-VDC

Pin (*)

input

5 A30 V 5 A30 V

input

6 B30 V 6 B30 V

input

11 A6 0 V 11 A6 0 V

input

12 B6 0 V 12 B6 0 V

input

17 A9 0 V 17 A9 0 V

input

18 B9 0 V 18 B9 0 V

input

23 A12 0 V 23 A12 0 V

input

24 B12 0 V 24 B12 0 V

input

29 A15 0 V 29 A15 0 V

input

30 B15 0 V 30 B15 0 V

Descrip-

tion

Input type

and num-

ber

Normal
input 10

Normal
input 11

Normal
input 12

Normal
input 13

Normal
input 14

Normal
input 15

Normal
input 16

Normal
input 17

Normal
input 18

Normal
input 19

4 Normal I/O

Ter mi-

nal

symbol

IN10 1 A1 24-VDC

IN11 2 B1 24-VDC

IN12 7 A4 24-VDC

IN13 8 B4 24-VDC

IN14 13 A7 24-VDC

IN15 14 B7 24-VDC

IN16 19 A10 24-VDC

IN17 20 B10 24-VDC

IN18 25 A13 24-VDC

IN19 26 B13 24-VDC

Pin (*)

Descrip-

tion

input

input

input

input

input

input

input

input

input

input

4-3 Wiring

4

4-3-1 Connector Pin Assignments

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-7

4 Normal I/O

Normal Outputs

z Sinking-type Pulse I/O Module (CJ2M-MD211)

Output

type and

number

Normal
output 0

Normal
output 1

Normal
output 2

Normal
output 3

Normal
output 4

Normal
output 5

--- 37 A19 Power supply input +V

--- 39 A20 COM --- 39 A20 COM

* Terminals numbers on the XW2D-@@G@ Connector-Terminal Block Conversion Unit.

Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left)

Ter mi-

nal

symbol

OUT00 31 A16 Output 0 Normal

OUT01 32 B16 Output 1 Normal

OUT02 33 A17 Output 2 Normal

OUT03 34 B17 Output 3 Normal

OUT04 35 A18 Output 4 Normal

OUT05 36 B18 Output 5 Normal

Pin (*) Description

38 B19 38 B19

40 B20 40 B20

for outputs

Output

type and

number

output 6

output 7

output 8

output 9

output 10

output 11

--- 37 A19 Power supply input

Ter mi-

nal

symbol

OUT10 31 A16 Output 0

OUT11 32 B16 Output 1

OUT12 33 A17 Output 2

OUT13 34 B17 Output 3

OUT14 35 A18 Output 4

OUT15 36 B18 Output 5

Pin (*) Description

+V for outputs

z Sourcing-type Pulse I/O Module (CJ2M-MD212)

Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left)

Output

type and

number

Normal
output 0

Normal
output 1

Normal
output 2

Normal
output 3

Normal
output 4

Normal
output 5

--- 37 A19 COM --- 37 A19 COM

--- 39 A20 Power supply input −V

* Terminals numbers on the XW2D-@@G@ Connector-Terminal Block Conversion Unit.

Ter mi-

nal

symbol

OUT00 31 A16 Output 0 Normal

OUT01 32 B16 Output 1 Normal

OUT02 33 A17 Output 2 Normal

OUT03 34 B17 Output 3 Normal

OUT04 35 A18 Output 4 Normal

OUT05 36 B18 Output 5 Normal

Pin (*) Description

38 B19 38 B19

40 B20 40 B20

for outputs

Output

type and

number

output 6

output 7

output 8

output 9

output 10

output 11

--- 39 A20 Power supply input −V

Ter mi-

nal

symbol

OUT10 31 A16 Output 0

OUT11 32 B16 Output 1

OUT12 33 A17 Output 2

OUT13 34 B17 Output 3

OUT14 35 A18 Output 4

OUT15 36 B18 Output 5

Pin (*) Description

for outputs

4-8

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-3-2 Wiring Examples

Examples for DC Input Devices

4 Normal I/O

• Device with Contact Outputs

IN (24 VDC)

Input in Pulse I/O

IN (0 V)

Module I/O

• Device with NPN Open Collector Output

+

Sensor
Power Supply

Output

0 V

IN (0 V)

IN (24 VDC)

Input in Pulse I/O
Module I/O

• Device with PNP Current Output

+

Sensor
power supply

Output

0 V

IN (24 VDC)

IN (0 V)

Input in Pulse I/O
Module I/O

• Two-wire DC Sensor

• Device with NPN Current Output

Rated
current
circuit

• Device with Voltage Output

Note: Do not use the following wiring with voltage-output devices.

+

Output

0 V

Sensor
power
supply

IN (24 VDC)

IN (0 V)

Input in Pulse I/O
Module I/O

+

Output

0 V

+

Output

0 V

Sensor
Power Supply

Sensor
power supply

Sensor
power supply

+

+

IN (0 V)

IN (24 VDC)

IN (0 V)

IN (24 VDC)

IN (24 VDC)

IN (0 V)

Input in Pulse I/O
Module I/O

Input in Pulse I/O
Module I/O

Input in Pulse I/O
Module I/O

4-3 Wiring

4

4-3-2 Wiring Examples

Precautions for Correct UsePrecautions for Correct Use

The Pulse I/O Module inputs have polarity. The inputs will not go ON if the wiring is reversed.
Always double-check the wiring before turning ON the power.

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-9

4 Normal I/O

Precautions When Connecting a Two-wire DC Sensor

When using a two-wire sensor, check that the following conditions have been met. Failure to meet
these conditions may result in operating errors.

(1) Relation between voltage when the input is ON and the sensor residual voltage:

≤ VCC − V

V

ON

R

(2) Relation between current when the input is ON and the sensor control output (load

current):

(min.) ≤ ION ≤ I

I

OUT

I

= (VCC − VR − 1.5 [Internal residual voltage of input])/R

ON

OUT

(max.)

IN

When ION is smaller than I

(min), connect a bleeder resistor R. The bleeder resistor con-

OUT

stant can be calculated as follows:
R ≤ (V

Power W ≥ (V

− VR)/(I

CC

(min.) − ION)

OUT

− VR)2/R × 4 (allowable margin)

CC

(3) Relation between current when the input is OFF and the sensor leakage current:

≥ I

I

OFF

leak

Connect a bleeder resistor if I

is greater than I

leak

OFF

.

Use the following equation to calculate the bleeder resistance constant.
R ≤ R

Power W ≥ (V

× V

IN

2-wire sensor

VCC: Power supply voltage VR: Sensor’s output residual voltage

VON: Input’s ON voltage

V

: Input's OFF voltage

OFF

ION: Input's ON current I

I

: Input's OFF current I

OFF

R

: Input's impedance R: Bleeder resistance

IN

/(I

OFF

CC

× RIN − V

leak

− VR)2/R × 4 (allowable margin)

RVR RIN

VCC

)

OFF

: Sensor’s control current (load current)

OUT

: Sensor’s leakage current

leak

Input in Pulse I/O
Module

4-10

(4) Precautions on Sensor Inrush Current

An incorrect input may occur due to sensor inrush current if a sensor is turned ON after the
PLC has started up to the point where inputs are possible.
Determine the time required for sensor operation to stabilize after the sensor is turned ON
and take appropriate measures, such as inserting into the program a timer delay after turn­ing ON the sensor.

CJ2M CPU Unit Pulse I/O Module User’s Manual

4 Normal I/O

Programming Example

In this example, the sensor's power supply voltage is used as the input to CIO 0.00. A 100-ms timer
delay (the time required for an OMRON Proximity Sensor to stabilize) is created in the program.

After the Completion Flag for the timer turns ON, the sensor input on input bit CIO 0.01 will cause
output bit CIO 1.00 to turn ON.

0.00
TIM

0

#1

0.01T0

1.00

Output Wiring Precautions

z Output Short Protection

4-3 Wiring

If a load connected to the output terminals is short-circuited, output components and the printed cir­cuit boards may be damaged. To guard against this, incorporate a fuse in the external circuit. Use a
fuse with a capacity of about twice the rated output.

Precautions on Inrush Current

When switching a load with a high inrush current, such as an incandescent light bulb, there is a risk of
damaging the output transistor. Use either of the following methods to reduce the inrush current.

Method 1

This method draws a dark current that is approximately
one-third of the rated value of the light bulb.

OUT

Output in Pulse I/O
Module

COM

R

Method 2

This method uses a limiting resistor.

OUT

Output in Pulse I/O
Module

COM

R

L

L

+

+

4

4-3-2 Wiring Examples

CJ2M CPU Unit Pulse I/O Module User’s Manual

4-11

4 Normal I/O

4-12

CJ2M CPU Unit Pulse I/O Module User’s Manual

Quick-response Inputs

This section describes the quick-response inputs that can be used to read signals that
are shorter than the cycle time.

5-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5-2 Application Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5-2-1 PLC Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-3

5-2-2 Applicable Input Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-5

5-3 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-3-1 Connector Pin Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-6

5-4 Creating Ladder Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-7

5

CJ2M CPU Unit Pulse I/O Module User’s Manual

5-1

5 Quick-response Inputs

5-1 Overview

By setting an input on the Pulse I/O Module to quick-response input operation, inputs with signal widths
as small as 30 µs can be read with certainty regardless of the cycle time. Use the quick-response inputs
to read signals shorter than the cycle time, such as inputs from photomicrosensors.

CJ2M CPU UnitPulse I/O Module

Connector­Terminal Block
Conversion Unit

Pulse signal from photomicrosensor or other device

Connecting Cable

Cyclic task

(ladder program)

END

I/O refresh

Cycle time

Pulse signal

Input bit

Cycle time
Can read ON signals
shorter than this time.

I/O refresh

ON for one scan
in the next cycle

The pulse widths of quick-response input signals must meet the following conditions.

30 µs min.

ON

OFF

150 µs min.

5-2

CJ2M CPU Unit Pulse I/O Module User’s Manual

5-2 Application Procedure

5 Quick-response Inputs

1

2

5-2-1 PLC Setup

Click the Set Button in the Interrupt Inputs and Quick-response Inputs Area on the I/O Module Tab Page
of the PLC Setup. Select Quick-response Input for the input operation in the Interrupt Input and Quick­response Input Detailed Settings Dialog Box.

Create
ladder
program.

PLC Setup

Cyclic task or
interrupt task

• Select Quick-response Input in the Interrupt Input and
Quick-response Input Detailed Settings Dialog Box
that is accessed from the I/O Module Tab Page of the
PLC Setup using the CX-Programmer.

• IN00 to IN03 and IN10 to IN13 can be used for quick­response inputs.

Read bit status using the LD instruction or other instruc­tions.

5-2 Application Procedure

5

5-2-1 PLC Setup

CJ2M CPU Unit Pulse I/O Module User’s Manual

5-3

5 Quick-response Inputs

Interrupt Input and Quick-response Input Detailed Settings

Pulse I/O

Module No.

0 (on the right) IN00 Select Quick for IN00

IN01 CIO 2960.01
IN02 CIO 2960.02
IN03 CIO 2960.03

1 (on the left) IN10 CIO 2962.00

IN11 CIO 2962.01
IN12 CIO 2962.02
IN13 CIO 2962.03

Note The power supply must be restarted after the PLC Setup is transferred in order to validate the quick-

response input settings.

Input Operation

to IN03 or IN10 to
IN13.

Corresponding bit

address

CIO 2960.00

5-4

CJ2M CPU Unit Pulse I/O Module User’s Manual

5-2-2 Applicable Input Terminals

The following terminals can be used for quick-response inputs.

The input terminals that are used for quick-response inputs are also used for normal inputs, interrupt
inputs, high-speed counter inputs, and origin searches. The same input terminal can be used for only
one of these functions. For example, if quick-response input 2 is used, normal input 2, the phase
Z/reset method for high-speed counter 1, interrupt input 2, and the origin input signal for pulse output 1
(when performing origin searches) cannot be used.

Pulse I/O

Module

No.

0 (on the
right)

1 (on the
left)

Terminal

symbol

IN00 CIO

IN01 01 Quick-response

IN02 02 Quick-response

IN03 03 Quick-response

IN10 CIO

IN11 01 Quick-response

IN12 02 Quick-response

IN13 03 Quick-response

Word Bits Function

00 Quick-response

2960

00 Quick-response

2962

input 0

input 1

input 2

input 3

input 4

input 5

input 6

input 7

5 Quick-response Inputs

Other functions that cannot be used at the same

time

High-speed

counter

inputs

--- Normal

--- Normal

Counter 1
phase Z or
reset

Counter 0
phase Z or
reset

--- Normal

--- Normal

Counter 3
phase Z or
reset

Counter 2
phase Z or
reset

Normal

inputs

input 0

input 1

Normal
input 2

Normal
input 3

input 10

input 11

Normal
input 12

Normal
input 13

Interrupt

inputs

Interrupt
input 0

Interrupt
input 1

Interrupt
input 2

Interrupt
input 3

Interrupt
input 4

Interrupt
input 5

Interrupt
input 6

Interrupt
input 7

Origin search

inputs for

pulse out-

puts 0 to 3

Pulse output 0
origin input
signal

Pulse output 0
origin proxim­ity input signal

Pulse output 1
origin input
signal

Pulse output 1
origin proxim­ity input signal

Pulse output 2
origin input
signal

Pulse output 2
origin proxim­ity input signal

Pulse output 3
origin input
signal

Pulse output 3
origin proxim­ity input signal

5-2 Application Procedure

5

5-2-2 Applicable Input Terminals

Related Auxiliary Area Bits

There are no Auxiliary Area bits or words that are related to the quick-response inputs.

Applicable Instructions

There are no instructions that are related to the quick-response inputs.

CJ2M CPU Unit Pulse I/O Module User’s Manual

5-5

5 Quick-response Inputs

5-3 Wiring

5-3-1 Connector Pin Assignments

The following terminals can be used for quick-response inputs.

Pulse I/O Module No. 0 (on the right) Pulse I/O Module No. 1 (on the left)

Input type

and num-

ber

Quick­response
input 0

Quick­response
input 1

Quick­response
input 2

Quick­response
input 3

Terminal

symbol

IN00 1 A1 24-VDC input Quick-

IN01 2 B1 24-VDC input Quick-

IN02 7 A4 24-VDC input Quick-

IN03 8 B4 24-VDC input Quick-

Pin (*) Description

5A30 V 5A30 V

6B30 V 6B30 V

11 A6 0 V 11 A6 0 V

12 B6 0 V 12 B6 0 V

Input type

and num-

ber

response
input 4

response
input 5

response
input 6

response
input 7

Terminal

symbol

IN10 1 A1 24-VDC input

IN11 2 B1 24-VDC input

IN12 7 A4 24-VDC input

IN13 8 B4 24-VDC input

Pin (*) Description

* Terminals numbers on the XW2D-@@G@ Connector-Terminal Block Conversion Unit.

5-6

CJ2M CPU Unit Pulse I/O Module User’s Manual

5 Quick-response Inputs

5-4 Creating Ladder Programs

Pulse inputs shorter than the cycle time can be read in the CPU Unit I/O memory using normal instruc­tions by selecting Quick-response Input for the input terminal in the PLC Setup.

The status of CIO 2960.00 to CIO 2960.03 and CIO 2962.00 to CIO 2962.03 can be read using instruc­tions such as the LD instruction.

Example: Setting IN02 to Quick-response Input in the PLC Setup

Even if the signal that is input to input terminal 02 is shorter than
the cycle time, the signal will be latched in one cycle and the
status will be stored in CIO 2960.02.

2960.02

5-4 Creating Ladder Programs

• The minimum pulse width (ON time) that can be read for a quick-response input is 30 µs.

• The status of the input that is stored in the I/O memory for a short input will be cleared during the next
I/O refresh period.

5

5-3-1 Connector Pin Assignments

CJ2M CPU Unit Pulse I/O Module User’s Manual

5-7

5 Quick-response Inputs

5-8

CJ2M CPU Unit Pulse I/O Module User’s Manual

Interrupts

This section gives an overview of the interrupt function and how to use it, as well as a
description of the wiring method.

6-1 Types of Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6-1-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2

6-2 Interrupt Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6-2-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-3

6-2-2 Application Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

6-2-3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5

6-2-4 PLC Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-6

6-2-5 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6-2-6 Creating Ladder Programs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-10

6-2-7 Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-14

6

CJ2M CPU Unit Pulse I/O Module User’s Manual

6-1

6 Interrupts

6-1 Types of Interrupts

6-1-1 Overview

CJ2M CPU Units normally repeat processes in the following order: overseeing processes, program exe­cution, I/O refreshing, peripheral servicing. During the program execution stage, cyclic tasks (ladder
programs) are executed.

The interrupt function, on the other hand, allows a specified condition to interrupt a cycle and execute a
specified program. Interrupts can thus be used to perform high-speed processing that is not restricted
by the cycle time. The CJ2M CPU Unit performs the following:

(1) When an interrupt occurs, execution of the ladder programs in cyclic tasks is interrupted.

(2) The ladder program in the interrupt task is executed.

(3) When the interrupt task is finished, the ladder program that was being executed is returned to.

CJ2M CPU Unit

(2) Interrupt task executed.

Ladder program

END

Cycle

Cyclic task

(ladder program)

END

I/O refresh

(1) Interrupt occurs.

(3) When the interrupt task is finished, the

ladder diagram that was being
executed is returned to.

Interrupt Factors and Types of Interrupts

Interrupts are classified by the interrupt factor. There are the following three types of interrupts.

• Changes in status of inputs on Pulse I/O Module → 6-2 Interrupt Inputs

• PVs of high-speed counters → 7-3 High-speed Counter Interrupts

• Specified time interval for timer in the CPU Unit → Scheduled interrupts

(Refer to the CJ2 CPU Unit Software Manual
(Cat. No. W473).)

Additional Information

6-2

For information on using interrupt tasks, refer to the CJ2 CPU Unit Software User's Manual (Cat.
No. W473).

CJ2M CPU Unit Pulse I/O Module User’s Manual

6-2 Interrupt Inputs

6-2-1 Overview

Interrupt inputs can be used in either Direct Mode or Counter Mode.

Interrupt Input in Direct Mode:
A corresponding interrupt task can be executed when an Pulse I/O Module input turns ON or turns OFF.
The PLC Setup or MSKS(690) instruction determines whether the interrupt is triggered when the input
turns ON or when it turns OFF.

Interrupt Input in Counter Mode:
A corresponding interrupt task can be executed when the number of times the Pulse I/O Module input
turns ON or turns OFF reaches the set value (A532 to A535 and A544 to A547) in Increment Mode, or
when it reaches zero in Decrement Mode.

The number of the interrupt tasks started by interrupt inputs must be between 140 and 147.

Interrupt input

6 Interrupts

6-2 Interrupt Inputs

Cycle

Connecting
Cable

Cyclic task

(ladder program)

I/O refresh

END

Connector-Terminal Block
Conversion Unit

Pulse I/O Module

CJ2M CPU Unit

Interrupt input turns ON or OFF (Direct Mode)

Or when the ON or OFF count is
counted out (for Increment or
Decrement Mode)

Interrupt occurs.

6

6-2-1 Overview

Interrupt task

Ladder program

END

CJ2M CPU Unit Pulse I/O Module User’s Manual

6-3

6 Interrupts

z Direct Mode

Interrupt enable
condition

Example: IN02

(interrupt input 2)

Cyclic task execution

MSKS instruction
executed to enable
interrupts

Processing
interrupted.

Cyclic task program
execution

Processing
interrupted.

z Counter Mode

Interrupt enable
condition

Example: IN02

(interrupt input 2)

A534

(for interrupt input 2)

Increment Mode

A534

(for interrupt input 2)

Decrement Mode

MSKS instruction executed
to enable interrupts

Cyclic task program execution

Interrupt task 142
program execution

Interrupt task 142
program execution

Interrupt task 142
program execution

Cyclic task program
execution

6-4

Cyclic task program execution

Interrupt task 142
program execution

Cyclic task program
execution

The pulse widths of interrupt input signals must meet the following conditions.

30 µs min.

ON

OFF

150 µs min.

CJ2M CPU Unit Pulse I/O Module User’s Manual

6-2-2 Application Procedure

1

PLC Setup

6 Interrupts

• Select Quick-response Input in the Quick-response
Input Detailed Settings Dialog Box that is accessed from
the I/O Module Tab Page of the PLC Setup using the
CX-Programmer.

• This will allocate inputs IN00 to IN03 or IN10 to IN13 for
interrupt inputs.

• Specify when changing from PROGRAM mode to RUN
mode whether to detect ON or OFF transitions in inputs.

• Specify whether to latch the PV of a pulse output/high­speed counter when an interrupt task is started.

2

Set parameters in the Auxiliary

Area (for Counter Mode only).

3

Create interrupt

Create
ladder
program.

6-2-3 Specifications

Number of interrupt inputs 8 inputs
Allocated bit CIO 2960 and CIO 2962, bits 00 to 03
Interrupt detection method ON-to-OFF or OFF-to-ON transitions
Interrupt task numbers 140 to 147 (fixed)
Counting method --- Incrementing or decrementing

Counting range --- 0001 to FFFF hex (16 bits)

Response frequency --- Single-phase: 3 kHz x 8 inputs
Storage locations for PVs for

interrupt inputs in Counter Mode

tasks.

Execute MSKS in
a cyclic task.

Item Direct Mode Counter Mode

• When using Counter Mode, set the counter set values
for interrupt input counters 0 to 7 in Auxiliary Area words
A532 to A535 and A544 to A547.

• Write the program in the interrupt task. Interrupt tasks
140 to 147 correspond to IN00 to IN03 and IN10 to
IN13. The following are specified using two MSKS(690)
instructions.

• Specify whether to detect OFF or ON transitions to use
a different setting from the one in the PLC Setup.
Specify N to 110 to 117 in the MSKS(690) instruction.

• Select the type of interrupt input (Direct Mode or
Counter Mode). If Counter Mode is selected, select
Increment or Decrement Counter Mode and enable
interrupts. Set N to 100 to 107 in the MSKS(690)
instruction.

(Set with the MSKS(690) instruction.)

(Set in A532 to A535 and A544 to A547.)

--- A536 to A539 and A548 to A551

6-2 Interrupt Inputs

6

6-2-2 Application Procedure

CJ2M CPU Unit Pulse I/O Module User’s Manual

6-5

6 Interrupts

Precautions for Correct UsePrecautions for Correct Use

• In Counter Mode, the PV of the interrupt counter in the Auxiliary Area is updated every cycle
as well as when the interrupt task is started. For this reason, the PV of the interrupt counter in
the Auxiliary Area changes irregularly.
Use the PRV(881) instruction to read the latest PV of the interrupt counter.

• Execute the following instructions to change the SV of the counter in Counter Mode.

• If the direction is the same direction (increment/decrement), change the SV of the interrupt

counter in the Auxiliary Area (A532 to A535 and A544 to A547), and then execute the
MSKS(690) (SET INTERRUPT MASK) instruction in the same direction (increment/decre­ment) to enable interrupt inputs.

• To change the direction from increment to decrement or decrement to increment, disable

interrupt inputs with the MSKS(690) instruction. Change the SV of the interrupt counter in
the Auxiliary Area, and then execute the MSKS(690) instruction to enable interrupt inputs.

Additional Information

In Counter Mode, interrupt tasks will not be started between the execution of a DI(693) instruc­tion and the corresponding EI(694) instruction. Counting will be continued.

6-2-4 PLC Setup

Click the Set Button in the Interrupt Inputs and Quick-response Inputs Area on the I/O Module Tab Page
of the PLC Setup. Select Interrupt Input for the input operation in the Interrupt Input and Quick­response Input Detailed Settings Dialog Box.

6-6

CJ2M CPU Unit Pulse I/O Module User’s Manual