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CJ2M-CPU3

@/-CPU1@/-MD21@

Specifications for Pulse I/O Functions

The following functions of CJ2M can be used by installing one or two Pulse I/O Modules. Each module has 10 high-speed inputs and 6 high-speed

outputs. Pulse I/O Modules can be installed on CJ2M CPU Units with Unit Version 2.0 or Later.

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

• The outputs can be used as general-purpose outputs, pulse outputs, origin search outputs, or PWM outputs.

Performance Specifications

Function Specifications

Item

Description

Pulse I/O

Model of Pulse I/O Modules

CJ2M-MD211 (Sinking-type)

CJ2M-MD212 (Sourcing-type )

External Interface

40-pin MIL connector

Pulse Inputs

Can be used as normal inputs, interrupt inputs, quick-response inputs, or high-speed counter inputs.

(Function of each input must be selected in the PLC Setup.)

Input method: Line-driver input or 24-VDC input (selected by wiring)

Normal Inputs

20 max. (10 per Pulse I/O Module)

Input constants: Set in the PLC Setup (0, 0.5, 1, 2, 4, 8, 16, or 32 ms). Default: 8 ms

Interrupt Inputs and

Quick-response Inputs

8 max. (4 per Pulse I/O Module)

Input signal minimum ON pulse width: 30

μs

High-speed Counter Inputs

4 max. (2 per Pulse I/O Module)

Input method: Differential-phase (

×4) pulses, pulse + direction, up/down pulses, or increment pulse

Maximum response frequency: 50 kHz for differential phases or 100 kHz for single phase

Counting mode: Linear mode or circular (ring) mode

Count value: 32 bits

Counter reset: Phase Z + software reset or software reset

Control method: Target-value comparison or range comparison

Gate function: Supported

Pulse Outputs

Can be used as normal outputs, pulse outputs, or PWM outputs. (Function of each output must be selected

in the PLC Setup.)

Output method: Sinking or sourcing transistor outputs (The method is determined by Pulse I/O Module model.)

Normal Outputs

12 max. (6 per Pulse I/O Module)

Pulse Outputs

4 max. (2 per Pulse I/O Module)

Output method: CW/CCW or pulse + direction (The method is determined by the I/O wiring and the

instructions used in the ladder program.)

Output frequency: 1 pps to 100 kpps (in increments of 1 pps)

Output Mode: Continuous mode (for speed control) or independent mode (for position control)

Output pulses: Relative coordinates: 0000 0000 to 7FFF FFFF hex (0 to 2,147,483,647 pulses)

Absolute coordinates: 8000 0000 to 7FFF FFFF hex (

−2,147,483,648 to 2,147,483,647)

Acceleration/deceleration curves: Linear or S-curve

Origin search function: Supported

PWM Outputs

4 max. (2 per Pulse I/O Module)

Output frequency: 0.1 to 6,553.5 Hz (in 0.1-Hz increments) or 1 to 32,800 Hz (in 1-Hz increments)

Duty ratio: 0.0% to 100.0% (in 0.1% increments)

Functions

Description

Pulse I/O

Functions

Pulse Input

Functions

Normal Inputs

Input signals are read during I/O refreshing and stored in I/O memory.

Interrupt Inputs

An interrupt task can be started when an input signal turns ON or turns OFF.

Quick-response Inputs

Input signals that are shorter than the cycle time are read and stored in I/O memory.

High-speed Counter Inputs

High-speed pulse signals are counted. Interrupt tasks can also be started.

Pulse

Output

Functions

Normal Outputs

The status of I/O memory is output during I/O refreshing.

Pulse Outputs

A pulse signal is output with the specified frequency and number of pulses at a fixed duty ratio (50%).

PWM Outputs

A pulse signal is output at the specified duty ratio.

Origin Searches

The origin point of the machine is determined according to the specified origin search parameters while

actually outputting pulses and using the origin and origin proximity input signals as conditions. (Pulse inputs

and outputs are also used for this function.)

Interrupt

Input Interrupt Function

A task is started for an interrupt input from a Pulse I/O Module or for a high-speed counter input.

Input Interrupts

Interrupt tasks are executed when the interrupt input turns ON or turns OFF.

Direct Mode: An interrupt task is executed each time an input signal changes.

Counter Mode: Changes in the input signal are counted up or down and the interrupt task is executed when

the counter counts out. (The maximum response frequency is 3 kHz.)

High-speed Counter Interrupts

An interrupt task is executed when preset comparison conditions for a high-speed counter are met.

Target-value comparison: The interrupt task is executed when the count matches a specified value.

Range comparison: The interrupt task is executed when the count enters or leaves a specified range of values.

Connected

Pulse I/O Module 0

Pulse I/O Module

CJ2M CPU Unit

(Standard or Simple Model)

One Pulse I/O Module can be mounted

Pulse I/O Module 1

Connected

Connected

Pulse I/O Module 0

Pulse I/O Module

CJ2M CPU Unit

(Standard or Simple Model)

Note: The Pulse I/O Module closest

to the CPU Unit is Pulse I/O

Module 0 and the other one

is Pulse I/O Module 1.

Two Pulse I/O Modules can be mounted