Datasheet

CJ2M-CPU3@/-CPU1@/-MD21@
16
Specifications of Pulse Output Functions
Position Control and Speed Control
Variable-duty Pulse Outputs (PWM)
Item Specifications
Number of Pulse Outputs Max. 4 outputs (Pulse Output 00 to 03)
Output mode Continuous mode (for speed control) or independent mode (for position control)
Positioning (independent mode) instructions PULS (886) and SPED (885), PULS (886) and ACC (888), or PULS2 (887) instruction
Speed control (continuous mode)
instructions
SPED (885) and ACC (888) instructions
Origin (origin search and origin return)
instructions
ORG (889) instruction
Interrupt feeding instruction IFEED (892) instruction
Output frequency 1 pps to 100 kpps (1 pps units), two pulse outputs × 2 Pulse I/O Modules
Frequency acceleration and deceleration
rates
Set in increments of 1 pps for acceleration/deceleration rates from 1 to 65,535 pps (every 4 ms).
The acceleration and deceleration rates can be set independently only with the PLS2 (887) instruction.
Changing SVs during instruction execution The target frequency, acceleration/deceleration rate, and target position can be changed.
Pulse output method CW/CCW or pulse + direction
Number of output pulses
Relative coordinates: 0000 0000 to 7FFF FFFF hex (Accelerating or decelerating in either direction: 2,147,483,647)
Absolute coordinates: 8000 0000 to 7FFF FFFF hex (−2,147,483,648 to 2,147,483,647)
Relative/absolute coordinate specifications
for pulse output PVs
Absolute coordinates are specified automatically when the origin location has been defined by changing the pulse
output PV with the INI (880) instruction or performing an origin search with the ORG(889) instruction. Relative
coordinates must be used when the origin is undefined.
Relative pulse/absolute pulse specifications
The pulse type can be specified with an operand in the PULS (886) or PLS2 (887) instruction.
Absolute pulses can be used when absolute coordinates are specified for the pulse output PV, i.e. the origin location
has been defined. Absolute pulse cannot be used when relative coordinates are specified, i.e., when the origin location
is undefined. An instruction error will occur.
Pulse output PV's storage location
The following Auxiliary Area words contain the pulse output PVs
Pulse output 0: A277 (leftmost 4 digits) and A276 (rightmost 4 digits)
Pulse output 1: A279 (leftmost 4 digits) and A278 (rightmost 4 digits)
Pulse output 2: A323 (leftmost 4 digits) and A322 (rightmost 4 digits)
Pulse output 3: A325 (leftmost 4 digits) and A324 (rightmost 4 digits)
The PVs are refreshed during regular I/O refreshing.
Item Specifications
Number of PWM Outputs Max. 4 outputs (PWM Output 00 to 03)
Duty ratio 0.0% to 100.0% in 0.1% increments
Frequency 0.1 Hz to 6,553.5 Hz (Set in 0.1-Hz increments.)
1 Hz to 32,800 Hz (Set in 1-Hz increments.)
Output mode Continuous Mode
Instruction PWM (891) instruction