CJ2M-MD211

Mô đun xung CJ2 Omron

Pulse I/O Functions

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

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

One Pulse I/O Module can be mounted

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

Two Pulse I/O Modules can be mounted

CJ2M-CPU3[] / CPU1[] / MD21[] Specifications 9

Note: The Pulse I/O Module closest to the CPU Unit is Pulse I/O Module 0 and the other one is Pulse I/O Module 1.

Performance Specifications

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

Function Specifications

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

Pulse Input Functions

Interrupt Inputs

Item	Direct Mode	Counter Mode
Number of interrupt inputs	Max.8 inputs
Allocated bit	CIO 2960 and CIO 2962,bits 00 to 03
Interrupt detection method	ON-to-OFF or OFF-to-ON transitions
Interrupt task numbers	140 to 147 (fixed)
Counting method	–––	Incrimenting or decrementing (Set with the MSKS(690)instruction.)
Counting range	–––	0001 to FFFF hex (16 bits) (Set in A532 to A535 and A544 to A547.)
Response frequency	–––	Single-phase:3 kHz x 8 inputs
Storage locations for PVs for interrupt inputs in Counter Mode	–––	A536 to A539 and A548 to A551

Quick-response inputs

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

High-speed Counter Inputs

Item		Description
Number of High-speed Counter Inputs		Max. 4 inputs
Pulse input method (counting mode)		Incremental pulse inputs	Differential phase input (4×)	Up/down inputs	Pulse + direction inputs
Input signals		Increment pulse	Phase A	Up pulse	Pulse
		—	Phase B	Down pulse	Direction
		—	Phase Z	Reset	Reset
Frequency and number of high-speed counters		100 kHz, 2 inputs × 2 I/O Modules	50 kHz, 2 inputs × 2 I/O Modules	100 kHz, 2 inputs × 2 I/O Modules	100 kHz, 2 inputs × 2 I/O Modules
Counting mode		Linear mode or ring mode
Count value		Linear mode: 8000 0000 to 7FFF FFFF hex 0000 0000 to FFFF FFFF hex (for increment pulse) Ring mode: 0000 0000 to Max. ring value
High-speed counter PV storage locations		High-speed counter 0: A271 (upper 4 digits) and A270 (lower 4 digits) High-speed counter 1: A273 (upper 4 digits) and A272 (lower 4 digits) High-speed counter 2: A317 (upper 4 digits) and A316 (lower 4 digits) High-speed counter 3: A319 (upper 4 digits) and A318 (lower 4 digits) Refreshed during overseeing processing. Use PRV(881) to read the most recent PVs.
High-speed counter PV storage locations		Data format: 8 digit hexadecimal Linear mode: 8000 0000 to 7FFF FFFF hex 0000 0000 to FFFF FFFF hex (for increment pulse) Ring mode: 0000 0000 to Max. ring value
Control method	Target value comparison	Up to 48 target values and corresponding interrupt task numbers can be registered.
Control method	Range Comparison	Up to 8 or up to 32 ranges can be registered, with a separate upper limit, lower limit, and interrupt task number for each range.
Counter reset method		Phase-Z + Software reset The counter is reset when the phase-Z input goes ON while the Reset Bit (A531.00 to A531.03) is ON. Software reset The counter is reset when the Reset Bit (A531.00 to A531.03) is turned ON. Operation can be set to stop or continue the comparison operation when the high-speed counter is reset.

Pulse Output Functions

Position Control and Speed Control

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

Variable-duty Pulse Outputs (PWM)

Item	Specifications
Number of PWM Outputs	Max.4 outputs (PWM Output 00 to 03)
Duty ratio	0.0%to 100.0%in 0.1%increments
Frequency	0.1 Hz to 6,553.5 Hz (Set in 0.1-Hz increments.) 1 Hz to 32,800 Hz (Set in 1-Hz increments.)
Output mode	Continuous Mode
Instruction	PWM (891)instruction

Pulse I/O Modules

Input Specifications (IN00 to IN09/IN10 to IN19 )

Normal Inputs

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

Input Circuit Configuration

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

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

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

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

24-VDC input

Line driver input

Set to 60 kHz

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

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

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

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

Set to 100 kHz

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

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

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

Differential-phase 50-kHz pulse input

Phase Z/
reset input

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

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

Output Specifications (OUT00 to OUT05 and OUT10 to OUT15)

Item	Specifications
Output Specifications	Sinking-type (CJ2M-MD211)	Sourcing-type (CJ2M-MD212)
Rated voltage	5 to 24 VDC
Allowable voltage range	4.75 to 26.4 VDC
Maximum switching current	0.3 A/output,1.8 A/Unit
Number of circuits	6 outputs (6 outputs/common)
Maximum inrush current	3.0 A/output,10 ms max.	2.0 A/output,10 ms max.
Leakage current	0.1 mA max.
Residual voltage	0.6 V max.
ON response time	0.1 ms max.
OFF response time	0.1 ms max.
Fuse	None
External supply power (power supply input for outputs)	10.2 to 26.4 VDC,20 mA min.
Circuit configuration

Pulse Outputs (OUT00 to OUT03 and OUT10 to OUT13)

Item	Specifications
Output Specifications	Sinking-type (CJ2M-MD211)	Sourcing-type (CJ2M-MD212)
Rated voltage	5 to 24 VDC
Allowable voltage range	4.75 to 26.4 VDC
Maximum switching capacity	30 mA
Minimum switching capacity	7 mA
Maximum output frequency	100 kHz
Output waveform

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

Item	Specifications
Output Specifications	Sinking-type (CJ2M-MD211)	Sourcing-type (CJ2M-MD212)
Rated voltage	5 to 24 VDC
Allowable voltage range	4.75 to 26.4 VDC
Maximum switching capacity	6.5535 kHz or less:300 mA,6.5535 to 32.8 kHz:100 mA
Maximum output frequency	32,800 Hz
PWM output accuracy (for ON pulse width of 2 μs or longer)	ON duty at 6.5535 kHz or less:–0.2%to +1%, ON duty at 32.8 kHz:–1%to +5% (at switching current of 30 mA)	ON duty at 6.5535 kHz or less:±0.5%, ON duty at 32.8 kHz:+2.5% (at switching current of 30 mA)
Output waveform