Regional Headquarters: Authorized Distributor: FA Systems Division H.Q. Omron Europe B.V
Regional Headquarters: Authorized Distributor: FA Systems Division H.Q. Omron Europe B.V
Regional Headquarters: Authorized Distributor: FA Systems Division H.Q. Omron Europe B.V
Servo Relay Unit XW2B-20J6-8A (for one axis) XW2B-40J6-9A (for two axes)
Servomotor
Note: Do not use this document to operate the Unit. OMRON Corporation
FA Systems Division H.Q. 66 Matsumoto Mishima-city, Shizuoka 411-8511 Japan Tel: (81)55-977-9181 Fax: (81)55-977-9045 Regional Headquarters OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388 OMRON ELECTRONICS LLC 1 East Commerce Drive, Schaumburg, IL 60173 U.S.A. Tel: (1)847-843-7900/Fax: (1)847-843-8568 OMRON ASIA PACIFIC PTE. LTD. 83 Clemenceau Avenue, #11-01, UE Square, Singapore 239920 Tel: (65)6835-3011/Fax: (65)6835-2711
Authorized Distributor:
A computer is not required at the production site, enabling downsizing and cost reductions.
Peripheral port
Connecting Cables
CS1W-CN226 (for IBM PC/AT or compatible, 2 m) CS1W-CN626 (for IBM PC/AT or compatible, 6 m)
Programming Devices
IBM PC/AT or compatible
Support Software
CS1W-CN118
(See below.) Connecting Cable CQM1-CIF02 (for IBM PC/AT or compatible) IBM PC/AT or compatible CX-Simulator Ver. 1.3 WS02-SIMC1-E
CS1W-CN114
XW2Z-200S-CV (for IBM PC/AT or compatible) XW2Z-500S-CV (for IBM PC/AT or compatible, 5 m)
The following cables can be used for Host Link connections only: XW2Z-200S-V (for IBM PC/AT or compatible, 2 m) XW2Z-500S-V 9for IBM PC/AT or compatible, 5 m)
CS1W-CN224 CS1W-CN624
C200H-PRO27-E
CS1W-KS001-E
+
CS1W-CN114 CQM1-PRO01-E CS1W-KS001-E
+
Equipped with cable (2 m) CQM1H-PRO01-E CS1W-KS001-E
+
Equipped with cable (2 m)
10
Cu
CPU Units
Model Number of I/O points Maximum number of Expansion Racks None 1 Unit Maximum number of connectable Units 10 Units Program capacity Data memory capacity LD instruction processing speed 100 ns Built-in ports Mountable options Built-in I/O
CJ1M-CPU12 320 CJ1M-CPU13 640
10 Ksteps
CPU Rack: 20 Ksteps 10 Units Expansion Rack: 10 Units 10 Units 10 Ksteps CPU Rack: 20 Ksteps 10 Units Expansion Rack: 10 Units
Peripheral Memory port and RS- Card (com232C port pact flash)
None
None 1 Unit
10 inputs and 6 outputs Inputs: 4 interrupt inputs (pulse catch); 2 highspeed counter inputs (Phase differential: 50 kHz; Single phase: 100 kHz) Outputs: 2 pulse outputs (2 points for positioning, 100-kHz speed control, and PWM output)
Dimensions
CPU Unit
2.7
End Plate
2.7
CJ1M-CPU12/13
CJ1M-CPU22/23
RS-422A Converter
CJ1W-CIF11
38.8
Rack Dimensions
27 90 90 83.7 34 2.7 31 65 73.9 2.7 49 Weight: 170 g 65 83.6 Weight: 20 g 14.7 W 65 90 35.4 27.6
Weight: 120 g
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Unit Dimensions
Power Supply Units 8/16-point Basic I/O Units
2.7
Width W (mm) When Used with a CJ1WPA202 Power Supply Unit (AC, 14 W)
Number of I/O Units with 31-mm width CJ1M-CPU12/13 121.7 152.7 183.7 214.7 245.7 276.7 307.7 338.7 369.7 400.7 CJ1M-CPU22/23 139.7 170.7 201.7 232.7 263.7 294.7 325.7 356.7 387.7 418.7
90
90
1 2 3 4 5 6 7 8 9 10
2.7
31
65 89
90
90
I/O Units with 20-mm width: 32-point Basic I/O Units CompoBus/S Master Units I/O Units with 31-mm width: Basic I/O Units other than the above Special I/O Units CPU Bus Units
31 65 66.5 (112.5) 65 83.6
2.7 20
65 66.5
65 83.6
2.7
Current Consumption
CPU Unit Current Consumption
Model CJ1M-CPU12/ CPU13 CJ1M-CPU22/ CPU23 Current consumption Current at 5 V consumption at 24 V 0.58 A 0.64 A -
CPU Unit RS-422A Converter 16-point DC Input Unit 64-point DC Input Unit 16-point Relay Output Unit 16-point Relay Output Unit
CJ1W-PA202
64-point Transis- 0.17 A tor Output Unit 0.42 A 0.36 A 2.01 A 12.35 W
CJ1W-AD08-V1 8-point Analog Input Unit CJ1W-NC413 4-axis Position Control Unit
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Common Specifications
Item Control method I/O control method Programming Instruction length Ladder instructions Execution time Basic instructions Special instructions Overhead time Unit connection method Mounting method Number of tasks Interrupt types Stored program Cyclic scan and immediate processing are both possible. Ladder diagram 1 to 7 steps per instruction Approx. 400 (3-digit function codes) 0.1 s min. 0.3 s min. 0.5 ms No backplane (Units joined together with connectors.) DIN track mounting (screw mounting not possible) 288 (cyclic tasks: 32, interrupt tasks: 256) Scheduled interrupts: Interrupts generated at a specified interval based on the CPU Units built-in clock. I/O interrupts: Interrupts from Interrupt Input Units or from built-in inputs (CJ1M-CPU22/23 only). Power OFF interrupts: Interrupt executed when CPU Units power is turned OFF. External interrupts: Interrupts from Special I/O Units and CPU Bus Units. Specification
Calling subroutines from multiple Supported using global subroutines. tasks CIO (Core I/O) Area I/O Area 640 (40 words): CIO 000000 to CIO 003915 (words CIO 0000 to CIO 039) Setting of first rack words can be changed from default (CIO 0000) to CIO 0000 to CIO 0999. I/O bits are allocated to Basic I/O Units. 10 input bits: CIO 296000 to CIO 296009 6 output bits: CIO 296100 to CIO 296105 Built-in I/O bits are allocated to the CPU Units built-in inputs and outputs (CJ1MCPU22/23 only). 3,200 (200 words): CIO 100000 to CIO 119915 (words CIO 1000 to CIO 1199) Link bits are used for data links in Controller Link systems. These bits can be used as work bits when not used for the applications described on the left.
Link Area
CPU Bus Unit 6,400 (400 words): CIO 150000 to CIO 189915 (words CIO 1500 to CIO 1899) Area Special I/O Unit Area Serial PLC Link Area DeviceNet Area 15,360 (960 words): CIO 200000 to CIO 295915 (words CIO 2000 to CIO 2959) Special I/O Unit bits are allocated to Special I/O Units (10 words per Unit). 90 (90 words): CIO 310000 to CIO 318900 (words CIO 3100 to CIO 3189) Serial PLC Link words are used for data links in Serial PLC Link systems. 9,600 (600 words): CIO 320000 to CIO 379915 (words CIO 3200 to CIO 3799) DeviceNet bits are allocated to Slaves for DeviceNet Unit remote I/O communications when the master function is used with fixed allocations. Fixed allocation setting 1 Outputs: CIO 3200 to CIO 3263 Inputs: CIO 3300 to CIO 3363 Fixed allocation setting 2 Outputs: CIO 3400 to CIO 3463 Inputs: CIO 3500 to CIO 3563 Fixed allocation setting 3 Outputs: CIO 3600 to CIO 3663 Inputs: CIO 3700 to CIO 3763
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Specification 4,800 (300 words): CIO 120000 to CIO 149915 (words CIO 1200 to CIO 1499) 37,504 (2,344 words): CIO 380000 to CIO 614315 (words CIO 3800 to CIO 6143) These bits in the CIO Area are used as work bits in programming to control program execution. They cannot be used for external I/O. 8,192 (512 words): W00000 to W51115 (words W000 to W511) These bits are used as work bits in programming to control program execution. They cannot be used for external I/O. Note: When using work bits in programming, use bits in the Work Area first before using bits from other areas. These bits can be used as work bits when not used for the applications described on the left.
Work Area
Holding Area
8,192 (512 words): H00000 to H51115 (words H000 to H511) Holding bits are used to control program execution, and maintain their ON/OFF status when PLC is turned OFF or the operating mode is changed. Read-only: 7,168 (448 words): A00000 to A44715 (words A000 to A447) Read/write: 8,192 bits (512 words): A44800 to A95915 (words A448 to A959) Auxiliary bits are allocated specific functions. 16 bits (TR0 to TR15) Temporary bits are used to store ON/OFF execution conditions at program branches. 4,096: T0000 to T4095 (used for timers only) 4,096: C0000 to C4095 (used for counters only) 32 Kwords: D00000 to D32767 Special I/O Unit DM Area: D20000 to D29599 (100 words 96 Units). Used to set parameters for Special I/O Units. CPU Bus Unit DM Area: D30000 to D31599 (100 words 16 Units). Used to set parameters for CPU Bus Units. IR0 to IR15 Store PLC memory addresses for indirect addressing. Used as a generalpurpose data area for reading and writing data in word units (16 bits). Words in the DM Area maintain their status when the PLC is turned OFF or the operating mode is changed.
Auxiliary Area
Index Registers
32 (TK0000 to TK0031) Task Flags are read-only flags that are ON when the corresponding cyclic task is being executed and OFF when the corresponding task is not being executed or is in standby status. 4,000 words (trace data: 31 bits, 6 words) Memory Cards: OMRON Memory Cards with 8-MB, 15-MB, 30-MB, or 48-MB capacities can be used. (MSDOS format).
Function Specifications
Item Constant cycle time Cycle time monitoring I/O refreshing Possible: 1 to 32,000 ms (unit: 1 ms) Possible (Unit stops operating if cycle is too long): 10 to 40,000 ms (unit: 10 ms) Cyclic refreshing, immediate refreshing, refreshing by IORF(097). The CPU BUS UNIT I/O REFRESH (DLNK) instruction can be used to refresh CPU Bus Units (including allocated CIO and DM Area words) when required in the program. Data links for Control Link Units, remote I/O communications for DeviceNet Units, and other special data for CPU Bus Units are refreshed at the following times. During I/O refresh period or when CPU BUS UNIT I/O REFRESH (DLNK) instruction is executed. Specification
Possible (using the IOM Hold Bit in the Auxiliary Area) I/O memory holding when changing operating modes Load OFF Input time constant setting Operating mode setting at power-up Built-in flash memory All outputs from Output Units can be turned OFF when the CPU Unit is in RUN, MONITOR, or PROGRAM mode. Time constants can be set for inputs from CJ-series Basic I/O Units. The time constant can be increased to reduce influence of noise and chattering or it can be decreased to detect shorter pulses on inputs. Possible (By default, the CPU Unit will start in RUN mode if a Programming Console is not connected.) User program and parameter areas (e.g., PC Setup) are automatically backed up and restored.
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Item Memory Card functions Automatically reading programs (autoboot) from the Memory Card when the power is turned ON. Program replacement during PLC operation Memory Card storage data Possible
Specification
Possible User program: Program file format PC Setup and other parameters: Data file format I/O memory: Data file format (binary), text format, CSV format CPU Bus Unit data: Special format User program instructions, Programming Devices (including CX-Programmer and Programming Console), Host Link computers, AR Area control bits, easy backup operation
Memory Card data can be handled as files. Force-set/reset, differential monitoring, data tracing (scheduled, each cycle, or when instruction is executed) One or more program blocks in user programs can be overwritten when CPU Unit is in PROGRAM or MONITOR mode. This function is not supported for block program areas. With the CX-Programmer, more than one program circuit can be edited at the same time. Overwrite protection: Set using DIP switch. Copy protection: Password set using CX-Programmer. User-defined errors (i.e., user can define fatal errors and non-fatal errors) The FPD(269) instruction can be used to check execution time and logic of each programming circuit. Error status can be simulated with the FAL and FALS instructions. Up to 20 errors are stored in error log. Information includes error code, error details, and time error occurred. It is possible to set whether or not FAL errors are stored in the error log. Built-in peripheral port: Programming Device (e.g., CX-Programmer or Programming Console), Host Links, NT Links Built-in RS-232C port: Programming Device (e.g., CX-Programmer), Host Links, no-protocol communications, NT Links, Serial PLC Links Serial Communications Unit (sold separately): Protocol macros, Host Links, NT Links Provided on all models. Accuracy: 1.5 min/mo. at 25C. Note: 1. The accuracy varies with the temperature. 2. Used to store time when power is turned ON and when errors occur.
Clock
Power OFF detection time Power OFF detection delay time Memory protection
10 to 25 ms (not fixed) 0 to 10 ms (user-defined, default: 0 ms) Held areas: User program, holding bits, Data Memory, and status of counter Completion Flags and present values. Note: If the IOM Hold Bit in the Auxiliary Area is ON, and the PC Setup is set to maintain the IOM Hold Bit status when power is turned ON, the contents of the CIO Area, Work Area, part of the Auxiliary Area, timer Completion Flags and PVs, Index Registers, and Data Registers will be saved.
Sending commands to a FINS commands can be sent to a computer connected via Host Link System by executing Network Communications Host Link computer Instructions from PLC. Remote programming and monitoring Three-level communications Storing comments in CPU Unit Program check Control output signals Battery life Host Link communications can be used for remote programming and remote monitoring through a Controller Link System or Ethernet network. Host Link communications can be used for remote programming and remote monitoring from devices on networks up to two levels away (Controller Link Network, Ethernet Network, or other network). I/O comments can be stored in Memory Cards. Program checks are performed for items such as no END instruction and instruction errors. CX-Programmer can also be used to check programs. RUN output: The internal contacts will turn ON (close) while the CPU Unit is operating. (Possible only with CJ1WPA205R Power Supply Unit.) 5 years at 25C (The battery life depends on the ambient operating temperature; 0.75 year min.) (Battery Set: CJ1W-BAT01) Note: Use a replacement battery for which no more than 2 years have expired since the date of manufacture. Self-diagnostics Other functions CPU errors (watchdog timer), I/O bus errors, memory errors, and battery errors Storage of the number of times power has been interrupted. (Stored in A514.)
15
General- General- General- General- General- Generalpurpose purpose purpose purpose purpose purpose output 0 output 1 output 2 output 3 output 4 output 5 Pulse output 0 (CW) Pulse output 0 (pulse) Pulse output 0 (CCW) Pulse output 1 (pulse) Pulse output 1 (CW) Pulse output 0 (direction) Pulse output 1 (CCW) Pulse output 1 (direction) -
Pulse + direction Pulse with variable duty factor (PWM) output Origin search -
PWM output 0
PWM output 1
16
Linear counter or circular counter (set in the PC Setup) Linear counter: 8000 0000 to 7FFF FFFF Hex Circular counter: 0000 0000 to circular counter set value (The circular counter set value is set in the PC Setup in the range 0000 0001 to FFFF FFFF Hex.)
Counting range
High-speed counter present value stor- High-speed counter 0: A270 (lower digits) and A271 (upper digits) age words High-speed counter 1: A272 (lower digits) and A273 (upper digits) Target value comparison inputs and range comparison inputs are possible for these values. Note: The present values are updated each cycle as part of common processing. Use the PRV instruction to read the latest value. Control method Target value comparison Up to 48 target values and interrupt task numbers can be registered. Range comparison Up to 8 upper limits, lower limits, and interrupt task numbers can be registered. Z-phase signal + software reset: Counter reset when the Z-phase input is turned ON with the reset bit (see below) ON. Software reset: Counter reset when the reset bit (see below) turns ON. Reset bit: A531, bit 00 (high-speed counter 0); A531, bit 01 (high-speed counter 1)
Number of output pulses Relative coordinate specifications: 0000 0000 to 7FFF FFFF Hex (2,147,483,647 in either incremental or decremental direction) Absolute coordinate specifications: 8000 0000 to 7FFF FFFF Hex (2,147,483,648 to 2,147,483,647) Instruction for origin search/reset Instructions for positioning and speed control ORG (ORIGIN SEARCH): Used to perform origin searches or origin resets according to set parameters. PLS2 (PULSE OUTPUT): Used to output pulses for trapezoidal positioning with individually set acceleration and deceleration rates. PULS (SET PULSES): Used to set the number of output pulses. SPED (SPEED OUTPUT): Used to output pulses without acceleration or deceleration. (The number of pulses must be set beforehand using the PULS instruction to perform positioning.) ACC (ACCELERATION CONTROL): Used to control the acceleration/deceleration rate. INI (MODE CONTROL): Used to stop pulse output. AR Area Words Pulse output 0: A276 (lower 4 digits) and A277 (upper 4 digits) Pulse output 1: A278 (lower 4 digits) and A279 (upper 4 digits) The present values are updated each cycle as part of overhead processing. The pulse output present value can be read to specified words using PRV (HIGH-SPEED COUNTER PV READ).
17
Hardware Specifications
Input Specifications
Item Number of input points Input type Input points Input voltage 10 points 24-VDC input or line driver input (switched with wiring) 24-VDC input IN0 to IN5 20.4 to 26.4 VDC IN6 to IN9 Line driver input IN0 to IN5 IN6 to IN9 Conforms to RS-422 line driver (equivalent to AM26LS31). The power supply voltage on the connected side must be 5 V5%. 4.0 k 4.1 mA 13 mA 10 mA Specification
Input impedance Input current (typ.) ON voltage (min.) ON voltage (max.) Response speed (for general-purpose input)
ON response time 8 ms max. (Select 0, 0.05, 1, 2, 4, 8, 16, or 32 ms in PC Setup.) OFF response time 8 ms max. (Select 0, 0.05, 1, 2, 4, 8, 16, or 32 ms in PC Setup.)
Circuit Configuration
Input Circuit configuration IN0 to IN5
3.6 k
IN6 to IN9
4.0 k
24 V Internal circuit
100
24 V
100
LD+
750
LD+
1.5 K
1000 pF
1000 pF
0 V/LD
100
0 V/LD
100
18
Internal circuit
Internal circuit
OUT0 to OUT3
Internal circuit
+V
Lowvoltage circuit
+V OUT4 to OUT5
COM
COM
Allowable voltage 4.75 to 26.4 V range Maximum switching current 0.3 A per point, 1.8 A per Unit
Outputs per com- 6 points mon Maximum inrush current Leakage current Residual voltage OFF response time Fuse 3.0 A per point for 10 ms max. 0.1 mA max. 0.6 V max. 0.1 ms max.
ON
None
19