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CJ2M-MD211/MD212 Function Block For Speed Control(REAL)

Speed Control (REAL)
Name Speed Control (REAL): MD_CPU030_MoveVelocity_REAL
Basic Function Controls speed.
Originates from Tsunagi Lab Europe
Created by OEE-HQ HvB (creation and testing)
File Name MD_CPU030_MoveVelocity_REAL.cxf
Applicable models CPU Unit CJ2M-CPU Unit version 2.0 or higher with max. two
CJ2M-MD211 (NPN) or
CJ2M-MD212 (PNP)
CX-Programmer Version 9.1.2 or higher
Conditions for usage None.
Function Description Executes speed control for the output specified with the Axis No. (Axis) using the Speed command (Velocity) when Start (Execute) is turned ON.
The Speed reached (InVelocity) will be turned ON once the speed reaches the target speed specified in this FB.

If the speed control is interrupted by a deceleration stop caused by another instance or error, the Speed reached (InVelocity) will be reset.
The Error flag (Error) will be turned ON and Error code (ErrorID) will be output when an error related to this FB occurs.
These statuses, Speed reached (InVelocity)/ Error flag (Error)/ Error code (ErrorID), will be reset when Start (Execute) is turned OFF.

If Start (Execute) was turned OFF before positioning is completed, the status will be set for at least one cycle when a corresponding condition occurs.

Kind of FB definition Connect Always ON type
  Connect the EN input to the Always ON Flag (P_ON).
  The same instance cannot be used in two or more places.
FB Precautions • When using the Pulse output 0&1 or 2&3 simultaneously, use the same Pulse output method for them.
• When speed is changed by the other command before the speed reaching, this FB will output an error.
• Turning ON the input to the Start (Execute) during speed control will cause multistart, which then leads to speed control with the speed set in Speed command (Velocity).
• When already in speed control operation, direction specification (sign of the Speed command (Velocity)) will be ignored and only the speed will be changed. To reverse the direction of the operation, stop the operation once and execute the speed command with the opposite direction specified.

The MD_CPU* function blocks are offered 'as is' and may serve as a basis for development. Users should previously test its adequacy to the final application.

Omron can not be held responsible in case of malfunction.

EN input condition  • Connect the EN input to the Always ON Flag (P_ON).
 • If a different type of bit is connected to EN, the FB outputs will be maintained when the connected bit is turned OFF.
Restrictions other • During positioning operation, this FB can not be executed.
• During operations by ACC, discrete, commands, this FB cannot be executed during the Origin Search operation.
Application example Turning the start trigger from OFF to ON will start operating the Servomotor connected to the Pulse output 0 on the CJ2M-MD21* Unit with relative movement.

Related manuals  CJ2M Pulse I/O User Manual (W486)
 CJ2 Hardware User Manual (W472)
  • Variable Table 

Input Variables

Name Variable name Data type Default Range Description
EN EN BOOL     1 (ON): Starts FB
0 (OFF): Does not start FB
Axis No. Axis INT &0 &0 to &3 &0: Pulse output 0, &1: Pulse output 1
&2: Pulse output 2, &3: Pulse output 3
Start Execute BOOL 0(OFF)   OFF -> ON (rising edge) starts speed control
Speed command Velocity REAL +0.0 -100000.0 to +1000000. 0 Specifies the target speed.
Unit: Hz
Acceleration rate Acceleration REAL +1.0 +1.0 to +65535.0 Specifies the acceleration rate.
Unit: Hz/4ms (Increase (Hz) in Pulse frequency per Pulse control period (4ms))
Pulse output method OutPulseSelect INT &0 &0 to &1 &0: CW/CCW output
&1: Pulse + direction output

Output Variables

Name Variable name Data type Range Description
ENO ENO BOOL   1 (ON): FB operating normally
0 (OFF): FB not operating normally
Speed reached Invelocity BOOL   1 (ON) indicates that the target speed has been reached.
Error flag Error BOOL   1 (ON) indicates that an error has occurred in the FB.
Error code (May be omitted) ErrorID WORD   The error code of the error occurred in the FB will be output. For details of the errors, refer to the sections of the manual listed in the Related manuals above. When Unit No. or Axis. No. is out of the range, #0000 will be output.

Revision History

Version Date Contents
1.00 16-Feb-2012 Based on Function Block: _NCCPU030_MoveVelocity_REAL


This manual is a reference that explains the function block functions. It does not explain the operational limitations of Units, components, or combinations of Units and components. Always read and understand the Operation Manuals for the system’s Units and other components before using them.



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Created 2012-02-17
Modified 2012-02-27
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