Drives Inverters Guides PLC Guides

Omron CP1H & Yaskawa Servo “ORG Search”

Written by

Omron PLC and Yaskawa Servo motor are two extremely popular equipment in machines in factories all over the world.

Today will guide you to control Yaskawa Servo motor Sigam-V(7) with Omron CP1H PLC in detail step by step.

Configure PLC parameters CP1H Setup

+ Select Port: Port 0
+ Use the Pulses Output: Pulse + Direction method
>>> Use Ouput Address 100.00(Pulse) & 100.02(Direction)

+ PLC Setup Parameter:

Yaskawa Engine Configuration (SigmaWin + Software)

We need to pay attention to the following main parameter:

+ Pn200.0: Reference Pulse Form uses 1 pulse control mode (Pulse + Direction)
>>> Select “0: Sign + Pulse, positive logic”

+ Pn200.3: Filter Selection
>>> Select “1: Uses reference input filter for open collector signal (to 200kpps)”

+ Pn20E + Pn210 + Pn212
3 This parameter is used to set the number of pulses for 1 revolution of the motor
You can copy according to the parameters in the image below

+ Pn000.1: Control Method Selection
Select “1: Position control (pulse train reference)”

Wiring Diagram

For you to understand as easily as possible, I only connect 2 pulse wires to control the Servo, after you are proficient, use other Servo functions.

PLC Programming

Learn about ORG with CP1H

CP1H has 4 pulse generator ports, choose port number 1 (Port0)

Learn about INI with CP1H


I/O Address Table

  • 000-Input: Org Sensor
  • 001-Input: CW Limit Sensor
  • 002-Input: CCW Limit Sensor
  • 011-Input: EMG Button
  • 280.04-Input: Axis0 Busy (Internal Adress PLC)
  • 280.05-Input: Axis0 No Org (Internal Adress PLC)
  • 280.06-Input: Axis0 at Org (Internal Adress PLC)
  • 100.00-Output: Pulse
  • 100.02-Output: Direction


Sensor status used in the program

Stop command pulse when Emergency stop is pressed or shaft is faulty

Search ORG

Video ORG Search CP1H & Yaskawa Sigma V


If you have any questions, please comment below the article. Like and share the article if you find it helpful

Thanks and best regards!

About the author


Leave a Comment Protection Status