That is an Omron PLC with 16 relay outputs and 24 DC inputs, correct?
Do you have the manual, or should I look that up to see what the pulse instruction is?
Never mind, Pulse Outputs are covered by Chapter 12 starting on Page 12-1 of the Omron SYSMAC CP Series CP1E CPU Unit Software User Manual (whick I downloaded from the Omron web site).
The procedure is not simple and is not something that I could explain in a few sentences. First you have to do "PLC Setup" to set the parameters for the Pulse Output 0 and the Pulse Output 1. The name of the instruction that generates an output pulse is "PLS2". The pulse will appear at addres CIO 100, or terminal numbers 00 and 01 (pulses) and 02 and 03 (direction).