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Omron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001 Operation Manual

Fqm1 series flexible motion controller
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Table of Contents

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Cat. No. O010-E1-01
FQM1 Series
FQM1-CM001
FQM1-MMP21
FQM1-MMA21
Flexible Motion Controller

OPERATION MANUAL

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Summary of Contents for Omron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001

  • Page 1: Operation Manual

    Cat. No. O010-E1-01 FQM1 Series FQM1-CM001 FQM1-MMP21 FQM1-MMA21 Flexible Motion Controller OPERATION MANUAL...
  • Page 2 FQM1 Series FQM1-CM001 FQM1-MMP21 FQM1-MMA21 Flexible Motion Controller Operation Manual Produced November 2004...
  • Page 4 OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.

  • Page 6: Table Of Contents

    TABLE OF CONTENTS PRECAUTIONS ........xiii Intended Audience .
  • Page 7 Power OFF Operation ............SECTION 5 Module Functions and Data Exchange .
  • Page 8 TABLE OF CONTENTS SECTION 10 Inspection and Maintenance ......259 10-1 Inspections ............. . . Appendices Programming .
  • Page 9 TABLE OF CONTENTS...

  • Page 10: About This Manual

    Describes the ladder diagram programming instruc- tions supported by FQM1-series Flexible Motion Con- troller. Use this manual together with the Operation Manual (Cat. No. O010). W437 Provides information on how to use the CX-Program- mer, a Windows-based programming and monitoring package for OMRON PLCs.
  • Page 12 This section provides general precautions for using the FQM1-series Flexible Motion Controller and related devices. The information contained in this section is important for the safe and reliable application of the FQM1-series Flexible Motion Controller. You must read this section and understand the information contained before attempting to set up or operate a control system using the FQM1-series Flexible Motion Controller.

  • Page 13: Intended Audience

    It is extremely important that the FQM1 be used for the specified purpose and under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representa- tive before applying a FQM1 System to the above-mentioned applications.
  • Page 14 Safety Precautions !WARNING Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may result in serious accidents. !Caution Execute online edit only after confirming that no adverse effects will be caused by extending the cycle time.
  • Page 15 Safety Precautions !Caution The operating environment of the FQM1 System can have a large effect on the longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the FQM1 System. Make sure that the operating environment is within the speci- fied conditions at installation and remains within the specified conditions dur- ing the life of the system.
  • Page 16 Safety Precautions • Outputs may remain ON due to a malfunction in the built-in transistor out- puts or other internal circuits. As a countermeasure for such problems, external safety measures must be provided to ensure the safety of the system. •...
  • Page 17 Safety Precautions xviii • Do not apply voltages or connect loads to the built-in outputs in excess of the maximum switching capacity. Excess voltage or loads may result in burning. • Disconnect the functional ground terminal when performing withstand voltage tests. Not disconnecting the functional ground terminal may result in burning.

  • Page 18: Conformance To Ec Directives

    • Low Voltage Directive EMC Directives OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards (see the following note).

  • Page 19: Relay Output Noise Reduction Methods

    Conformance to EC Directives Relay Output Noise Reduction Methods Countermeasures Countermeasure Examples Circuit Current CR method Power supply The FQM1-series Flexible Motion Controller conforms to the Common Emis- sion Standards (EN61000-6-4) of the EMC Directives. However, noise gener- ated by relay output switching may not satisfy these Standards. In such a case, a noise filter must be connected to the load side or other appropriate countermeasures must be provided external to the Motion Controller.
  • Page 20 Conformance to EC Directives Circuit Current Diode method Power supply Varistor method Power supply Characteristic The diode connected in parallel with the load changes energy accumulated by the coil into a current, which then flows into the coil so that the current will be converted into Joule heat by the resistance of the inductive load.

  • Page 21: Data Backup

    Data Backup Data Backup Note xxii The user programs, I/O memories, and other data in the Coordinator Module and Motion Control Modules is backed up either by a super capacitor or flash memory, as listed in the following table. Module Coordinator Module Error log Motion Control Module DM Area words D30000 to D32767...
  • Page 22 Data Backup Backing Up DM Area Data in Flash Memory mentary power interruptions. For operating parameters and other long- term data, use the portion of DM Area stored in flash memory in the Coor- dinator Module and transfer it to the Motion Control Modules before start- ing operation.
  • Page 23 Data Backup xxiv...

  • Page 24: Features And System Configuration

    This section describes the features of the FQM1 and its system configuration. Outline of FQM1 Flexible Motion Controller ......FQM1 Configuration.

  • Page 25: Outline Of Fqm1 Flexible Motion Controller

    Outline of FQM1 Flexible Motion Controller Outline of FQM1 Flexible Motion Controller PT (Monitor parameter settings) Coordinator Module Power Supply Unit Peripheral port RS-232C port Servo Relay Units CX-Programmer Flexible Configurations of Up To 8 Axes High-speed Processing The FQM1 (Flexible Quick Motion) is a stand-alone Flexible Motion Controller that can be used to create flexible high-speed, high-precision motion control systems for 2 to 8 axes.
  • Page 26 Outline of FQM1 Flexible Motion Controller Coordinator Module Programmer Periph- Ladder eral port program RS-232C PT, host computer, etc. Normal I/O Built-in RS-232C Port in A Programmable Terminal (PT) can be connected to the Coordinator Module Coordinator Module to monitor present values on the PT or make parameter settings for Servomo- tors from the PT.

  • Page 27: Fqm1 Configuration

    FQM1 Configuration Pulse Input Frequency Measurement Function Wide Variety of Interrupt Functions High-speed Analog I/O Supported Writing and Monitoring Ladder Programs Note FQM1 Configuration Coordinator Module Power Supply Unit Peripheral port RS-232C port CX-Programmer Note The speed of pulse inputs can be measured at the same time as the number of pulse inputs is counted.
  • Page 28 FQM1 Configuration FQM1-CM001 Coordinator One Coordinator Module is required in an FQM1. The Coordinator Module Module provides the following: I/O: Program capacity: 5 Ksteps DM Area capacity: 32 Kwords (DM) FQM1-MMP21/MMA21 Each Motion Control Module provides the following: Motion Control Modules CJ1W-PA202/PA205R SYSMAC CJ-series Power Supply Units are used.

  • Page 29: Modules

    • Peripheral port: Peripheral bus (for CX-Programmer) cations • One RS-232C port: NT Link (for OMRON PTs), Host Link (for host computers), or no pro- tocol (for PLCs) • One RS-422A port (Same connector as general-purpose I/O): 1:N communications with...
  • Page 30 Modules Outline of Internal Data Exchange and I/O Coordinator Motion Control Module Module #1 Ladder program Ladder program CX-Programmer Peripheral port RS-232C 16 inputs 12 inputs 8 outputs 8 outputs RS-422A (for parameter settings) Coordinator • Peripheral port for connecting CX-Programmer and RS-232C port for connecting PTs and other Module devices •...

  • Page 31: Cx-Programmer

    CX-Programmer CX-Programmer The CX-Programmer provides software functions for programming and debugging. FQM1 Patch Software must be installed for the CX-Programmer Ver. 5.0 (Model: WS02-CXPC1-E-V50) to use it to create ladder programs, make set- tings in the System Setup, and monitor operation. The FQM1 Patch Software can be installed for CX-Programmer Ver.

  • Page 32: Expanded System Configuration

    Programmable Terminals via direct access Communications between the CX-Programmer running on a computer and the FQM1 Communications between OMRON PLC and the FQM1 Communications between a PT and W-series or SMARTSTEP Servo Drivers via the FQM1 Section 1-5 Applicable commands and...
  • Page 33 Expanded System Configuration Host Link System The Host Link System allows the I/O memory of the Modules to be read/writ- ten and the operating mode to be changed from a host computer (personal computer or Programmable Terminal (PT)) by executing Host Link commands or FINS commands that are preceded by a Host Link header and followed by a terminator.
  • Page 34 Expanded System Configuration Note Serial PLC Link Slave Note Set the PT communications settings for a 1:N or Standard NT Link. An NT Link System is possible for either the peripheral port or the RS-232C port. NT Link 1:N Mode RS-232C NT Link 1:N Mode...
  • Page 35 RS-422A port on the FQM1 Coordinator Mod- ule is set to Serial Gateway to achieve this. OMRON’s W-series or SMARTSTEP Servo Drivers can be connected. Smart Active Parts on an NS-series PT connected via an NT Link can be used to access W-series or SMARTSTEP Servo Drivers.

  • Page 36: Basic Operating Procedure

    Basic Operating Procedure No-protocol (Custom) Communications System via RS-422A Port Basic Operating Procedure 1,2,3... NS-series PT Smart Active Parts Coordinator Module Link FQM1 Protocol Servo parameters conversion RS-422A W-series or SMART STEP Servo Driver No-protocol communications allow simple data transmissions, such as input- ting bar code data and outputting printer data using communications port I/O instructions TXD(236) and RXD(235).
  • Page 37 Basic Operating Procedure Wiring I/O terminals and connectors. Refer to 3-3 Wiring Module Connec- tors for details. 3. Initial Hardware Settings Set the DIP switch on the front of the Coordinator Module as required. Re- fer to 2-3 Coordinator Module for details. 4.

  • Page 38: Examples

    Basic Operating Procedure 1-6-1 Examples 1. Installation Connect the Power Supply Unit, Coordinator Module, Motion Control Mod- ules, and End Module to assemble the FQM1. Make sure that the total power consumption of the Modules is less than the maximum capacity of the Power Supply Unit. Use DIN Track to mount the FQM1 to the control panel.
  • Page 39 Basic Operating Procedure 4. Turning ON Power and Checking Initial Operation Note The System Setup and user programs are backed up in built-in flash memory. When the data is being backed up, a message indicating the data is being transferred will be displayed on the CX-Programmer. Never turn OFF the power supply to the FQM1 while data is being backed up.
  • Page 40 Basic Operating Procedure 7. Transferring the Programs 8. Testing Operation 8-a) I/O Wiring Checks 8-b) Trial Operation 8-c) Monitoring and Debugging When the programs has been created in the CX-Programmer, they must be transferred to the Motion Control Modules through the Coordinator Module. Check Output Wiring With the FQM1 in PROGRAM mode, force-set and force-reset output bits from the CX-Programmer and verify that the corresponding outputs operate...
  • Page 41 Basic Operating Procedure 1,2,3... 1. Select the bit for differential monitoring. 2. Select Differential Monitor from the PLC Menu. The Differential Monitor 3. Select Rising or Falling. 4. Click the Start Button. The buzzer will sound when the specified change is 5.

  • Page 42: Function Tables Arranged By Purpose

    Function Tables Arranged by Purpose Function Tables Arranged by Purpose 1-7-1 Sync Cycles and Synchronized data Purpose Synchronizing 3 Simple control Synchronizing or more axes of all axes oper- all Motion Con- ations from the trol Modules to Coordinator Coordinator Module Module cycle Operation...
  • Page 43 Function Tables Arranged by Purpose Purpose Synchronizing 3 Make control or more axes cycle as short as possible with Modules syn- chronized Control opera- tion using pulse and analog data simultaneously Fast control loops Operation Function used Synchronizing Sync Mode, 5-1 Synchronous Operation between Modules Motion Control Sync Cycle...

  • Page 44: Position And Speed Control

    Function Tables Arranged by Purpose 1-7-2 Position and Speed Control Purpose PTP positioning Using Servo using pulse I/O Driver compati- ble with an incremental encoder or step- ping Servomo- tor/Servo Driver Using Servo Drivers compati- ble with an Absolute Encoder Operation Main functions used...
  • Page 45 Absolute Encoders Set counter operation to Absolute Linear (CW−), Absolute Circular, or Absolute Linear (CW+). Uses OMRON W-series Servo Drivers and reads the absolute position from the Servo Driver before operation starts. Once the origin has been set, it is easier to find the origin by reading the absolute position before operation starts.
  • Page 46 Function Tables Arranged by Purpose Purpose PTP positioning Simple position- Stepped or using analog I/O ing using invert- sloped analog output corre- sponding to the high-speed counter PV Path control Drawing path Executing elec- with linear inter- tronic cam con- polation trol for 2 axes synchronized to...
  • Page 47 Function Tables Arranged by Purpose Purpose Synchronous Slave axis con- control trol synchro- nized to virtual axis. Control of a par- ticular axis oper- ation at a speed with a uniform ratio applied Speed control Creating any trapezoidal speed control pattern (e.g., S- curve accelera- tion/decelera-...

  • Page 48: Measuring Input Pulses

    Function Tables Arranged by Purpose Purpose Speed control Torque control (position + torque control) Individual axis control for mold- ing equipment and similar applications Line control (winding/feed- ing control) Tension control, etc. Simple speed control corre- sponding to time axis using inverter 1-7-3 Measuring Input Pulses...

  • Page 49: High-Speed Analog I/O Control

    Function Tables Arranged by Purpose Purpose Detecting speed Detecting speed using rotary and use in out- encoder inputs put control while managing posi- tion using encoder inputs Monitoring speed while managing work- piece position using encoder input 1-7-4 High-speed Analog I/O Control Purpose Measuring High-speed...
  • Page 50 Function Tables Arranged by Purpose Purpose Control using Judgment pro- measurement cessing based results for undu- on measure- lation, distortion, ment results thickness, height, diame- ter, etc., of an object Position control using measure- ment results Responding Changing ana- quickly to exter- log output nal signals with amount as soon...

  • Page 51: Controlling Timing

    Function Tables Arranged by Purpose 1-7-5 Controlling Timing Purpose Responding Executing pro- Starting inter- quickly to exter- cessing as soon rupt processing nal signals and as change in when an input operate external input bit turns ON signal detected and/or OFF. Executing pro- Starting inter- cessing after set...
  • Page 52 Function Tables Arranged by Purpose Purpose Operation with Increasing accu- High-precision highly precise racy of external ON outputs, with timing output ON time. minimum unit of (Feeding, hole 0.01 ms opening, tape winding, gluing, and other appli- cations) Highly accurate Starting/stop- measurement of ping high-preci-...
  • Page 53 Section 1-7 Function Tables Arranged by Purpose...

  • Page 54: Specifications And Nomenclature

    This section provides the specifications of the FQM1 and describes the parts and their functions on the Coordinator Module and Motion Control Modules. List of Models ..........General Specifications .

  • Page 55: List Of Models

    List of Models List of Models Name Type Coordinator Mod- Standard (with built-in I/O) Motion Control Pulse I/O Modules Analog I/O End Module Standard Servo Relay Units FQM1 Flexible Set for pulse I/O Motion Controller Set for analog I/O FQM1S-MC222 Programming CX-Programmer Device...
  • Page 56 General Specifications Note Power Supply Unit Specifications Item Power Supply Unit CJ1W-PA205R Supply voltage 100 to 240 V AC (wide-range), 50/60 Hz Operating voltage 85 to 264 V AC, 47 to 63 Hz and frequency ranges Power consumption 100 VA max. Inrush current At 100 to 120 V AC: (See note 1.)

  • Page 57: Coordinator Module

    Coordinator Module Note Coordinator Module Nomenclature CM001 FLEXIBLE MOTION CONTROLLER PRPHL COMM1 COMM2 PERIPHERAL Peripheral port PORT RS-232C port Coordinator Module Note Cover the peripheral port and RS-232C port with the supplied covers when the ports are not being used to prevent dust contamination. Indicators (1) The inrush current is given for a cold start at room temperature with an AC power supply.
  • Page 58 Coordinator Module Switch on Front Panel Peripheral Port Baud Rate Detection/System Setup Switch Function Specifications Item Control method I/O control method Programming Instruction length Ladder instructions Execution time Basic instructions Special instructions 0.3 µs min. Common processing (overhead) time Program Ladder capacity Comment storage...
  • Page 59 Coordinator Module Item CIO Area Input Bit Area Output Bit Area Cyclic Refresh Bit Area Synchronous Data Link Bit Area Serial PLC Link Bit Area Work Bit Areas CIO Area Work Area Auxiliary Area Read/Write Error Log Temporary Area Holding Area Timer Area Counter Area DM Area...

  • Page 60: Motion Control Modules

    Motion Control Modules Item RUN output Individual func- Serial communica- tions tions I/O Specifications Built-in General-purpose I/O Inputs Motion Control Modules Motion Control Module FQM1-MMP21 (Pulse I/O) Item Pulse I/O Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders) Pulse outputs: 2 General-purpose General-purpose inputs: 12...
  • Page 61 Motion Control Modules FQM1-MMA21 (Analog I/O) Item Pulse inputs Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders) Analog I/O • Analog inputs: 1 (−10 to 10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, and 4 to 20 mA), conversion speed: 40 µs/input •...

  • Page 62: Performance Specifications

    Motion Control Modules Performance Specifications Item Control method Stored program I/O control method Cyclic scan Programming language Ladder diagram Instruction length 1 to 7 steps per instruction Number of instructions Approx. 270 0.1 µs min. Instruction Basic instructions execution Special instructions 0.3 µs min. time Sync Mode: 250 µs Common...
  • Page 63 Motion Control Modules Item Power interruption hold function Super capacitor (momentary power interruption) Memory backup Super capacitor backup Flash memory Trace memory 4,000 words Peripheral servicing Event requests from Coordinator Module Self-diagnosis function CPU errors (WDT) and memory errors Program check Programs checked from the CX-Programmer.
  • Page 64 Motion Control Modules Pulse I/O Specifications FQM1-MMP21 (Pulse I/O) Item Pulse Number of counters 2 inputs Counter operations Linear counter and circular counter Input signals Two words each for phase A, phase B, and phase Z. Signal levels 24 V DC, line-driver Phase differential ×1 Input method Phase differential ×2...
  • Page 65 Motion Control Modules Pulse Inputs and Analog I/O Specifications FQM1-MMA21 (Analog I/O) Item Pulse Number of counters 2 inputs Counter operations Linear counter, circular counter Input signals Two words each for phase A, phase B, and phase Z. Signal levels CH1: 24 V DC, line-driver CH2: Line-driver Phase differential ×1...

  • Page 66: Dimensions

    Dimensions Dimensions FQM1-CM001 Coordinator Module 90 mm FQM1-MMP21/MMA21 Motion Control Modules 90 mm FQM1-TER01 End Module 49 mm CM001 FLEXIBLE MOTION CONTROLLER PRPHL COMM1 COMM2 PERIPHERAL PORT RS422 49 mm MMP21 14.7 Section 2-5 80 mm 80 mm...

  • Page 67: Power Supply Units

    Dimensions Power Supply Units CJ1W-PA202 81.6 CJ1W-PA205R 81.6 Section 2-5 PA202 POWER AC100 -240V INPUT L2/N PA205R POWER AC100-240V INPUT L2/N OUTPUT AC240V DC24V...

  • Page 68: Module Current Consumption

    Module Current Consumption XW2B-80J7-1A Servo Relay Unit Signal switches 100 90 41.7 15.9 Module Current Consumption The amount of current/power that can be supplied to the Modules mounted in the FQM1 is limited. Refer to the following tables when designing your system so that the total current consumption of the mounted Modules does not exceed the maximum current for each voltage system and the total power consumption does not exceed the maximum for the Power Supply Unit.
  • Page 69 Module Current Consumption Motion Control Modules Motion Control Module Current Consumption for 24-V Systems Motion Control Module Analog I/O Example Calculation Example for CJ1W-PA202 Power Supply Unit with the Following Modules of Current and Power Mounted Consumption Coordinator Module Motion Control Module Current con- sumption...

  • Page 70: Memory Block Diagram

    Memory Block Diagram Memory Block Diagram Note Coordinator Module and Motion Control Module memory has the following block configurations. • I/O Memory Area: Memory accessible from user programs. • User Memory (UM): User programs and parameter area (See note 1.) The following tables show the backup methods for these memory areas.
  • Page 71 Section 2-7 Memory Block Diagram...

  • Page 72: Installation And Wiring

    This section describes how to install and wire the FQM1. Installation........... . 3-1-1 Installation and Wiring Precautions .

  • Page 73: Installation

    Installation Installation 3-1-1 Installation and Wiring Precautions Be sure to consider the following factors when installing and wiring the FQM1 to improve the reliability of the system and make the most of the FQM1’s func- tions. Ambient Conditions Do not install the FQM1 in any of the following locations. Be sure to enclose or protect the FQM1 sufficiently in the following locations.
  • Page 74 Installation Improving Noise Resistance • The FQM1 will be easiest to install and operate if it is mounted at a height of about 1.0 to 1.6 m. • Do not mount the FQM1 in a control panel containing high-voltage equip- ment.
  • Page 75 Installation FQM1 Orientation PA202 AC100 -240V INPUT • The FQM1 must be mounted in an upright position to provide proper cool- ing. CM001 FLEXIBLE POWER MOTION CONTROLLER PRPHL COMM1 COMM2 PERIPHERAL L2/N PORT RS422 • Do not install the FQM1 in any of the following positions. L2/N INPUT -240V...

  • Page 76: Installation In A Control Panel

    Installation 3-1-2 Installation in a Control Panel The FQM1 must be mounted inside a control panel on DIN Track. AC10 0 -240V INPU T L2/N Note The FQM1 must be mounted on DIN Track. It cannot be mounted with screws. Wiring Ducts Use wiring ducts to wire the FQM1’s built-in I/O.

  • Page 77: Assembled Appearance And Dimensions

    Installation Routing Wiring Ducts Install the wiring ducts at least 20 mm away from the FQM1 and any other objects, (e.g., ceiling, wiring ducts, structural supports, and devices) to pro- vide enough space for air circulation and replacement of Modules. FQM1 3-1-3 Assembled Appearance and Dimensions...
  • Page 78 Installation Assembled Dimensions PA202 CM001 FLEXIBLE POWER MOTION CONTROLLER PRPHL COMM1 COMM2 PERIPHERAL AC100 -240V INPUT L2/N PORT RS422 W = a + 49 + 49 × n* + 14.7 * n is the number of connected Motion Control Modules (Up to 4 can be con- Power Supply Unit width: “a”...

  • Page 79: Connecting Fqm1 Components

    Installation Installation Height The installation height of the FQM1 varies from 115 to 165 mm. When a CX-Programmer or connecting cables are connected, however, even greater height is required. Allow sufficient depth in the control panel contain- ing the FQM1. 3-1-4 Connecting FQM1 Components The Modules that make up the FQM1 can be connected simply by pressing...

  • Page 80: Din Track Installation

    Installation 2. Move the yellow sliders at the top and bottom of each Module until they AC10 0 -240V INPU T L2/N Note If the locking tabs are not secured properly, the FQM1 may not function prop- erly. Be sure to slide the locking tabs until they are securely in place. 3.
  • Page 81 Installation 2. Fit the back of the FQM1 onto the DIN Track by inserting the FQM1 onto 3. Lock the pins on the backs of the Modules. 4. Install a DIN Track End Plate on each end of the FQM1. To install an End the top of the Track and then pressing in at the bottom of the FQM1, as shown below.
  • Page 82 Installation DIN Track and Use the DIN Track and DIN Track End Plates shown below. Accessories Secure the DIN Track to the control panel using M4 screws separated by 210 mm (6 holes) or less and using at least 3 screws. The tightening torque is 1.2 N·m.

  • Page 83: Wiring

    Wiring Wiring 3-2-1 Wiring Power Supply Units AC power supply 100 to 240 V Note The RUN output function is provided only for the CJ1W-PA205R Power Sup- ply Unit. It is not provided on the CJ1W-PA202 Power Supply Unit. AC Power Source Isolation Transformer The FQM1's internal noise isolation circuits are sufficient to control typical noise in power supply lines, but noise between the FQM1 and ground can be...
  • Page 84 Wiring Terminal Screws and The terminals on the Power Supply Unit use M4, self-raising terminal screws. Crimp Terminals Note !Caution Tighten AC power supply terminal block screws to a torque of 1.2 N·m. Loose screws may cause shorts, malfunctions, or fire. Note Grounding (1) Use crimp terminals for wiring.
  • Page 85 Wiring • LG is a noise-filtered neutral terminal. If noise is a significant source of errors and to prevent electrical shocks, connect the line ground terminal to the ground terminal and ground both with a ground resistance of less than 100 Ω or less. •...
  • Page 86 Wiring Terminal Screws and The terminals on the Power Supply Unit use M4 self-raising terminal screws. Crimp Terminals Note Crimp Terminals for Ground Wire 7 mm max. FQM1 Other equipment Ground to Ground to 100 Ω or less. 100 Ω or less. FQM1 Other equipment Ground to...

  • Page 87: Rs-232C Port Wiring

    Wiring 3-2-2 RS-232C Port Wiring Connector Pin Arrangement Connector hood FG Note Do not connect the 5-V power supply on pin number 6 of the RS-232C port to any devices other than a NT-AL0001 Converter. Doing so may damage the external device and the Coordinator Module.
  • Page 88 Hitachi Cable, Ltd.: UL2464-SB (MA) 5P × 28AWG (7/0.127) (UL product) Note Use the special cables provided from OMRON for all connections whenever possible. If cables are produced in-house, be sure they are wired correctly. External devices and the Coordinator Module may be damaged if general-pur- pose (e.g., computer to modem) cables are used or if wiring is not correct.
  • Page 89 Shell RS-232C interface 9-pin D-sub (male) • Communications Mode: NT Link (1:N, N = 1 node only) • OMRON Cables with Connectors: XW2Z200T (2 m) Item Communications method Half duplex Synchronization Asynchronous Baud rate 0.3, 0.6, 1.2, 2.4, 4.8, 9.6, 19.2, 38.4, or 57.6 kbps (See note.)

  • Page 90: Wiring Module Connectors

    Wiring Module Connectors Wiring Module Connectors 3-3-1 Connector Pin Arrangement The following tables provide the connector pin arrangement for FQM1 Mod- ules. FQM1-CM001 Coordinator Module General-purpose I/O 40-pin Connector Name External input 0 External input 1 External input 2 External input 3 External input 4 External input 5 External input 6...
  • Page 91 Wiring Module Connectors FQM1-MM@21 Motion Control Modules General-purpose I/O 26-pin Connector Name Not used. External input 0 (interrupt input) External input 1 (interrupt input) External input 2 (interrupt input) External input 3 (interrupt input) External input 4 External input 5 Common for external inputs 0 to 3 External output 0...
  • Page 92 Wiring Module Connectors Pin No. Name Counter 1 SEN SEN output output signal for absolute Servo Driver SEN_0 V 5-V power for SEN output Pulse 1 CW− CCW+ CCW− One-shot pulse output 1 Common for one-shot pulse output FQM1-MMA21 Analog I/O 40-pin Connector Pin.

  • Page 93: External Connection Diagrams

    Wiring Module Connectors Pin. Name Analog input Voltage input (+) Voltage input (−) Analog output 1 Voltage output (+) Voltage output (−) Note Connect the voltage input (+) and the current input when using with a current input between 4 and 20 mA. 3-3-2 External Connection Diagrams The connections with the Servo Drivers, the main type of device connected,...

  • Page 94: Wiring Examples

    Wiring Module Connectors 3-3-3 Wiring Examples Connecting Pulse Inputs (FQM1-MMP21/ MMA21) Port 1 Port 2 Signal name Pin number Pin number 24 V: 1 (5) 24 V: 2 (6) Encoder input A 24 V: 7 (11) 24 V: 8 (12) Encoder input B Note Example...
  • Page 95 Power supply Encoder A− B− Z− Connecting a Servo Driver (OMRON's W Series) Compatible with an Absolute Encoder (FQM1-MMP21/MMA21) • The wiring for an encoder with a line-driver output (Am26LS31 or equiva- lent) is shown below. FQM1 Differential phase input mode...
  • Page 96 Wiring Module Connectors Connecting Pulse Outputs (FQM1-MMP21) FQM1-MMP21 5-V DC power supply for output CW pulse output CCW pulse output Example Connections with a Servo Driver are given below, as an example. FQM1-MMP21 5-V DC power supply for outputs CW pulse outputs CCW pulse outputs...

  • Page 97: Wiring Methods

    Shield Either make a cable using the special connector (purchased separately), or connect to a terminal block using an OMRON special cable with a connector. (1) Do not apply voltages that exceed the maximum switching capacity of output circuits and the input voltage of I/O circuits.

  • Page 98: Wiring Servo Relay Units

    Wiring Servo Relay Units Applicable Connector-Terminal Block Conversion Units XW2Z-@@@K XW2Z-@@@J-A28 Recommended Wire The recommended size for cable wires is AWG24 to AWG26 (0.2 to Size 0.13 mm Wiring Servo Relay Units XW2B-80J7-1A Servo Relay Units can be used to connect Motion Control Modules and Servo Drivers.

  • Page 99: Nomenclature And Functions

    Wiring Servo Relay Units Nomenclature and Functions 1. Motion Control Module 40-pin connector 2. Motion Control Module 34-pin connector 1,2,3... 1. Motion Control Module 40-pin Connector 2. Motion Control Module 34-pin Connector 3. Servo Driver Connectors 4. RS-422 Connector 5. Screw-less, Clamp Terminal Block (80 Terminals) 6.
  • Page 100 Wiring Servo Relay Units Upper terminal block Lower terminal block Upper Terminal Block Pin Arrangement Lower Terminal Block Pin Arrangement Note No. 60 No. 40 No. 20 No. 0 (1) Allocated when connecting an FQM1-MMA21 Analog I/O Motion Control Module. (2) Used as the power supply for FQM1-MMP21 pulse outputs or SEN out- puts for Servo Drivers compatible with absolute encoder.
  • Page 101 Wiring Servo Relay Units 6. Signal Switches 7. Terminating Resistance Switch 8. Servo Driver Phase B Switches TER_A TER_Z X axis SER_A SER_B SER_Z Y axis CNT1 CNT1 CNT1 Switch CNT1 SER_A Connects the Servo #1 phase A to the Motion Control SER_A Module's CNT1 phase A.

  • Page 102: External Dimensions

    Wiring Servo Relay Units External Dimensions Signal switches 100 90 41.7 15.9 Wiring Screw-less Screw-less clamp terminal blocks use clamps to attach wires, and do not Clamp Terminal require screws. In addition to control signal wiring to Servo Drivers, clamp ter- minal blocks can be used to connect sensors and external devices.
  • Page 103 Section 3-4 Wiring Servo Relay Units Recommended Screwdriver Model Manufacturer SZF1 Phoenix Contact Inc. Side Front 0.6 mm 3.5 mm...
  • Page 104 Wiring Servo Relay Units Wiring when Using Servo Relay Units CX-Programmer CS1W-CN226/626 Peripheral Port Cable PA202 FLEXIBLE MOTION POWER CONTROLLER Power Supply Unit AC100 -240V INPUT L2/N Coordinator Module XW2Z-@@@K Connector- Terminal Block Conversion Unit Cable XW2D-40G6 or other Connecter-Terminal Block Conversion Unit RS-422A Cable (Modified by user)
  • Page 105 Wiring Servo Relay Units Example Servo Relay When Servo Relay Units for the FQM1 are used, the I/O power supply is pro- Unit Wiring vided from terminals 20-0, 21-1, and 60-40. The only additional wiring required are the connections between the signals, as shown in the following diagram.

  • Page 106: List Of Fqm1 Connecting Cables

    List of FQM1 Connecting Cables List of FQM1 Connecting Cables It is recommended that special cables are used when connecting Coordinator and Motion Control Modules to Servo Relay Units. PA202 FLEXIBLE POWER MOTION CONTROLLER COMM1 COMM2 PERIPHERAL AC100 -240V INPUT L2/N PORT Coordinator Module...
  • Page 107 List of FQM1 Connecting Cables 3. Servo Relay Unit Connecting Cables (for FQM1-MMP21/MMA21, 40-pin 4. RS-422A Connecting Cables (with 9-pin D-sub Connector) 5. Servo Driver Connecting Cables (Servo Relay Unit to Servo Driver) 6. Servomotor Connecting Cables 7. RS-422A Cable, connects Connector-Terminal Block Conversion Unit and MIL Connector) Specifications Connects FQM1-MMP21 and Servo Relay...

  • Page 108: Wiring Precautions

    Wiring Precautions Wiring Precautions 3-6-1 Reducing Electrical Noise I/O Signal Wiring Whenever possible, place I/O signal lines and power lines in separate ducts or raceways both inside and outside of the control panel. If the I/O wiring and power wiring must be routed in the same duct, use shielded cable and connect the shield to the GR terminal to reduce noise.
  • Page 109 Wiring Precautions Inductive Loads When an inductive load is connected to I/O, connect a surge suppressor or diode in parallel with the load as shown below. Note Use surge suppressors and diodes with the following specifications. External Wiring Observe the following precautions for I/O wiring, power supply wiring, and power line wiring.

  • Page 110: Connecting I/O Devices

    Wiring Precautions 3-6-2 Connecting I/O Devices Input Devices Use the following information for reference when selecting or connecting input devices. DC Inputs The following types of DC input devices can be connected. Contact output Two-wire DC output NPN open-collector output DC input DC input Sensor...
  • Page 111 Wiring Precautions Current regulator Precautions when When using a two-wire sensor with a 24-V DC input device, check that the fol- Connecting a Two-wire DC lowing conditions have been met. Failure to meet these conditions may result Sensor in operating errors. 1,2,3...
  • Page 112 Programming Example In this example, the sensor’s power supply voltage is used as the input to CIO 0000.00 and a 100-ms timer delay (the time required for an OMRON Proximity Sensor to stabilize) is created in the program. After the Completion Flag for the timer turns ON, the sensor input on CIO 0000.01 will cause output...
  • Page 113 Wiring Precautions Output Surge Current When connecting a transistor or triac output to an output device having a high surge current (such as an incandescent lamp), steps must be taken to avoid damage to the transistor or triac. Use either of the following methods to reduce the surge current.
  • Page 114 This section describes the operation of the FQM1. Coordinator Module ..........4-1-1 Outline .

  • Page 115: Coordinator Module

    Coordinator Module Coordinator Module The FQM1 Coordinator Module and each Motion Control Module have sepa- rate ladder programming. Each Module independently processes the ladder programming, I/O, and peripheral servicing to achieve high-speed I/O response somewhat like a system of multiple CPU Units. 4-1-1 Outline The Coordinator Module mainly manages FQM1 operation and performs...

  • Page 116: Coordinator Module Operation

    Coordinator Module System Setup The System Setup contains software switches used to make initial settings and other settings. As shown in Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations, addresses (words and bits) are allo- cated for settings in the System Setup. The addresses can normally be ignored when making the settings, however, because the settings follow CX- Programmer menus.

  • Page 117: I/O Refreshing And Peripheral Servicing

    Coordinator Module 4-1-3 I/O Refreshing and Peripheral Servicing I/O Refreshing I/O refreshing updates general-purpose I/O status. All I/O is refreshed in the same cycle (i.e., time slicing is not used). I/O refreshing is always performed after program execution. Cyclic Refreshing For cyclic refreshing, data is exchanged every cycle between predetermined areas and the Motion Control Modules.

  • Page 118: Motion Control Modules

    Motion Control Modules Motion Control Modules 4-2-1 Outline Motion Control Modules each have independent ladder programming, which perform processing independently from other Modules. The following diagram shows the internal structure of Motion Control Modules. Note 4-2-2 Description of Each Area User Program Area The CX-Programmer (see note) is used to create the Motion Control Module ladder programs and set the System Setup.

  • Page 119: Motion Control Module Operation

    Motion Control Modules Broadly speaking, the user program consists of a cyclic task and interrupt tasks, which are executed for interrupts. The cyclic task is executed every cycle. The user program is stored in RAM and flash memory. Data is not lost, therefore, even if the super capacitor backup time is exceeded.
  • Page 120 Motion Control Modules Basic inputs (12) Basic outputs Pulse inputs (2) or analog input (1) Pulse or analog outputs (2) Sync Mode Operation In Sync Mode, the Motion Control Module's cyclic scan is synced with the Coordinator Module's cyclic scan or the sync cycle time set in the System Setup.
  • Page 121 Motion Control Modules Coordinator Module Motion Control Module Initialization at At Internal Module initialization (determining the operating mode, initializing user power ON memory, clearing specified memory areas, checking for memory corruption, reading the System Setup, etc.) is performed and the bus that exchanges data with the Coordinator Module is initialized.

  • Page 122: Operating Modes

    Operating Modes Operating Modes 4-3-1 Operating Modes Coordinator and Motion Control Modules have three operating modes that control the user program. PROGRAM Programs are not executed and preparations, such as initializing the System Setup and other settings, transferring programs, checking programs, force- setting, force-resetting, and checking wiring can be executed prior to program execution.

  • Page 123: Operating Mode Changes And I/O Memory

    Power OFF Operation 4-3-3 Operating Mode Changes and I/O Memory RUN or MONITOR to PROGRAM PROGRAM to RUN or MONITOR RUN to MONITOR or MONITOR to RUN Note Power OFF Operation 4-4-1 Power OFF Operation The following processing is performed if FQM1 power is interrupted during operation.
  • Page 124 Power OFF Operation Power supply voltage Power supply voltage Power supply voltage Note The above timing chart shows an example when the User-set Power OFF Detection Time is set to 0 ms. The following timing chart shows the Coordinator Module power OFF opera- tion in more detail.

  • Page 125: Instruction Execution For Power Interruptions

    Power OFF Operation Description of Operation Power OFF will be detected if the 100 to 240 V AC power supply stays below 85% of the minimum rated voltage for the Fixed Power OFF Detection Time (variable between 10 to 25 ms.) If the User-set Power OFF Detection Time is set (0 to 10 ms) in the System Setup, the reset signal will turn ON and the Module will be reset immediately after the User-set Power OFF Detection Time expires.

  • Page 126: Module Functions And Data Exchange

    This section describes the functions common to both the Coordinator Module and Motion Control Modules and the methods to transfer data between the Coordinator Module and Motion Control Modules. Synchronous Operation between Modules ......Data Exchange between Modules .

  • Page 127: Synchronous Operation Between Modules

    Synchronous Operation between Modules Synchronous Operation between Modules Sync and ASync Modes Sync Mode The Coordinator Module and Motion Control Modules are normally set to operate using the same cycle time, i.e., synchronously. Synchronous opera- tion is the default setting in the System Setup. With this setting, all Motion Control Modules synchronize operation with the Coordinator Module cycle time.

  • Page 128: Data Exchange Between Modules

    Data Exchange between Modules Data Exchange between Modules The three methods for data exchange between Coordinator and Motion Con- trol Modules are outlined in the following table. These methods can be used simultaneously. Method Outline 1. Cyclic refresh Exchanges data each Coordinator Module cycle.

  • Page 129: Cyclic Refresh

    Cyclic Refresh Cyclic Refresh 5-3-1 Outline Status information, general-purpose I/O, and other information for each Motion Control Module in the Cyclic Refresh Area of the Coordinator Module are refreshed every Coordinator Module cycle (asynchronous to the Motion Control Module cycles). As shown in the following diagram, 10 words per Motion Control Module (5 output words and 5 input words) are allocated according to the Motion Control Module slot number (#1 to #4 in the following diagram) in the Cyclic Refresh...

  • Page 130: Cyclic Refresh Area Details

    Cyclic Refresh 5-3-3 Cyclic Refresh Area Details Coordinator Module CIO 0100 to CIO 0109 in each Motion Control Module is allocated to ten Cyclic Refresh Area words between CIO 0100 to CIO 0139 in the Coordinator Module according to the slot number for the Motion Control Module. Word Bits address...

  • Page 131: Cyclic Refresh Area Allocations

    Cyclic Refresh Word Bits address CIO 0105 00 to 07 MM Output Refresh Area (This MM to CM) Data from this area is allo- cated to the Coordinator Mod- ule's CM Input Refresh Area (MM to CM). 12 to 14 CIO 0106 00 to 15 CIO 0107 00 to 15 CIO 0108 00 to 15...

  • Page 132: Synchronous Data Refresh

    Synchronous Data Refresh Synchronous Data Refresh 5-4-1 Outline If Sync is set under Synchronization between Modules in the System Setup, each Module will broadcast the specified data (2 types data, 4 words max.) to the Synchronous Data Link Bit Areas each Coordinator Module cycle or spec- ified sync cycle.

  • Page 133: Synchronous Data Link Bit Area

    Synchronous Data Refresh Synchronous Data Normal (via Ladder) Counter 1 values Counter 2 values Pulse output 1 Pulse output 2 Analog input Analog output 1 Analog output 2 Inner I/O input (Built-in input) Note 5-4-3 Synchronous Data Link Bit Area Synchronous Data Word Link Bit Areas in...

  • Page 134: Settings

    Synchronous Data Refresh Synchronous Data Word Link Bit Areas in address Coordinator and (See note Motion Control Modules Sent from Motion CIO 0216 Control Module #4 CIO 0217 CIO 0218 CIO 0219 Note 5-4-4 Settings System Setup (Coordinator Module) Synchronization between Modules Name Settings Module Settings Tab Page...

  • Page 135: Dm Data Transfer

    DM Data Transfer System Setup (Motion Control Modules) Selecting Synchronous Data Tab page Function Module Select Syn- Upper 2 words Settings chronous (+0 and +1) Data Lower 2 words (+2 and +3) Note Prohibit System Interruption of the Sync Mode Name Module Settings Tab Page Prohibit system interrup-...

  • Page 136: Settings Details

    DM Data Transfer 5-5-2 Settings Details The settings for using the DM data transfer function are made in the Auxiliary Area. Name DM Write Request Bit (Coordinator A530.00 Module to Motion Control Module) DM Read Request Bit (Motion A530.01 Control Module to Coordinator Module) Slot No.

  • Page 137: Cycle Time Settings

    Cycle Time Settings Step 2: Turn ON Request Programming Example Note Cycle Time Settings 5-6-1 Constant Cycle Time Function • Transferring DM Data from the Coordinator Module to a Motion Control Module: Turn ON the DM Write Request Bit (Coordinator Module to Motion Control Module) (A530.00).
  • Page 138 Cycle Time Settings System Setup Constant Cycle Time Exceeded Flag Constant Cycle Time Exceeded Error Clear Bit Constant Cycle Time When in Sync Mode with a Sync Cycle Time set for the Coordinator Module Function in Sync cycle time (default), and the constant cycle time function is used, the cycle time for Motion Control Modules will be as described below.

  • Page 139: Watch Cycle Time Function

    Cycle Time Settings Coordinator Module Waiting for I/O refresh to become constant Motion Processing Control Module Constant I/O refresh timing Note When the constant cycle time function is enabled for the Motion Control Mod- ule in ASync Mode, the Motion Control Module's cycle time will be constant. 5-6-2 Watch Cycle Time Function If the real cycle time is longer than the set watch cycle time, operation will stop...

  • Page 140: Clearing Constant Cycle Time Exceeded Errors

    Cycle Time Settings 5-6-4 Clearing Constant Cycle Time Exceeded Errors Auxiliary Area Bits When using the constant cycle time function, normally the cycle time will no longer stay constant (i.e., will vary depending on the real cycle time) if the constant cycle time is exceeded once.

  • Page 141: Operation Settings At Startup And Maintenance Functions

    Operation Settings at Startup and Maintenance Functions Operation Settings at Startup and Maintenance Functions This section describes the following operation settings at startup and mainte- nance functions. 5-7-1 Specifying the Startup Mode The operating mode when the power is turned ON can be specified in the System Setup.

  • Page 142: Flash Memory

    Operation Settings at Startup and Maintenance Functions Password Protection 1,2,3... 5-7-3 Flash Memory Automatic Backup to Flash Memory Note 1. Register a password either online or offline. a. Select the Module in the Device Type drop-down menu and select Properties from the View Menu. b.

  • Page 143: Diagnostic Functions

    Diagnostic Functions in the PLC properties and Window/PLC Memory Backup Status must be selected from the View Menu. For normal transfer operations (PLC/Transfer), the backup status will be displayed in the transfer window after the transfer status for the program and other data. Never turn OFF the FQM1 power dur- ing these backup operations.

  • Page 144: Failure Alarm Functions

    Diagnostic Functions Note 5-8-2 Failure Alarm Functions 1,2,3... Operation of FAL(006) Order of Error code occurrence Error Log Area 4102 A100 A101 A102 C101 A103 A104 A105 A106 A107 A108 A109 80C0 A195 A196 A197 A198 A199 A408 The number of records is stored in binary in the Error Log Pointer (A408). The pointer is not incremented when more than 20 errors have occurred.
  • Page 145 Diagnostic Functions Operation of FALS(007) Errors generated by FAL(006) can be cleared by executing FAL(006) with FAL number 00 or performing the error read/clear operation from the CX-Program- mer. When input condition B goes ON, an error with FALS number 3 is generated and A401.06 (FALS Error Flag) is turned ON.

  • Page 146: Coordinator Module Functions

    This section describes the serial communications functions, which are supported only by the Coordinator Module. Serial Communications ......... . 6-1-1 Host Link Communications .

  • Page 147: Serial Communications

    Serial Communications Serial Communications Protocol Connections Host Link Host computer or OMRON PT (Programmable Terminal) OMRON PT (Programmable Host computer Terminal) Monitor and set parameters No-protocol General-purpose external device 1:N NT Link OMRON PT (The 1:N NT (Programmable Terminal) Link commu-...
  • Page 148 Serial Communications Protocol Connections Peripheral Programming Device (CX-Programmer) Serial Gate- OMRON PT (Programmable Host computer Terminal) Servo Drivers No-protocol FQM1 Servo Drivers Note The CJ1W-CIF11 is not insulated and the total transmission distance is 50 meters max. If the total transmission distance is greater than 50 meters, use the insulated NT-AL001 and do not use the CJ1W-CIF11.

  • Page 149: Host Link Communications

    Serial Communications 6-1-1 Host Link Communications The following table shows the Host Link communication functions available in FQM1. Select the method that best suits your application. Command Command type flow Host computer C-mode (Host Link) to FQM1 commands Host Link command FINS command (with Host Link header and terminator)
  • Page 150 Serial Communications Host Link Commands Type Header code Reading I/O CIO AREA READ memory PV READ T/C STATUS READ DM AREA READ AR AREA READ Writing I/O CIO AREA WRITE memory PV WRITE DM AREA WRITE AR AREA WRITE Changing SV READ 1 timer/counter set values...
  • Page 151 Serial Communications Type Header code Program area PROGRAM READ access com- mands PROGRAM WRITE Compound QQMR COMPOUND COMMAND reading of I/O QQIR COMPOUND READ memory Processing Host ABORT (command only) Link communi- cations INITIALIZE (command only) Undefined command (response only) FINS Commands The following table lists the FINS commands.

  • Page 152: No-Protocol Communications (Rs-232C Port)

    Serial Communications Type Command code Forced Status 23 FORCED SET/RESET FORCED SET/RESET CANCEL Cancels the forced status of all force-set and force-reset 6-1-2 No-protocol Communications (RS-232C Port) No-protocol Mode is used to send and receive data using the communications port TXD(236) and RXD(235) I/O instructions in the Coordinator Module lad- der program, without using retry processing, data conversion, branch pro- cessing based on received data, or other communications procedures and without converting the data.
  • Page 153 Serial Communications Procedure Data can be placed between a start code and end code for transmission by Message Frame TXD(236) and frames with that same format can be received by RXD(235). Formats When transmitting with TXD(236), just the data from I/O memory is transmitted, and when receiving with RXD(235), just the data itself is stored in specified area in I/O memory.

  • Page 154: Nt Link (1:N Mode)

    Serial Communications TXD(236) instruction Refer to the Instructions Reference Manual (Cat. No. O011) for more details on the TXD(236) and RXD(235) instructions. System Setup RS-232C Settings (Host Link Port Settings) Note The settings are made using CX-Programmer Ver. 5.0@ menus. 6-1-3 NT Link (1:N Mode) With the FQM1, communications are possible with PTs (Programmable Ter-...

  • Page 155: Serial Plc Links

    Serial Communications 6-1-4 Serial PLC Links Overview The FQM1 can be connected to a Serial PLC Link by linking to a Serial PLC Master. (It cannot be connected by the Complete Link Method.) Program-free data exchange can be achieved between the master and slave by connecting a CJ1M CPU Unit as the master and the FQM1 as the slave.
  • Page 156 Serial Communications Direction of Data Transfer For example, if the number of link words is set to 10, the CJ1M CPU Unit (master) will broadcast CIO 3100 to CIO 3109 from its I/O memory and to CIO 0080 to CIO 0089 in the I/O memory of each FQM1 Controller (slaves). Each FQM1 Controller will send CIO 0090 to CIO 0099 from its I/O memory to consecutive sets of 10 words in the CJ1M CPU Unit.

  • Page 157: Serial Gateway

    This function can be executed by setting the FQM1 Coordinator Module’s RS- 422A serial communications mode to Serial Gateway. RS-422A-compatible OMRON W-series and OMRON SMARTSTEP Servo Drivers. Servo Drivers System Configuration Example: Accessing a W-series or SMARTSTEP Servo Driver from Smart...
  • Page 158 Serial Communications Note When the Serial Gateway function is used, the FQM1 receives FINS com- mands (encapsulated W-series or SMARTSTEP commands) via the RS-422A port from NT-series PTs or personal computers and converts them to W- series or SMARTSTEP Servo Driver commands (removes the encapsulation) and transfers them to the W-series or SMARTSTEP Servo Drivers.

  • Page 159: No-Protocol Communications (Rs-422A Port)

    Serial Communications 6-1-6 No-protocol Communications (RS-422A Port) RS-232C port RS-422A Settings Note The settings are made using CX-Programmer Ver. 5.0@ menus. Coordinator Module FQM1 RS-422A port No-protocol No-protocol RS-232C General- purpose external device Item Settings Mode No-protocol Delay 0 to 99,990 ms (unit: 10 ms) End code 00 to FF hex Start code...

  • Page 160: Motion Control Module Functions

    This section describes the various functions supported by the Motion Control Module. Overview ........... . . Interrupt Functions .
  • Page 161 Absolute Encoders ........7-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver) Virtual Pulse Output Function .

  • Page 162: Overview

    Overview Overview The FQM1 Modules have the following functions. Main function (Applicable Modules) Basic interrupt functions Input Interrupts (4 points) (Input Interrupt Mode or Counter Mode) (FQM1-MMP21/MMA21) Interval Timer Interrupt (1 point) Setting range: 0.5 to 99,990 ms Unit: 0.1 ms Constant Cycle Time Exceeded Error Clear Function High-speed Counters High-speed Counter PVs (2 points)

  • Page 163: Interrupt Functions

    Interrupt Functions Interrupt Functions 7-2-1 Overview The Motion Control Modules support the following interrupts. Executing Interrupt The programming routines that are executed for all of the following interrupts Programs in the are programmed as interrupt tasks. FQM1 Input Interrupts Inputs to the Motion Control Module’s built-in contact inputs 0 to 3 can be set as interrupt inputs.

  • Page 164: Disabling And Enabling All Interrupts

    Interrupt Functions Method 1: Disabling all interrupts in the main program MSKS 0100 0000 0000 @PLS2 0001 0000 D00010 MSKS 0200 0000 0000 Note 7-2-3 Disabling and Enabling All Interrupts Disabling All Interrupts Note Enabling All Interrupts Note This situation can be avoided with the programming methods shown in the fol- lowing diagram.

  • Page 165: Input Interrupts

    Input Interrupts Clearing Recorded Interrupts Input Interrupts 7-3-1 Applicable Models 7-3-2 Overview of the Input Interrupt Function Note 7-3-3 Interrupt Modes 7-3-4 Input Interrupt Specifications Input Interrupt Mode The EI(694) instruction does not enable all interrupts. If an interrupt was masked before all interrupts were disabled, that interrupt will still be masked after the prohibition on all interrupts is cleared.

  • Page 166: Using Input Interrupts

    Input Interrupts Counter Mode 7-3-5 Using Input Interrupts Input Interrupt Mode Procedure 1,2,3... 1. Determine which input interrupt number will be used. 2. Wire the input. 3. Make the necessary System Setup settings. 4. Create the necessary ladder programming. Interrupt CIO 0000.00 input CIO 0000.01...
  • Page 167 Input Interrupts Counter Mode Procedure 1,2,3... Interrupt CIO 0000.00 input CIO 0000.01 CIO 0000.02 CIO 0000.03 1. Determine which input interrupt number will be used. 2. Determine the initial SV for the decrementing counter. 3. Wire the input. Input External interrupt input 0 CIO 0000.00 External interrupt input 1 CIO 0000.01...

  • Page 168: Application Example

    Input Interrupts 7-3-6 Application Example This example shows input interrupt 0 and input interrupt 1 used in interrupt input mode and counter mode, respectively. Before executing the program, verify that the following System Setup settings have been made: input 0 and input 1 both set to Interruption (up). The other System Setup settings are set to their default settings.

  • Page 169: Interval Timer Interrupts

    Interval Timer Interrupts The following timing chart shows the operation of the program as it is exe- cuted. CIO 0000.00 Interrupt task 000 CIO 0000.01 Interrupt task 001 CIO 0002.00 Note Interval Timer Interrupts 7-4-1 Applicable Models 7-4-2 Overview Interval timers can be used to perform high-speed, high-precision timer inter- rupt processing.

  • Page 170: Application Example

    Interval Timer Interrupts 7-4-5 Application Example CIO 0002.00 Interrupt task Interval timer Ladder Program STIM INTERVAL TIMER • Start timer. One-shot mode Scheduled interrupt mode • Read elapsed time. In this example, the interval timer is used to generate an interrupt every 2.4 ms (0.6 ms ×...

  • Page 171: Pulse Inputs

    Pulse Inputs Pulse Inputs 7-5-1 Applicable Models Model FQM1-MMP21 FQM1-MMA21 7-5-2 Outline The FQM1-MMP21 and FQM1-MMA21 Motion Control Modules can receive pulse inputs. The following table shows the processes that can be performed by combining the pulse input function with the high-speed counters to count pulse signals from a rotary encoder or other device and perform processing based on the counter PV.
  • Page 172 Pulse Inputs Item Counter values High-speed counter PV storage locations Latch inputs Control Target value comparison method Range comparison Counter reset Mea- Counter movements sure- (mode 1) ment mode Counter frequency (mode 2) Measurement storage location for above measurements • Select mode 1 or mode 2 in the System Setup. •...

  • Page 173: Pulse Input Specifications

    Pulse Inputs 7-5-4 Pulse Input Specifications Item Number of 2 inputs pulse inputs Note High-speed counter 1 can be an RS-422A line-driver input or an input with a voltage of 24 VDC. High-speed counter 2 can be an RS-422A line-driver input or an input with a voltage of 24 VDC, except for the FQM1-MMA21, which supports only line-driver inputs to high-speed counter 2.
  • Page 174 Pulse Inputs Item Minimum response pulse At 50 kHz Encoder Inputs A and B Waveform of Encoder Inputs A and B Signal rise and fall must be 3 µs max. 50-kHz pulse with 50% duty ratio 3 µs max. Relationship to Phase Differential Inputs A and B T1, T2, T3,and T4 must be 4.5 µs min.

  • Page 175: Latch Input Specifications

    Pulse Inputs 7-5-5 Latch Input Specifications 7-5-6 Applicable Instructions Instruction Control (@)CTBL(882) Range comparison Target value comparison table regis- tration and starting comparison Target value comparison table regis- tration (@)INI(880) Starting comparison Stopping comparison Changing PV Changing circular value (@)PRV(881) Reading high-speed counter PV Reading high-speed counter move- ment or frequency...

  • Page 176: Pulse Input Function Description

    Pulse Inputs 7-5-8 Pulse Input Function Description The pulse input function uses the high-speed counters. The pulse input func- tion can be used to monitor changes (movement) in the high-speed counter PV (mode 1) or changes in the high-speed counter frequency (mode 2). High-speed Counter Function Description Input Signal Type and High-speed counters 1 and 2 support the following inputs.
  • Page 177 Pulse Inputs Increment/Decrement Pulse Inputs Encoder Input A (UP input) Encoder Input B (DOWN input) Increment Counter Operation The following two counter operations are available for high-speed counters 1 (Numeric Ranges) and 2, with the specified counting ranges. Circular Counter With a Circular Counter, the circular maximum count can be set in the System Setup, and when the count is incremented beyond this maximum value, it returns to zero.
  • Page 178 Pulse Inputs ■ Phase-Z Signal (Reset Input) and Software Reset The PV of the high-speed counter is reset on the first rising edge of the phase-Z signal after the corresponding High-speed Counter Reset Bit (see below) turns ON. Reset Bit for High-speed Counter 1 or 2 ■...
  • Page 179 Pulse Inputs Counter PV Target value Target value Target value Target value Target value Target values for comparison ■ Range Comparison Method Up to 16 comparison ranges (lower and upper limit values) and corresponding output bit patterns can be registered in the comparison table. When the PV of the counter first is within the upper and lower limits of one of the ranges for CTBL(882) execution, the corresponding bit pattern (1 to 16) will be output to A613 or A615.
  • Page 180 Pulse Inputs Monitoring High-speed This function monitors the change in a high-speed counter’s PV (travel dis- Counter Movement tance) regularly at the preset sampling period. The sampling period can be (Mode 1) set between 1 and 9,999 ms. If the sampling time is set to 0, the change will be sampled once each cycle. The change in the high-speed counter PV (travel distance) is stored in A604 and A605 (high-speed counter 1) or A606 and A607 (high-speed counter 2).
  • Page 181 Pulse Inputs High-speed Counter Movement (Mode 1) Specifications Note Monitoring a High-speed Mode 2 is supported by high-speed counter 1 only. Counter’s Frequency This function monitors the input pulse’s frequency from the high-speed (Mode 2) counter movement value. The frequency is stored in A604 and A605. Status Flag A608.06 can be checked to determine whether or not the frequency is being measured.
  • Page 182 Pulse Inputs Frequency Measurement (Mode 2) Specifications Latching a High-speed The present counter value can be latched at the rising edge of the latch signal Counter’s PV input and stored as the latch register value. Each time the counter value is captured, the latch register value is overwritten with the new value and the old value is lost.

  • Page 183: Pulse Input Function Procedures

    Pulse Inputs 7-5-9 Pulse Input Function Procedures High-speed Counter Procedure 1,2,3... 1. Determine the Input Mode, reset method, and Numeric Range. 2. Wire the input. 3. Make the necessary System Setup settings. 4. If the count check is being used, determine the count check (comparison) 5.
  • Page 184 Pulse Inputs Pulse input 1 Input Mode Reset Method Phase differential Phase-Z /software reset Pulse + Direction Software reset Increment/Decrement Pulse input 2 System Setup Input Target-value comparison interrupt Ladder Program CTBL Range Comparison, Bit Pattern Output CTBL Mode 1 Procedure 1,2,3...

  • Page 185: 7-5-10 Pulse Input Function Example Application

    Pulse Inputs Procedure 1,2,3... 1. Set Counter movements (mode 1) in the System Settings (Pulse Input, 2. Turn ON the Measurement Start Bit (A610.02 or A611.02). 3. Monitor the high-speed counter movement value in A604 and A605 Mode 2 Procedure 1,2,3...
  • Page 186 Pulse Inputs High-speed Counter PV Target value 3 10000 Target value 2 7500 Target value 1 2500 Interrupt tasks Task 10 starts Example When the PV reaches 2,500 hex, interrupt task 10 is started. When the PV reaches 7,500 hex, interrupt task 11 is started. When the PV reaches 10,000 hex, interrupt task 12 is started.
  • Page 187 Pulse Inputs P_On A610.00 (Always ON) Start high-speed counter. A610.01 Reset Bit 0002.00 @CTBL #0001 #0000 D00000 Control program 1 Control program 2 Control program 3 Example 2: In this example, pulse input 1 operates a high-speed counter, the high-speed High-speed Counter counter PV is compared in a range comparison, and corresponding bit pattern is output internally when the PV is within a specified range.
  • Page 188 Pulse Inputs High-speed Counter PV 10000 Range 7500 Range 2500 Range A612: 0001 hex 0002 hex 0004 hex 0008 hex P_On A610.00 Starts high-speed counter 1. (Always ON) Start high-speed counter. A610.01 Turns ON the High-speed Counter 1 Reset Bit. Reset Bit P_On Continually compares the high-speed counter PV...
  • Page 189 Pulse Inputs Example 3: In this example, pulse input 1 operates a high-speed counter, the high-speed Latching High-speed counter PV is latched, and the captured high-speed counter PV is read. When the Latch Input 1 Enable Bit is ON and the latch input 1 is turned OFF → ON Counter PV externally, the high-speed counter PV is captured to the latch register and the Count Latched Flag is turned ON during the next I/O refreshing.

  • Page 190: Pulse Outputs

    Pulse Outputs Pulse Outputs 7-6-1 Applicable Models FQM1-MMP21 7-6-2 Outline The FQM1-MMP21 Motion Control Module provides 2 pulse outputs. The pulse outputs can be used for the following functions. Note Set the pulse output operation mode for each output in System Setup (Pulse Output Tab Page).

  • Page 191: Specifications

    Pulse Outputs 7-6-3 Specifications Item Acceleration/ decelera- None tion Trapezoid None Instructions for inde- PULS(886) + pendent-mode posi- SPED(885) tioning Instructions for contin- SPED(885) uous-mode speed con- trol Output frequencies Constant specified for SPED(885): 0 Hz to 1 MHz Word specified for SPED(885): 0 Hz to 1 MHz Although the above ranges can be set for the instructions, the output frequency range is ulti-...

  • Page 192: Pulse Output Specifications

    Pulse Outputs Item Number of output 1) Relative pulse output: pulses 2) Absolute linear pulse output: 3) Absolute circular pulse output: 4) Electronic cam control (linear) (output with absolute position specification): 5) Electronic cam control (circular) (output with absolute position specification): Note The number of pulses is not set for a one-shot pulse output or pulse counter timer.

  • Page 193: Applicable Instructions

    Pulse Outputs 7-6-5 Applicable Instructions The following seven instructions can be used to control pulse outputs. The relationship between the instruction and the types of pulse output that is pos- sible is also listed in the following table. Instruction Control deceleration, PULS(886) Sets number of out-...

  • Page 194: Pulse Output Function Details

    Pulse Outputs 7-6-6 Pulse Output Function Details Overview Note Pulses are output in independent mode or continuous mode. In independent mode, the number of output pulses is specified in advance. In continuous mode, the number of output pulses is not specified in advance. Mode Independent mode This mode is used for positioning.
  • Page 195 Pulse Outputs Pulse output operation mode (Only in Independent Mode) Positions to a relative position from the present position. Relative pulse output The number of output pulses (actual output amount) in the specified direction is the target number of pulses. •...
  • Page 196 Pulse Outputs Pulse Output The following table shows the operations that can be performed with the pulse Operations output function. Mode Frequency changes Continu- Frequency ous mode Target (Speed frequency control) Present frequency SPED executed. Frequency Target frequency Acceleration rate Present frequency ACC executed.
  • Page 197 Pulse Outputs Mode Frequency changes Indepen- Frequency dent Specified no. of pulses (Specified with PULS) mode Target (Position- frequency ing) SPED executed. Stops after specified no. of pulses are output. Frequency Specified no. of pulses (Specified with PULS) Target frequency Acceleration rate ACC executed.
  • Page 198 Pulse Outputs Mode Frequency changes Stop Frequency Present frequency INI executed. Frequency Present frequency SPED executed. Frequency Present frequency Target frequency = 0 ACC executed. Note With ACC(888) and PLS2(887), the acceleration/deceleration rate’s speed-change cycle can be set to 2ms or 1 ms. Also, the acceleration/decel- eration rate can be set between 1 Hz and 9.999 kHz.

  • Page 199: One-Shot Pulse Output Function

    Pulse Outputs Formula: Actual frequency = Clock frequency ÷ INT (clock frequency/target frequency) The difference between the target frequency and the actual frequency increases at higher frequencies. The following tables shows examples for a clock frequency of 20 MHz. 7-6-7 One-shot Pulse Output Function The one-shot pulse output function turns ON the output only for a specified time between 0.01 and 9,999 ms.

  • Page 200: Word Bits Function A620 00 To

    Pulse Outputs Note One-shot Pulse Output Specifications Turned ON by STIM instruction execution. One-shot pulse output Setting units: Select 0.01 ms, 0.1 ms, or 1 ms. Setting range: 0001 to 270F Hex (1 to 9,999) Set the pulse output operation mode to 1 shot in advance in the System Setup, as shown in the following table.

  • Page 201: Time Measurement With The Pulse Counter

    Pulse Outputs 7-6-8 Time Measurement with the Pulse Counter The one-shot pulse output function can be used to create a high-precision pulse counter timer. To measure time with high-precision, start the timer by executing the STIM(980) instruction with C1 = 000B or 000C and C2 = 0000, and stop the timer by executing STIM(980) with C1 = 000B or 000C and C2 = 0001.

  • Page 202: Target-Value Comparison Interrupts From Pulse Output Pvs

    Pulse Outputs Pulse Counter Timer Specifications 7-6-9 Target-value Comparison Interrupts from Pulse Output PVs An interrupt task can be executed when the pulse output PV reaches a target value, although this function cannot be used in independent mode (position- ing), one-shot pulse output operation mode, or electronic cam control because the pulse output stops.
  • Page 203 Pulse Outputs Linear Mode A target value can be set at a desired pulse output PV to execute an interrupt Operation task when the target value is reached. An ACC(888) or SPED(885) instruction can be programmed in the interrupt task to perform speed control at that tar- get value.
  • Page 204 Pulse Outputs 3.00 D00000 D00001 D00002 Cyclic task D00003 D00004 D00005 D00006 D00013 D00014 D00015 P_On Interrupt task 1 Always ON P_On Interrupt task 2 Always ON D00200 D00201 D00202 (Interrupt tasks 3, 4, and 5 are entered in the same way.) @CTBL D00000 No.

  • Page 205: 7-6-10 Range Comparison Bit Pattern Outputs From Pulse Output Pvs

    Pulse Outputs Circular Mode A speed control pattern can be repeated in continuous speed control to con- Operation trol a series of repetitive operations at specific positions. For example, the fol- lowing diagram shows an axis that repeatedly switches to low-speed operation at one position and switches to high-speed operation at another position.

  • Page 206: 7-6-12 Pls2(887) Pulse Output Direction Priority Mode

    Pulse Outputs Setting the The speed change cycle for the ACC(888) and PLS2(887) instructions is Speed-change Cycle specified by setting the ON/OFF bit status of A628.07 before executing the ACC(888) or PLS2(887) instruction. 2-ms Cycle Execute ACC(888) or PLS2(887) with A628.07 OFF. 1-ms Cycle Execute ACC(888) or PLS2(887) with A628.07 ON.

  • Page 207: 7-6-13 Pulse Output Function Procedures

    Pulse Outputs Setting the Pulse The pulse output direction priority mode for the PLS2(887) instruction is spec- Output Direction ified by setting the ON/OFF bit status of A628.14 before executing the PLS2(887) instruction. Priority Mode Note The priority mode setting in A628.14 applies to both pulse output 1 and 2. Pulse Output Direction Execute PLS2(887) with A628.14 OFF.
  • Page 208 Pulse Outputs 4. Create the necessary ladder programming. Single-phase output without acceleration/ deceleration (fixed duty ratio) Ladder program SET PULSES PULS Set the number of output pulses. MODE CONTROL Stop pulse output. Refresh status (once each cycle just after instruction execution) Pulse Outputs with Acceleration/Deceleration This procedure shows how to use PULS(886) and ACC(888) to generate a pulse output with acceleration or deceleration.
  • Page 209 Pulse Outputs Single-phase Mode settings for pulse output ports 1 and 2 (fixed duty ratio) Ladder program System Setup Pulse output PULS mode Pulse Outputs without Acceleration/Deceleration (PULS(886): Electronic Cam Control) This procedure shows how to use the PULS(886) instruction’s electronic cam control function to generate a single-phase pulse output without acceleration or deceleration.
  • Page 210 Pulse Outputs Pulse input PV Execution with constant cycle time Pulse output PV (absolute position) PULS (Electronic Cam Mode) is executed in the program with changed target position and speed. Note Speed control can be performed on a virtual axis by generating a virtual axis position (internal pulse count) with the AXIS instruction, processing that value with arithmetic operations or the APR instruction, and changing the target position or speed with the PULS(886) instruction.
  • Page 211 Pulse Outputs 2. Wire the output. 3. Make the necessary System Setup settings (Pulse Output Tab Page − Op- 4. Create the necessary ladder programming. Single-phase pulse output Mode settings for with trapezoidal ports 1 and 2 acceleration/deceleration Ladder program System Setup Pulse output mode...

  • Page 212: Pulse Output Function Examples

    Pulse Outputs 3. Create the necessary ladder programming. Note The STIM(980) pulse counter timer function used at the same time as an STIM(980) timer interrupt function (one-shot timer or scheduled timer). 7-6-14 Pulse Output Function Examples Positioning using Pulse Outputs without Acceleration/Deceleration In the following positioning example, the PULS(886) and SPED(885) instruc- tions are used to control a relative pulse output from port 1 (CW independent mode positioning).
  • Page 213 Pulse Outputs Changing the Frequency in Steps In this example, the SPED(885) instruction is used to change the speed of a pulse output from port 2 from a frequency of 3,000 Hz to 50,000 Hz. In this case, the pulse output is a CCW continuous mode output. Present frequency 3,000 Hz Note...
  • Page 214 Pulse Outputs Note The pulse output can be stopped by executing ACC(888) with a deceleration target frequency of 0. However, since the pulse output cannot be stopped at the correct number of pulses, the deceleration target frequency should not be set to 0 if it is necessary to output a precise number of pulses.
  • Page 215 Pulse Outputs A610.00 P_On Always ON Flag MOVL &200000 D00002 P_On D01000 Always ON Flag D00000 PULS D00000 P_EQ PULS Equal Flag D00000 D00000 Starts high-speed counter. D00001 D00002 D00003 D01000 Sets pulse output frequency to 200 kHz. D01001 D01002 D01003 D01004 Processes the high-speed counter 1 PV...
  • Page 216 Pulse Outputs Using PLS2(887) for Trapezoidal Acceleration/Deceleration In this example, the axis is accelerated in the CW direction at 500 Hz/2 ms, the acceleration/deceleration rate is reduced to 300 Hz/2 ms, and the pulse output is stopped after 300,000 pulses have been output. After 5 s, the same trapezoidal acceleration/deceleration operation is per- formed in the CCW direction.

  • Page 217: 7-6-15 Pulse Output Starting Conditions

    Pulse Outputs get Frequency Not Reached Flag (A624.02 or A625.02) will turn ON at the peak of the triangular pattern and turn OFF when deceleration is completed. One-shot Pulse Output Function Example In this example, STIM(980) is used to generate a 1.5-ms one-shot pulse out- put from pulse output 1.
  • Page 218 Pulse Outputs Allowed Startup Conditions for Pulse Output Operations (with Output Stopped) The following table shows when an independent mode pulse output (SPED(885) independent mode, ACC(888) independent acceleration mode, or ACC(888) independent deceleration mode) can be started when pulses are not being output.
  • Page 219 Pulse Outputs PULS(886) Absolute Pulse Output in Progress Pulse Output Operation PLS2(887) Mode (Absolute Linear) Limitations Startup conditions and status Relative Relative Absolute Target position > linear Present position Target position = Present position Target position < Present position Startup Conditions when other Instructions are being Executed Operating instruction SPED(8 85) inde-...
  • Page 220 Pulse Outputs Operating instruction SPED(8 85) inde- pendent PULS No absolute output (886) PULS Absolute output (886) ACC( Acceleration + Accelerating 888) continuous Steady speed Case (2) ACC( Deceleration + Decelerating 888) continuous Steady speed Case (2) ACC( Acceleration + Accelerating 888) independent...
  • Page 221 Pulse Outputs Note The pulse output will stop. After the axis stops, it must be restarted. Cases (6), (8), (9), and (10) • Starting instruction: ACC(888) (continuous or independent), acceleration, relative • Starting instruction: ACC(888) (continuous or independent), acceleration, absolute •...

  • Page 222: Functions For Servo Drivers Compatible With Absolute Encoders

    Motion Control Module for Pulse I/O Motion Control Module for Analog I/O • Pulse trains from normal incremental encoders, etc. • Encoder output data (e.g., OMRON's W Series) of Servo Drivers compat- ible with absolute encoders (multi-turns absolute encoders) Section 7-7...

  • Page 223: Data Format Of Absolute Encoder Output

    Functions for Servo Drivers Compatible with Absolute Encoders Motion Control Module 7-7-3 Data Format of Absolute Encoder Output The format of data from a Servo Driver compatible with an absolute encoder supported by the Motion Control Module is as follows: Serial Data Specification Data Format Note...

  • Page 224: Counter Operation

    Functions for Servo Drivers Compatible with Absolute Encoders When using an absolute linear (CW − ) counter, the phase-B phase can be Note inverted with an FQM1-series Servo Relay Unit so that the Servo Driver’s operation matches the pulse output operation. 7-7-4 Counter Operation The counting operations performed in the absolute linear (CW −...

  • Page 225: Absolute Number Of Rotations Pv (Counter 1: A604 And A605)

    Functions for Servo Drivers Compatible with Absolute Encoders Absolute Circular Counter The absolute encoder’s pulse information is counted using a circular counter. (Only the initial incremental pulse (angle) reading is used as the absolute value.) 7-7-5 Absolute Number of Rotations PV (Counter 1: A604 and A605) The multi-turn data (a present value read from an encoder) is input to the Motion Control Module after the SEN signal is input to a Servo Driver.

  • Page 226: Absolute Present Value Preset

    Functions for Servo Drivers Compatible with Absolute Encoders Absolute encoder's position Absolute Present Value Note With an absolute circular counter, the absolute number of rotations present value (A604/A605) is not used; only the initial incremental pulses are used. The initial incremental pulses are the data of an amount treated as the angle from an origin.

  • Page 227: Related Areas

    Functions for Servo Drivers Compatible with Absolute Encoders 7-7-9 Related Areas System Setup Tab page Function Pulse Counter 1 Pulse input Input mode Counter reset method Counting Speed Counter opera- tion Counter data dis- play Sampling time (for mode 1) Counter 2 Pulse input mode...
  • Page 228 Functions for Servo Drivers Compatible with Absolute Encoders Tab page Function Pulse input Counter 1 Max. circular value Absolute encoder resolu- tion (Number of input pulses per encoder revolu- tion) Counter 2 Max. circular value Absolute encoder resolu- tion (Number of input pulses per encoder revolu- tion)
  • Page 229 Functions for Servo Drivers Compatible with Absolute Encoders Word Bits Function A606 00 to 15 High-speed Counter Counter 2 operation A607 • Absolute linear (CW−) • Absolute circular • Absolute linear (CW+) A608 High-speed Absolute No. of Rota- Counter 1 tions Read Error Flag Status Absolute No.

  • Page 230: 7-7-10 Overview Of Absolute Encoder Output Data Acquire

    Functions for Servo Drivers Compatible with Absolute Encoders 7-7-10 Overview of Absolute Encoder Output Data Acquire Behavior of the Servo The SEN signal being turned ON, the Servo Driver behaves in the following Driver Compatible manner: with an Absolute Encoder 1,2,3...
  • Page 231 Functions for Servo Drivers Compatible with Absolute Encoders After a short time has passed to allow the Servo Driver's output to stabilize, turn ON the High-speed Counter Start Bit (A610.00) from the ladder program. The encoder's status (multi-turn data), which was acquired when the SEN sig- nal was turned ON, is received as serial data.

  • Page 232: Timing Chart Of The Functions For Servo Drivers Compatible

    Signals from Phase B Servo Driver Absolute Present value 7-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver) Program Description 1,2,3... 1. With the Motion Control Module set to MONITOR mode, turning ON 2. With the Motion Control Module set to MONITOR mode, turning ON 50 ms Preset after 30 to 62.5 ms...

  • Page 233: Functions For Servo Drivers Compatible With Absolute Encoders

    Functions for Servo Drivers Compatible with Absolute Encoders 0.00 000000 (000000) ABS servo operation start 0.01 ABS origin define 0.00 000001 (000003) ABS servo operation start Counter starts 50 ms after SEN output 000002 (000005) A610.07 ABS No. of rotations read SEN output TIM010...
  • Page 234 Functions for Servo Drivers Compatible with Absolute Encoders 0.01 000005 (000026) ABS origin define PV preset as ABS offset 40 ms after completing ABS No. of rotations read 000006 (000028) 2.01 A610.07 A608.05 ABS origin ABS No. of ABS No. of define rotations rotations...

  • Page 235: Virtual Pulse Output Function

    Virtual Pulse Output Function Virtual Pulse Output Function 7-8-1 Applicable Models 7-8-2 Overview Motion Control Module Ladder program Model FQM1-MMP21 Motion Control Module for Pulse I/O FQM1-MMA21 Motion Control Module for Analog I/O FQM1-CM001 Coordinator Module The AXIS instruction allows the execution of virtual pulse output with trapezoi- dal acceleration/deceleration.

  • Page 236: Axis Instruction (For Virtual Pulse Outputs)

    Virtual Pulse Output Function 7-8-3 AXIS Instruction (For Virtual Pulse Outputs) Overview The AXIS instruction is used to generate a virtual pulse output with trapezoi- dal acceleration/deceleration. The operands for the AXIS instruction are a target position specified in pulses or as an absolute position, and a target speed specified in pulses/s (Hz).
  • Page 237 Virtual Pulse Output Function Address Name T+5 to T+6 Target position (8-digit hexadecimal) T+7 to T+8 Target frequency (8-digit hexadecimal) T+9 to T+10 Starting frequency (8-digit hexadecimal) T+11 Acceleration rate (4-digit hexadecimal) T+12 Deceleration rate (4-digit hexadecimal) T+13 to T+26 Work area Description Note When the AXIS instruction’s input condition goes OFF, the contents of setting...

  • Page 238: Application Example

    Analog Input Functions 7-8-4 Application Example Positioning or Speed The internal pulse count can be treated as a virtual axis position in order to Control Using a perform electronic cam operation on the real axis operation with simple curve approximation. Virtual Axis First, the AXIS instruction is executed to generate an internal pulse count.
  • Page 239 Analog Input Functions The PRV(881) instruction can also be used to read the latest analog input value through immediate refreshing. Analog signals can be input from pres- sure sensors, position meters, or sensors that require high-speed input pro- cessing Consequently, this function allows simple, low-cost pressure control, tension control, or other control applications requiring high-speed mechanical mea- surement (distortion/thickness/length).

  • Page 240: Analog Input Function Specifications

    Analog Input Functions 7-9-3 Analog Input Function Specifications Item Input signals No. of analog inputs Input signal ranges A/D conversion time Input response time Resolution Analog input refresh method Analog input value storage area Overall accuracy Function Offset/gain adjustment Note Specification Voltage inputs, current inputs 1 input...

  • Page 241: Related Areas And Settings

    Analog Input Functions 7-9-4 Related Areas and Settings System Setup Tab page Function Analog Input/ Both inputs Input Output and outputs method Output method Input range 00 hex: −10 to 10 V Inputs Outputs Output range Output stop function Outputs Output range Output stop...
  • Page 242 Analog Input Functions Auxiliary Area Word Bits Function A550 00 to 15 Analog Input PV A552 Analog Input Status 01 to 06 10 to 14 Reserved Analog Input Status A559 01 to 15 Analog Input Status A560 00 to 15 Analog Out- put 1 Output Value...
  • Page 243 Analog Input Functions Word Bits Function A562 Analog Out- put 1 Flags 01 to 03 Reserved Operating 05 to 07 Reserved Output SV Error 09 to 11 Reserved A563 Analog Out- put 2 Flags 01 to 03 Reserved 05 to 07 Reserved 09 to 11 Reserved...
  • Page 244 Analog Input Functions Word Bits Function A570 Adjustment Mode Com- mand Bits (Effective only when A575 is 5A5A hex.) 04 to 06 08 to 11 A571 Adjustment Mode Status 01 to 14 A572 00 to 15 Adjustment Mode Monitor (Effective only when A575 is 5A5A hex.) A573...

  • Page 245: Applicable Instructions

    Analog Input Functions 7-9-5 Applicable Instructions With END Refreshing With Immediate Refreshing 7-9-6 A/D Conversion Value Note Signal Range: −10 to 10 V Signal Range: 0 to 10 V Read the analog input PV (A550) using an instruction such as the MOV instruction.

  • Page 246: High-Speed Analog Sampling (Fqm1-Mma21 Only)

    Analog Input Functions Signal Range: 1 to 5 V and 4 to 20 mA Analog input (V) Signal Range: 0 to 5 V Analog input (V) +5.25 V +5.00 V −0.25 V 7-9-7 High-speed Analog Sampling (FQM1-MMA21 Only) Overview When an FQM1-MMA21 Motion Control Module is being used, the Motion Control Module can be synchronized with pulse inputs from the encoder to collect analog data.
  • Page 247 Analog Input Functions CTBL Sampling counter: #3 Register target value comparison table and start comparison. D00000 Start of comparison table Pulse input Analog input Application Example 1,2,3... Once the sampling of analog input values starts, the number of values speci- fied with the circular value (up to 32,767 samples) are stored in the DM Area beginning at the specified DM address.

  • Page 248: 7-10 Analog Outputs

    Analog Outputs 3. The high-speed analog sampling function stops when the specified num- The following diagram shows how this method can be used to collect dis- placement data from a particular workpiece position. 4 to 20 mA Sampling positions and collection of sampled displacement data (analog) Analog input sampling start points High-speed...

  • Page 249: 7-10-3 Analog Output Function Specifications

    Analog Outputs 7-10-3 Analog Output Function Specifications Analog Outputs Item Output signals Voltage outputs Number of analog outputs 2 outputs Output ranges Select each output’s signal range in the System Setup (Analog Input/Output Tab Page, Output 1 Setting and Output 2 Setting): –10 to 10 V, 0 to 10 V, 0 to 5 V, or 1 to 5 V 40 µs/output D/A conversion time...
  • Page 250 Analog Outputs Item Functions Slope The ACC(888) instruction can be used to change the analog output value at the follow- ing rates: –10 to 10 V: 0000 to 2AF8 hex (0 to 11,000 decimal) 0 to 10 V, 0 to 5 V, or 1 to 5 V: 0000 to 1130 hex (0 to 4,400 decimal) Output hold The output stop function will clear the output, hold it at the peak value, or hold it at the current value in the following cases.

  • Page 251: 7-10-4 Applicable Instructions

    Analog Outputs Specified Output Values and Analog Output Signals −10 to 10 V Analog output signal +11.0 V +10.0 V 0.0 V −10.0 V −11.0 V 0000 EC78 1388 Resolution: 10,000 EA84 157C 0 to 5 V Analog output signal 5.25 V 5.0 V 0.0 V...

  • Page 252: 7-10-5 Procedure

    Analog Outputs F: Analog output value Specifies the target analog output value as a 4-digit hexadecimal value. Note The specified analog output value must be within the allowed range listed above. If an out-of-range output value is specified, an error will occur and it will be necessary to switch to PROGRAM mode in order to output the analog output again.

  • Page 253: 7-10-6 Application Example

    Analog Outputs 7-10-6 Application Example Outputting the Analog In this example, the Motion Control Module outputs the analog output value Output Value Stored stored in A560 from analog output 1. in the Auxiliary Area Set the following System Setup settings: Outputting a Stepped In this example, the Motion Control Module outputs a step-pattern analog out- Analog Output...
  • Page 254 Section 7-10 Analog Outputs...
  • Page 255 Section 7-10 Analog Outputs...

  • Page 256: Connecting The Cx-Programmer

    This section explains how to connect a personal computer running the CX-Programmer to the FQM1. CX-Programmer ..........Connecting the CX-Programmer .

  • Page 257: Cx-Programmer

    CX-Programmer CX-Programmer Connect the CX-Programmer Support Software to the Coordinator Module to create and monitor programs for all Modules. While monitoring the ladder pro- grams in Motion Control Modules, it is possible to input operation conditions for monitoring the I/O of the Coordinator Module, and to debug programs. The FQM1 Patch Software is required to create the FQM1 ladder program, make System Setup settings, and monitor or debug operation.

  • Page 258: Connecting The Cx-Programmer

    Connecting the CX-Programmer Connecting the CX-Programmer 8-2-1 System Configuration Connecting a Personal Computer Running Support Software Connecting to the Peripheral Port RS-232C Computer (RS-232C, 9-pin) Note The CS1W-CN118 Cable is used with an RS-232C cable to connect to the peripheral port on the Coordinator Module as shown below.
  • Page 259 Connecting the CX-Programmer Connecting through the USB port with a USB-Serial Conversion Cable Connecting to the Peripheral Port Cable Using a CS1W-CN226/626 Cable Using an RS-232C Cable (XW2Z-200S-CV, XW2Z- 500S-CV, XW2Z-200S-V, or XW2Z-500S-V) Note The connection must be a Host Link connection. Connection Diagram USB type A plug, male CS1W-CIF31...
  • Page 260 Connecting the CX-Programmer Connecting to the RS-232C Port Cable Using an RS-232C Cable (XW2Z-200S-CV, XW2Z- 500S-CV, XW2Z-200S-V, or XW2Z-500S-V) Note The connection must be a Host Link connection. Connection Methods (Using a USB-Serial Conversion Cable) Computer CS1W-CIF31 USB Connecting Cable Connection Diagram USB type A plug, male CS1W-CIF31...
  • Page 261 E Connector Hoods to improve static resistance, but we recommend discharg- ing static build-up before touching these connectors as well. !Caution The OMRON Cables listed above can be used for connecting cables or an appropriate cable can be assembled. The external device or Coordinator Module itself may be damaged if a standard computer RS-232C cable is used as a connecting cable.
  • Page 262 Connecting the CX-Programmer Connecting an RS-232C Cable to the Peripheral Port The following connection configurations can be used when connecting an RS- 232C cable to the Coordinator Module’s peripheral port. Port on Computer Port on Module computer Built-in Windows D-Sub 9-pin peripheral male port...
  • Page 263 Section 8-2 Connecting the CX-Programmer...

  • Page 264: Error Processing

    This section provides information on identifying and correcting errors that occur during FQM1 operation. Error Log........... . . Error Processing .

  • Page 265: Error Log

    Error Log Error Log Errors Generated by FAL(006)/FALS(007) Note Error Log Structure Note Each time that an error occurs in the FQM1, the error information is stored in the Error Log Area starting at A100. The error information includes the error code (same code stored in A400) and error contents.

  • Page 266: Error Processing

    Error Processing Error Processing 9-2-1 Error Categories Errors in the FQM1 can be broadly divided into the following three categories. Category Result Standby The FQM1 will not start operation in RUN or MONITOR mode. Non-fatal Errors The FQM1 will continue operating (including FAL) in RUN or MONITOR mode.

  • Page 267: Error Codes

    Error Processing Indicator CPU error CPU reset PRPHL COMM1 COMM2 9-2-3 Error Codes Fatal error Non-fatal standby error Flashing Classification Error code Fatal system 80F1 Memory error errors 80C0 I/O bus error 80CE No End Cover 80CF Synchronous bus error 80E0 I/O setting error 80F0...

  • Page 268: Error Processing Flowchart

    Error Processing 9-2-4 Error Processing Flowchart Use the following flowchart as a guide for error processing with the CX-Pro- grammer. Error occurred during operation Not lit Is POWER indicator lit? Not lit Is RDY indicator lit? Is RUN indicator lit? Not lit ERR indicator lit.

  • Page 269: Error Tables

    Unit Indicators POWER Section 9-2 Module Indicators PRPHL COMM1 COMM2 Remedy Turn the power OFF and restart. The Module may be damaged. Contact your OMRON representative. Module Indicators PRPHL COMM1 COMM2 Remedy Replace the Motion Control Module. Module Indicators PRPHL COMM1...
  • Page 270 Error Processing Section 9-2 message and related Auxiliary Area flags/words and correct the cause of the error. Errors are listed in order of importance. When two or more errors occur at the same time, the more serious error’s error code will be recorded in A400. The I/O memory will be cleared when a fatal error other than FALS occurs.
  • Page 271 Error Processing When operation is stopped, all outputs will be turned OFF. The Servo Driver that is in Servo ON state for outputs from the FQM1 will switch to Servo OFF state. Fatal Errors Error Error Auxiliary Area code (in flag and word A400) data...
  • Page 272 Error Processing Error Error Auxiliary Area code (in flag and word A400) data I/O Table 80E0 A401.10: I/O Setting Setting Error error Flag Cycle 809F A401.08: Cycle Time Time Too Long Overrun Flag error System C101 to A401.06: FALS FALS error C2FF Error Flag Non-fatal Errors...
  • Page 273 Error Processing Error Error Flag and word code (in data A400) Coordinator 0006 A402.14: Coor- Module Fatal dinator Module error Fatal Error Flag Coordinator 0001 A402.13: Coor- Module WDT dinator Module error WDT Error Flag Other Errors LED indicator status Error Communica- Power Supply...

  • Page 274: Power Supply Check

    Error Processing 9-2-6 Power Supply Check Note Power Supply Unit's POWER indicator is not lit. CJ1W-PA205R CJ1W-PA202 Connect power supply. Is power being supplied to the Module? Keep voltage fluctuations Is voltage in range? within the permissible range. (See note.) Are terminal Tighten screws or replace screws loose or...

  • Page 275: Memory Error Check

    Error Processing 9-2-7 Memory Error Check Memory error occurred Flash Memory Error Flag (A403.10) ON? Was power interrupted while backing up memory with the CX- Programmer? 9-2-8 Program Error Check Program error occurred Task Error Flag (A405.12) ON? No END Error Flag (A405.11) ON? The internal flash memory's rewrite limit has been exceeded.

  • Page 276: Cycle Time Overrun Error Check

    Error Processing 9-2-9 Cycle Time Overrun Error Check Cycle Time Overrun Error occurred Is the assumed cycle time less than the watch cycle time set in the System Setup? Are interrupts being used? 9-2-10 System Setup Error Check System Setup Error occurred What is in the System Setup Error Location (A406)?

  • Page 277: 9-2-11 I/O Setting Error Check

    Error Processing 9-2-11 I/O Setting Error Check I/O Setting Error occurred Are 5 or more Motion Control Modules connected? Reconfigure the system so that 4 or fewer Motion Control Modules are connected to the Coordinator Module. Replace the Module. Section 9-2...

  • Page 278: 9-2-12 I/O Check

    Error Processing 9-2-12 I/O Check The I/O check flowchart is based on the following ladder diagram section, assuming that the problem is SOL1 does not turn ON. Start Is the output indicator for CIO 0001.00 normal? Check the 0001.00 terminal Wire terminals correctly.

  • Page 279: 9-2-13 Environmental Conditions Check

    Troubleshooting Problems in Modules 9-2-13 Environmental Conditions Check Note Prevent exposure to corrosive gases, flammable gases, dust, dirt, salts, metal dust, direct sunlight, water, oils, and chemicals. Troubleshooting Problems in Modules Coordinator Module Errors Error condition The Power Supply Unit’s POWER indicator is not lit. The RDY indicators on the Modules do not go ON.
  • Page 280 Troubleshooting Problems in Modules Motion Control Module Errors Error condition The Motion Control Module’s RUN indicator does not go ON. Motion Control Module does not operate or does not operate properly. A particular I/O point does not operate. Error occurs in 8-point or 16-point units. A particular I/O point stays ON.
  • Page 281 Troubleshooting Problems in Modules Output Errors Error condition None of the outputs will go ON. None of the outputs will go OFF. A specific bit address’ output does not turn ON. (Indicator is not lit.) A specific bit address’ output does not turn ON. (Indicator is lit).

  • Page 282: Inspection And Maintenance

    This section provides inspection and maintenance information. 10-1 Inspections ........... 10-1-1 Inspection Points.

  • Page 283: Inspections

    Inspections 10-1 Inspections Daily or periodic inspections are required in order to maintain the FQM1 in peak operating condition. 10-1-1 Inspection Points Although the major components in the FQM1 have an extremely long life time, they can deteriorate under improper environmental conditions. Periodic inspections are thus required to ensure that the required condition is being maintained.
  • Page 284 • If a faulty Module is being returned for repair, describe the problem in as much detail as possible, enclose this description with the Module, and return the Module to your OMRON representative. • For poor contact, take a clean cotton cloth, soak the cloth in industrial alcohol, and carefully wipe the contacts clean.
  • Page 285 Section 10-1 Inspections...

  • Page 286: Programming

    Programs and Tasks Tasks There are basically two types of task. 1. Cyclic Task The cyclic task is executed once each cycle. 2. Interrupt Tasks An interrupt task is executed when the interrupt condition is met, even if this occurs while the cyclic task is being executed.
  • Page 287 Programming Subroutines What Are Subroutines? A subroutine is a program written between the SBN(092) and RET(093) instructions in a special subroutine area. A subroutine is called from the main program using the SBS(091), MCRO(099), or JSB(982) instruction. Subroutines can be used in the following three ways with the FQM1. Type of subroutine Normal subroutines Normal subroutines are executed without passing parameters.
  • Page 288 Programming Using Subroutines That Pass Parameters With these subroutines, parameters can be passed to the subroutine when it is called and then the results of processing in the subroutine can be returned to the main program. This enables using one subroutine while changing the I/O addresses that are used.
  • Page 289 Programming Note (1) Index registers have been used to increase the usability of subroutines called with JSB(982). The actual addresses in I/O memory of the first input parameter word and first output parameter word are automatically stored in index registers IR0 and IR1, respectively. This enables accessing the in- put parameter words in the subroutine by indirectly addressing IR0 to read the input parameters for specific processing, as well as accessing the output parameter words in the subroutine by indirectly addressing IR1 to write data for output.
  • Page 290 Programming Application Examples Execution without Subroutine Input Condition Flags Without Macro Function 0000.00 0010.01 0010.00 0000.01 0000.02 0002.00 0015.01 0015.00 0002.01 0002.02 0005.00 0012.01 0012.00 0005.01 0005.02 0010.00 0015.01 0015.00 0010.01 0010.02 With Macro Function P_On (Always ON) 0010.00 0010.01 0015.00 0015.01 0012.00...
  • Page 291 Programming Execution with Subroutine Input Condition Flags Main Program Results of logic for input condition Subroutine 0 A000.00 Subroutine 0 Input Condition Flag W000.00 W000.00 Subroutine 0 is called and executed regardless of the status of the input condition. D00000 The logic results of a, b, c is D01000 stored in A000.00 as the input...
  • Page 292 Programming Basic Information on Programming Basic Information on Instructions Programs consist of instructions. The conceptual structure of the inputs to and outputs from an instruction is shown in the following diagram. Input condition Instruction conditions Flags Operands (sources) Power Flow The power flow is the input condition that is used to control the execution of instructions when programs are executing normally.
  • Page 293 Programming The following instructions are used in pairs to set and cancel certain instruction conditions. Each pair of instructions must be in the same task. Instruction condition Interlocked An interlock turns OFF part of the program. Special conditions, such as turning OFF output bits, resetting timers, and holding counters, are in effect.
  • Page 294 Programming Instruction Location and Input Conditions The following table shows the possible locations for instructions. Instructions are grouped into those that do and those do not require input conditions. Instruction type Possible location Input Logical start Connected directly to instructions (Load the left bus bar or is at instructions)
  • Page 295 Programming 0010 Word address DM Area addresses are given with “D” prefixes, as shown below for the address D00200. D00200 Word address Specifying Operands Operand Description Specifying bit The word address and bit number are specified addresses directly to specify a bit (input input bits). @@@@.
  • Page 296 Programming Operand Description Specifying The offset from the beginning of the area is indirect DM specified. The contents of the address will be addresses in treated as binary data (00000 to 32767) to Binary Mode specify the word address in Data Memory (DM). Add the @ symbol at the front to specify an indirect address in binary mode.
  • Page 297 Programming Operand Description Specifying Indirect The bit or word with the memory an indirect address address contained in IR@ will be speci- address (No offset) fied. using a reg- Specify ,IR@ to specify bits and words ister for instruction operands. Constant The bit or word with the memory offset...
  • Page 298 Programming Data Operand Text string Text string data is stored in ASCII (one byte except for special charac- ters) in order from the leftmost to the rightmost byte and from the right- most (lower) to the leftmost word. 00 hex (NUL code) is stored in the rightmost byte of the last word if there is an odd number of charac- ters.
  • Page 299 Programming Data Formats The following table shows the data formats that the FQM1 can handle. Data type Unsigned 15 14 13 binary Binary Decimal 3276816384 8192 4096 2048 1024 512 256 128 Signed 15 14 13 binary Binary Decimal 3276816384 8192 4096 2048 1024 512 256 128 Sign bit: 0: Positive, 1: Negative 15 14 13 (binary...
  • Page 300 Programming Negative Numbers: A value is negative if the leftmost bit is 1 (ON). In 4-digit hexadecimal, this is expressed as 8000 to FFFF hex. The absolute of the negative value (decimal) is expressed as a two’s complement. Example: To treat –19 in decimal as signed binary, 0013 hex (the absolute value of 19) is subtracted from FFFF hex and then 0001 hex is added to yield FFED hex.
  • Page 301 Programming Note Signed BCD Data Signed BCD data is a special data format that is used to express negative numbers in BCD. Although this format is found in applications, it is not strictly defined and depends on the specific application. The FQM1 supports four data formats and supports the following instructions to convert the data formats: SIGNED BCD-TO-BINARY: BINS(470) and SIGNED BINARY-TO-BCD: BCDS(471).
  • Page 302 Programming Instruction Variations The following variations are available for instructions to differentiate executing conditions. Variation Symbol Differentiation OFF % Instruction (mnemonic) Differentiation variation Input Conditions The FQM1 offers the following types of basic and special instructions. • Non-differentiated instructions executed every cycle •...
  • Page 303 Programming • Input Instructions (Logical Starts and Intermediate Instructions): The instruction reads bit status, makes comparisons, tests bits, or perform other types of processing every cycle and will output an OFF execution condition (power flow stops) when results switch from OFF to ON. The execution condi- tion will turn ON the next cycle.
  • Page 304 Programming Programming Precautions Condition Flags Using Condition Flags Condition flags are shared by all instructions, and will change during a cycle depending on results of executing individual instructions. Therefore, be sure to use Condition Flags on a branched output with the same input condition immediately after an instruction to reflect the results of instruction execution.
  • Page 305 Programming Since condition flags are shared by all instructions, make absolutely sure that they do not interfere with each other within a single ladder-diagram program. The following are examples. 1. Using Execution Results in NC and NO Inputs The Condition Flags will pick up instruction B execution results as shown in the example below even though the NC and NO input bits are executed from the same output branch.
  • Page 306 Programming Example: The following example will move #0200 to D00200 if D00100 contains #0010 and move #0300 to D00300 if D00100 does not contain #0010. Incorrect The Equals Flag will turn ON if D00100 in the rung above contains #0010. #0200 will be moved to D00200 for instruction (1), but then the Equals Flag will be turned OFF because the #0200 source data is not 0000 hex.
  • Page 307 Programming 2. Using Execution Results from Differentiated Instructions With differentiated instructions, execution results for instructions are reflected in Condition Flags only when input condition is met, and results for a previous rung (rather than execution results for the differentiated in- struction) will be reflected in Condition Flags in the next cycle.
  • Page 308 Programming Equals Flag The Equals Flag is a temporary flag for all instructions except when comparison results are equal (=). It is set automatically by the system, and it will change. The Equals Flag can be turned OFF (ON) by an instruction after a previous instruction has turned it ON (OFF).
  • Page 309 Programming Special Program Sections FQM1 programs have special program sections that will control instruction conditions. The following special program sections are available. Program section Instructions Subroutine SBS(091), JSB(982), SBN(092), and RET(093) instructions IL(002) - ILC(003) section IL(002) and ILC(003) instructions Step Ladder section STEP(008) instruction Block program section...
  • Page 310 Programming Instructions Not Allowed in Subroutines The following instructions cannot be placed in a subroutine. Function Ladder Step Control STEP(008) SNXT(009) Note Block Program Sections A subroutine can include a block program section. Instructions Not Allowed in Step Ladder Program Sections Function Mnemonic Sequence Con-...
  • Page 311 Programming Computing the Cycle Time FQM1 Operation Flowchart The Coordinator Module and Motion Control Modules process data in repeating cycles from the overseeing processing up to peripheral servicing as shown in the following diagram. Sets error flags Flashing (non- fatal error) ERR indicator lit or flashing? Lit (fatal error)
  • Page 312 Programming Overview of Cycle Time Calculations Coordinator Module The cycle time of the Coordinator Module will vary with the following factors. • Type and number of instructions in the user programs (in the cyclic task and within interrupt tasks for which the execution conditions have been satisfied) •...
  • Page 313 Programming 5. Sync Bus Refreshing Details The sync bus between the Coordinator Module and Motion Control Modules is refreshed. 6. Cyclic Refreshing Details The allocated bit areas are refreshed. 7. Peripheral Service Details Peripheral service overhead: 76 µs Event servicing with Motion Con- trol Modules Note Does not include I/O refreshing.
  • Page 314 Programming 4. I/O Refreshing Details The built-in I/O and special inputs (pulse/analog) on the Motion Control Module are refreshed. 5. Cyclic Refreshing Details Cyclic refresh with the Coordinator Module 6. Sync Bus Refreshing Details The sync bus between the Coordinator Module and Motion Control Modules is refreshed.
  • Page 315 Programming Example of Calculating the Cycle Time An example is given here for FQM1-MMP21 Motion Control Modules connected to a Coordinator Module. Conditions Item Motion Control Modules FQM1-MMP21 User program 5 Ksteps Peripheral port connection None Constant cycle time setting None RS-232C port connection None...
  • Page 316 Programming Response Time I/O Response Time The I/O response time is the time it takes from when an built-in input on a Module turns ON, the data is recog- nized by the Module, and the user program is executed, up to the time for the result to be output to the built-in output terminals.
  • Page 317 Programming Motion Control Module I/O Response Time Minimum I/O Response Time (General-purpose I/O 0 to 3) The I/O response time is shortest when the input refresh is executed immediately after a Motion Control Mod- ule detects an input, as shown in the figure below. The minimum I/O response time is the total of the Input ON delay, the Cycle time, and the Output ON delay.
  • Page 318 Programming Calculation Example Input ON delay: 0.03 ms Overhead time: 0.193 ms Instruction execution time: 0.001 ms Output ON delay: 0.1 ms Position of OUT: Beginning of program. I/O Response Time for Pulse and Analog I/O As shown in the following diagram, an MPU in the Motion Control Module directly controls pulse and analog I/O processing with hardware.
  • Page 319 Programming Input Input ON delay time Interrupt signal accepted Interrupt task executed Input interrupt task interrupt response time Cyclic task execution (main program) 61 µs is required from when execution of input interrupt task program is completed until returning to cyclic task execution. Scheduled Interrupt Task The interrupt response time of scheduled interrupt tasks is the time taken from after the scheduled time speci- fied by the STIM(980) instruction has elapsed until the interrupt task is actually executed.
  • Page 320 Programming Processing Time The time required from when the interrupt factor occurs until the interrupt task is called and the time required from completing the interrupt task until program execution returns to the original position are shown below. Item Interrupt input ON delay This is the additional time required from when the interrupt input contact turns ON until the interrupt is generated.
  • Page 321 Programming (2) When using interrupt tasks frequently, be sure to consider the time required for interrupt processing and its affect on the overall system. (3) The results of executing an interrupt task can be output immediately from within the interrupt task by using the IORF(097) instruction.

  • Page 322: I/O Memory

    Overview of I/O Memory Introduction This section describes the I/O Memory and other parts of memory in the Modules other than that containing the user program. I/O Memory This region of memory contains the data areas which can be accessed by instruction operands. The data areas include the CIO Area, Work Area, Auxiliary Area, DM Area, Timer Area, Counter Area, Index Registers, Condition Flag Area, and Clock Pulse Area.
  • Page 323 I/O Memory I/O Memory Structure Coordinator Module The following table shows the basic structure of the I/O Memory for the Coordinator Module. Area Size Range I/O Area 24 bits CIO 0000 Area words) CIO 0001 Serial PLC 320 bits CIO 0080 Link Area words) CIO 0099...
  • Page 324 I/O Memory Motion Control Modules The following table shows the basic structure of the I/O Memory Area for the Motion Control Modules. Area Size Range I/O Area 20 bits CIO 0000 Area words) CIO 0001 Cyclic 160 bits CIO 0100 Refresh Bit Area words)
  • Page 325 I/O Memory CIO Area Overview It is not necessary to input the “CIO” prefix when specifying an address in the CIO Area. The CIO Area is gen- erally used for data exchanges, such as I/O refreshing between Modules (Coordinator Module and Motion Control Modules).
  • Page 326 I/O Memory This area can be used to transfer information between Modules that does not required high-speed exchange. The user can allocate the information to be transferred and the information can be used accessed from the lad- der programs in the Coordinator Module and Motion Control Modules to coordinate programming. Synchronous Data Link Bit Area: CIO 0200 to 0219 Each Module (Coordinator Module and Motion Control Modules) broadcasts up to two items (four words) of data at the specified cycle.
  • Page 327 I/O Memory Immediate Refresh I/O can also be refreshed on the timing specified by the user using immediate refreshing. Any I/O refreshed using an immediate refresh will also be refreshed for the END refresh. Refreshing Using the IORF(097) Instruction Inputs When IORF(097) is executed for CIO IORF 0000 and CIO 0001, the status of...
  • Page 328 I/O Memory • Each TR bit can be used only once in one program section. • The status of TR bits cannot be changed from the CX-Programmer. TB bits are used in the following cases. • When there are two outputs with different LD instructions after the last branch point: 0000.02 0000.00 0000.01...
  • Page 329 I/O Memory The following table shows when timer PVs and Completion Flags will be reset. Instruction Mode change PROGRAM and RUN/MONITOR PV → 0 TIMER: TIM Flag → OFF HIGH-SPEED TIMER: TIMH(015) ONE-MS TIMER: TMHH(540) Note The present value of TIM, TIMH(015), and TMHH(540) timers programmed will be updated even when jumped between JMP and JME instructions.
  • Page 330 I/O Memory Data Memory (DM) Area Word addresses D00000 D30000 Held words D32767 The DM Area contains 32,768 words with addresses ranging from D00000 to D32767. This data area is used for general data storage and manipulation and is accessible only by word. Data in D00000 to D29999 is cleared to all zeros when the power supply is cycled, but is held when the operat- ing mode is changed from PROGRAM mode to RUN/MONITOR mode or vice-versa.
  • Page 331 I/O Memory The Condition Flags cannot be force-set and force-reset except for the Carry Flag, which can be manipulated with the STC(040) and CLC(041) instructions. Summary of the Condition Flags The following table summarizes the functions of the Condition Flags, although the functions of these flags will vary slightly from instruction to instruction.
  • Page 332 I/O Memory Clock Pulses The Clock Pulses are flags that are turned ON and OFF at regular intervals by the system. Name Label CX-Programmer 0.02 s Clock Pulse 0.02s P_0_02s 0.1 s Clock Pulse 0.1s P_0_1s 0.2 s Clock Pulse 0.2s P_0_2s 1 s Clock Pulse...
  • Page 333 I/O Memory Parameter Area Unlike the data areas in I/O Memory, which can be used in instruction operands, the Parameter Area can be accessed only from the CX-Programmer. The Parameter Area is made up of the following parts. • The System Setup •...
  • Page 334 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Overview of System Setups A System Setup contains software settings that the user can change to customize FQM1 operation. Module functions are set using its System Setup. The Coordinator Module and Motion Control Modules all have System Setups, which are set from the CX-Pro- grammer to customize operation for the following types of applications.

  • Page 335: System Setup, Auxiliary Area Allocations, And Built-In I/O Allocations

    System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Sync Cycle Time Address Settings Word Bits +319 00 to 14 0000 hex: Default (Coordina- tor Module cycle time) 0001 to 0064 hex: 0.1 to 10.0 ms (unit: 0.1 ms) Default: Coordinator Module cycle time Sync Mode Address...
  • Page 336 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Peripheral Port Settings (CX-Programmer: Peripheral Port Tab Page) Communications Settings Address Word Bits +144 00 to 07 Setting Data length 00 hex: 01 hex: 02 hex: 04 hex: 05 hex: 06 hex: 08 hex: 09 hex: 0A hex:...
  • Page 337 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Host Link Unit Number Address Settings Word Bits +147 00 to 07 00 to 1F hex: Unit number 0 to 31 Default: 00 hex Peripheral Port Settings for NT Link Serial Communications Mode Address Settings Word...
  • Page 338 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Baud Rate Address Settings Word Bits +145 00 to 07 00 hex: 9,600 06 hex: 9,600 07 hex: 19,200 08 hex: 38,400 09 hex: 57,600 Unit: bit/s Default: 00 hex RS-232C Port Settings (CX-Programmer: Host Port Tab Page) RS-232C Port Settings for Host Link Serial Communications Mode Address...
  • Page 339 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Host Link Unit Number Address Settings Word Bits +163 00 to 07 00 to 1F hex: 0 to 31 Default: 00 hex RS-232C Port Settings for NT Link Serial Communications Mode Address Settings Word...
  • Page 340 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Baud Rate Address Settings Word Bits +161 00 to 07 00 hex: 9,600 06 hex: 9,600 07 hex: 19,200 08 hex: 38,400 09 hex: 57,600 Unit: bit/s Default: 00 hex RS-232 Port Settings for No-protocol Communications (RS-232C) Serial Communications Mode Address Settings...
  • Page 341 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Start Code and End Code Address Settings Word Bits +164 00 to 07 00 to FF hex Default: 00 hex 08 to 15 00 to FF hex Default: 00 hex +165 0: Don’t add start code 1: Add start code Default: 0...
  • Page 342 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations RS-422A Port Settings (CX-Programmer: Drive Tab Page) RS-422A Port Settings for Serial Gateway Standard/Custom Setting Address Settings Word Bits +360 0: Standard settings Default: 0 Serial Communications Mode Address Settings Word Bits +360 08 to 11 00 or 09 hex: Serial Gateway...
  • Page 343 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Start Code and End Code Address Settings Word Bits +364 00 to 07 00 to FF hex Default: 00 hex 08 to 15 00 to FF hex Default: 00 hex +365 0: Don’t add start code 1: Add start code Default: 0...
  • Page 344 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations System Setup in Motion Control Modules Settings Used by All Motion Control Modules CX-Programmer: Module Settings Tab Page Address Bits Function +304 Allow writing to user memory (user memory protection) Prohibit system interruption of the sync mode Detect cycle time over warming (detec- tion of cycle times longer than 10 ms)
  • Page 345 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations FQM1-MMP21 Motion Control Modules with Pulse I/O CX-Programmer: Pulse Input Tab Page Address Bits Function +320 00 to 03 High-speed counter 1 (Counter 04 to 07 08 to 11 12 to 15 +321 00 to 03 04 to 15...
  • Page 346 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Function +323 00 to 03 High-speed counter 2 (Counter 04 to 07 08 to 11 12 to 15 +324 00 to 03 04 to 15 +325 00 to 15 +326 to 327 00 to 15 High-speed counter 1 (Counter +328 to 329 00 to 15 High-speed...
  • Page 347 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Note Always set the Circular Maximum Count when setting any of the circular operation modes. FQM1-MMA21 Motion Control Modules with Analog I/O CX-Programmer: Pulse Input Tab Page Address Bits Function +320 00 to 03 High-speed counter 1 (Counter 04 to 07...
  • Page 348 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Function +330 to 331 00 to 15 High-speed counter 1 (Counter +332 to 333 00 to 15 High-speed counter 2 (Counter CX-Programmer: Analog Input/Output Tab Page Address Bits Function +350 00 to 03 Analog I/O 04 to 07...
  • Page 349 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Note The RS-232C port settings can also be changed with the STUP (237) instruction. The RS-232C Port Settings Changing Flag (A410.15) will remain ON from the time STUP (237) is executed until the set- tings have actually been changed.
  • Page 350 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Note The watch cycle time setting cannot be changed while the Module is in RUN or MONITOR mode. Watch Cycle Time Watch Time Actual Cycle Time Cycle Time Too Long Flag A401.08 Note The default value for the watch cycle time is 50 ms.
  • Page 351 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations The default value for each servicing process is 6.25% of the last cycle’s cycle time. In general, it is rec- ommended that the default value be used. Set a uniform servicing time only when peripheral servicing is being delayed because each service process is being spread over several cycles.
  • Page 352 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Auxiliary Area Allocations by Function The following tables list the words and bits allocated in the Auxiliary Area by function. These tables provide only an overview of the functionality. Refer to Appendix D Auxiliary Area Allocations for details or a list of allocations by address.
  • Page 353 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A608 High-speed Target Compar- counter 1 status ison In- progress Flag PV Overflow/ Underflow Flag Reserved Phase Z Input Reset Flag (ON for one cycle) Absolute No. of Rotations Read Error Flag Absolute No.
  • Page 354 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A609 High-speed Target Compar- counter 2 status ison In- progress Flag PV Overflow/ Underflow Flag Reserved Phase Z Input Reset Flag (ON for one cycle) Absolute No. of Rotations Read Error Flag Absolute No.
  • Page 355 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A610 High-speed Start Bit counter 1 com- mand bits Reset Bit Measurement Start Bit Measurement Direction Bit (measurement mode 2) Range Com- parison Results Clear Bit Absolute Off- set Preset Bit Absolute Present Value...
  • Page 356 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A611 High-speed Start Bit counter 2 com- Reset Bit mand bits Measurement Start Bit Reserved Range Com- parison Results Clear Bit Absolute Off- set Preset Bit Absolute Present Value Preset Bit Absolute Num- ber of Rota-...
  • Page 357 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A620 to 00 to 15 Pulse Output 1 PV A621 Note This item applies when the operation mode is relative pulse output, absolute pulse output in linear mode, absolute pulse out- put in circular mode, or elec- tronic cam mode.
  • Page 358 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A626 Pulse Output 1 PV Reset Bit Command Bits Range Com- parison Results Clear Bit 02 to 15 Reserved A627 Pulse Output 2 PV Reset Bit Command Bits Range Com- parison Results Clear Bit...
  • Page 359 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations FQM1-MMA21 Motion Control Modules with Analog I/O Address Bits Name A550 00 to 15 Analog Input PV A552 Analog Input Sta- 01 to 06 10 to 14 A559 01 to 15 Number of Analog Samples A560 00 to 15 Analog Output 1...
  • Page 360 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A562 Analog Output 1 Flags 01 to 03 05 to 07 09 to 11 A563 Analog Output 2 Flags 01 to 03 05 to 07 09 to 11 Function User Adjustment Com- Initial value is 0.
  • Page 361 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A564 Analog Output 1 01 to 15 Reserved A565 Analog Output 2 01 to 15 Reserved A570 Adjustment Mode Command Bits (Effective only when A575 is 5A5A hex.) 04 to 06 08 to 11 A571...
  • Page 362 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A600 00 to 15 High-speed Counter 1 PV A601 00 to 15 A602 00 to 15 High-speed Counter 2 PV A603 00 to 15 A604 to 00 to 15 High- For following A605...
  • Page 363 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A608 High-speed Target Compar- counter 1 status ison In- progress Flag PV Overflow/ Underflow Flag Reserved Phase Z Input Reset Flag (ON for one cycle) Absolute No. of Rotations Read Error Flag Absolute No.
  • Page 364 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A609 High-speed Target Compar- counter 2 status ison In- progress Flag PV Overflow/ Underflow Flag Reserved Phase Z Input Reset Flag (ON for one cycle) Absolute No. of Rotations Read Error Flag Absolute No.
  • Page 365 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A610 High-speed Start Bit counter 1 com- mand bits Reset Bit Measurement Start Bit Measurement Direction Bit (measurement mode 2) Range Com- parison Results Clear Bit Absolute Off- set Preset Bit Absolute Present Value...
  • Page 366 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A611 High-speed Start Bit counter 2 com- Reset Bit mand bits Measurement Start Bit Reserved Range Com- parison Results Clear Bit Absolute Off- set Preset Bit Absolute Present Value Preset Bit Absolute Num- ber of Rota-...
  • Page 367 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A524 00 to 15 Interrupt Counter 0 Counter PV A525 00 to 15 Interrupt Counter 1 Counter PV A526 00 to 15 Interrupt Counter 2 Counter PV A527 00 to 15 Interrupt Counter 3 Counter PV Allocations That Are the Same for the Coordinator Module and Motion...
  • Page 368 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A500 Error Log Pointer Reset and Memory Not Held Flag OFF Bit A400 00 to 15 Error code FAL/FALS Errors Address Bits Name A401 FALS Error Flag (fatal error) A402 FAL Error Flag (non-fatal error)
  • Page 369 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Other Address Bits Name A401 Cycle Time Too Long Flag (fatal error) A404 Constant Cycle Time Exceeded Flag Sync Cycle Time Too Long Flag A509 Constant Cycle Time Exceeded Error Clear Allocations Related to DM Data Transfer (Coordinator Module Only) Address Bits...
  • Page 370 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations RS-232C Port Address Bits Name A410 02 to 05 RS-232C Port Error Flags RS-232C Port Commu- nications Error Flag RS-232C Port Send Ready Flag (no-protocol mode) RS-232C Port Recep- tion Completed Flag (no-protocol mode) RS-232C Port Recep- tion Overflow Flag (no-...
  • Page 371 System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Coordinator Module Built-in I/O Allocations Inputs (40-pin General-purpose I/O Connector) Name I/O Area allocations External input 0 CIO 0000.00 External input 1 CIO 0000.01 External input 15 CIO 0000.15 Outputs (40-pin General-purpose I/O Connector) Name I/O Area allocations External output 0...

  • Page 372: Auxiliary Area Allocations

    Auxiliary Area Allocations Auxiliary Area Allocations in Order of Address The following table lists the Auxiliary Area allocations in order of address. Refer to Auxiliary Area Allocations by Function on page 329 for a list of allocations by function. Read-only Words: A000 to A447, Read/Write Words: A448 to A649 Address Bits A000 to...
  • Page 373 Auxiliary Area Allocations Address Bits A403 UM Error Flag System Setup Error Flag Flash Memory Error Flag Analog Offset/Gain Error Flag Flash Memory DM Checksum Error Flag (Coordinator Module only) A404 Constant Cycle Time Exceeded Flag Sync Cycle Time Too Long Flag Memory Not Held Flag A405 No END Error Flag...
  • Page 374 Auxiliary Area Allocations Address Bits A414 RS-422A Parity Error Flag Port Framing Error Flag Error Flags Overrun Error Flag Timeout Error Flag RS-422A Port Communications Error Flag RS-422A Port Send Ready Flag (no-protocol mode) RS-422A Port Reception Completed Flag (no- protocol mode) RS-422A Port Reception Overflow Flag (no-pro- tocol mode)
  • Page 375 Auxiliary Area Allocations Address Bits A520 00 to 15 Interrupt Counter 0 Counter SV A521 00 to 15 Interrupt Counter 1 Counter SV A522 00 to 15 Interrupt Counter 2 Counter SV A523 00 to 15 Interrupt Counter 3 Counter SV A524 00 to 15 Interrupt Counter 0 Counter PV A525...
  • Page 376 Auxiliary Area Allocations Address Bits A559 00 to 15 Number of Analog Samples A560 00 to 15 Analog Output 1 Output Value A561 00 to 15 Analog Output 2 Output Value A562 Analog Output 1 Flags A563 Analog Output 2 Flags A564 Analog Output 1 Conversion Enable Bit A565...
  • Page 377 Auxiliary Area Allocations Address Bits A570 Adjustment Mode Command Bits (Effective only when A575 is 5A5A hex.) A571 Adjustment Mode Status A572 00 to 15 Adjustment Mode Monitor (Effective only when A575 is 5A5A hex.) A573 00 to 15 A574 00 to 15 A575 00 to 15 Adjustment Mode Password...
  • Page 378 Auxiliary Area Allocations Address Bits A606 to 00 to 15 High- For following A607 speed counter modes Counter • Absolute linear (CW − ) • Absolute circular • Absolute linear (CW+) For following counter modes • Linear counter • Circular counter A608 High- Target Comparison In-progress Flag...
  • Page 379 Auxiliary Area Allocations Address Bits A610 High- Start Bit speed counter 1 com- Reset Bit mand bits Measurement Start Bit Measurement Direction Bit (mea- surement mode 2) Range Comparison Results Clear Bit OFF: Does not clear the execution results (A612) or output bit Absolute Offset Preset Bit Absolute Present Value Preset Bit Absolute Number of Rotations Read...
  • Page 380 Auxiliary Area Allocations Address Bits A612 00 to 15 High- Range Comparison Execution speed Results Flags counter 1 monitor data A613 00 to 15 Output Bit Pattern A614 00 to 15 High- Range Comparison Results speed A615 00 to 15 Output Bit Pattern counter 2 monitor...
  • Page 381 Auxiliary Area Allocations Address Bits A626 Pulse PV Reset Bit Output 1 Com- Range Comparison Results Clear Bit OFF: Does not clear the execution results (A630) or output bit mand Bits A627 Pulse PV Reset Bit Output 2 Range Comparison Results Clear Bit Com- mand Bits...
  • Page 382 Auxiliary Area Allocations Detailed Explanations on the Auxiliary Area Error Log Area: A100 to A199 A100 Error code A101 Error contents A102 0101 A103 0101 A104 0101 A195 Error code A196 Error contents A197 0101 A198 0101 A199 0101 The following data would be generated in an error record if a memory error (error code 80F1) occurred with the error located in the System Setup (04 hex).
  • Page 383 Auxiliary Area Allocations FQM1 Memory Addresses FQM1 memory addresses are set in Index Registers (IR0 or IR1) to indirectly address I/O memory. Normally, FQM1 memory addresses are set into the Index Registers automatically when calling subroutines with JSB(982). Some instructions, such as FIND MAXIMUM (MAX(182)) and FIND MINIMUM (MIN(183)), output the results of processing to an Index Register to indicate an FQM1 memory address.
  • Page 384 Auxiliary Area Allocations Memory Map Note Do not access the areas indicated Reserved for system. Classification FQM1 memory addresses (hex) Parameter areas 00000 to 0B0FF I/O memory areas 0B100 to 0B1FF 0B200 to 0B7FF 0B800 to 0B801 0B802 to 0B83F 0B840 to 0B9FF 0BA00 to 0BACB 0BACA to 0BBFF...
  • Page 385 Auxiliary Area Allocations FQM1 Instruction Execution Times and Number of Steps The following table lists the execution times for all instructions that are available for the FQM1. The total execution time of instructions within one whole user program is the process time for program execu- tion when calculating the cycle time.
  • Page 386 Auxiliary Area Allocations Note When a double-length operand is used, add 1 to the value shown in the length column in the above table. Sequence Control Instructions Instruction Mnemonic Code NO OPERATION INTERLOCK INTERLOCK CLEAR JUMP JUMP END Note When a double-length operand is used, add 1 to the value shown in the length column in the above table.
  • Page 387 Auxiliary Area Allocations Instruction Mnemonic Input Comparison LD, AND, OR +=+SL Instructions (double, LD, AND, OR +<>+SL 308 signed) LD, AND, OR +<+SL LD, AND, OR +<=+SL 318 LD, AND, OR +>+SL LD, AND, OR +>=+SL 328 COMPARE DOUBLE COMPARE CMPL SIGNED BINARY COMPARE...
  • Page 388 Auxiliary Area Allocations Data Shift Instructions Instruction Mnemonic Code SHIFT REGISTER REVERSIBLE SHIFT SFTR REGISTER ASYNCHRONOUS ASFT SHIFT REGISTER WORD SHIFT WSFT ARITHMETIC SHIFT LEFT DOUBLE SHIFT LEFT ASLL ARITHMETIC SHIFT RIGHT DOUBLE SHIFT ASRL RIGHT ROTATE LEFT DOUBLE ROTATE ROLL LEFT ROTATE LEFT WITH-...
  • Page 389 Auxiliary Area Allocations Note When a double-length operand is used, add 1 to the value shown in the length column in the above table. Symbol Math Instructions Instruction Mnemonic Code SIGNED BINARY ADD WITHOUT CARRY DOUBLE SIGNED BINARY ADD WITH- OUT CARRY SIGNED BINARY ADD WITH CARRY...
  • Page 390 Auxiliary Area Allocations Instruction Mnemonic Code BCD DIVIDE DOUBLE BCD DIVIDE Note When a double-length operand is used, add 1 to the value shown in the length column in the above table. Conversion Instructions Instruction Mnemonic Code BCD-TO-BINARY DOUBLE BCD-TO- BINL DOUBLE BINARY BINARY-TO-BCD...
  • Page 391 Auxiliary Area Allocations Special Math Instructions Instruction Mnemonic Code ARITHMETIC PRO- CESS BIT COUNTER BCNT VIRTUAL AXIS AXIS Note When a double-length operand is used, add 1 to the value shown in the length column in the above table. Floating-point Math Instructions Instruction Mnemonic FLOATING TO 32-BIT...
  • Page 392 Auxiliary Area Allocations Instruction Mnemonic Floating Symbol Com- LD, AND, OR +=F parison LD, AND, OR +<>F LD, AND, OR +<F LD, AND, OR +<=F LD, AND, OR +>F LD, AND, OR +>=F Note When a double-length operand is used, add 1 to the value shown in the length column in the above table.
  • Page 393 Auxiliary Area Allocations Interrupt Control Instructions Instruction Mnemonic Code SET INTERRUPT MSKS MASK READ INTERRUPT MSKR MASK CLEAR INTERRUPT DISABLE INTER- RUPTS ENABLE INTER- RUPTS INTERVAL TIMER STIM Note When a double-length operand is used, add 1 to the value shown in the length column in the above table.
  • Page 394 Auxiliary Area Allocations Instruction Mnemonic Code COMPARISON TABLE CTBL LOAD SPEED OUTPUT SPED SET PULSES PULS PULSE OUTPUT PLS2 ACCELERATION CON- TROL Step Instructions Instruction Mnemonic Code STEP DEFINE STEP STEP START SNXT Note When a double-length operand is used, add 1 to the value shown in the length column in the above table.
  • Page 395 Auxiliary Area Allocations Serial Communications Instructions Instruction Mnemonic Code TRANSMIT RECEIVE CHANGE SERIAL STUP PORT SETUP Note When a double-length operand is used, add 1 to the value shown in the length column in the above table. Debugging Instructions Instruction Mnemonic Code TRACE MEMORY...
  • Page 396 Auxiliary Area Allocations Instruction Mnemonic Code Branching IF (input condition) Branching IF (relay number) Branching (NOT) IF NOT (relay num- ber) Branching ELSE Branching IEND Note When a double-length operand is used, add 1 to the value shown in the length column in the above table.
  • Page 397 Appendix D Auxiliary Area Allocations...

  • Page 398: Index

    A/D conversion value absolute encoder absolute circular counter absolute linear counter absolute offset preset absolute present value absolute PV preset output data acquisition format Absolute No. of Rotations Read Completed Flag Absolute No. of Rotations Read Error Flag Absolute Offset Preset Error Flag absolute position priority mode absolute positioning (electronic cam control) ACC(888) instruction...
  • Page 399 RS-232C port serial data BCD data BCD-mode addressing binary-mode addressing block programs instruction execution times cables Carry (CY) Flag CIO Area Cyclic Refresh Bit Area I/O Bit Area Serial PLC Link Bit Area Synchronous Data Link Bit Area Work Areas Circular Counter circular mode CLC(041) instruction...
  • Page 400 current consumption CX-Programmer Analog Input/Output Tab Page connecting cables connections methods Cycle Time Settings Cycle Time Tab Page models Module Settings Tab Page Other Tab Page overview Peripheral Port Settings Peripheral Port Settings for Host Link Peripheral Port Settings for NT Link Peripheral Port Settings for Peripheral Bus (ToolBus) Peripheral Service Time Settings Pulse Input Tab Page...
  • Page 401 Equals Flag error codes Error Flag error flags error log Error Log Area Error Log Pointer error processing flowchart errors communications error Coordinator Module Fatal error Coordinator Module WDT error CPU error CPU standby cycle time overrun error error codes error log fatal flags...
  • Page 402 Memory Error Flag Memory Not Held Flag Motion Control Module Monitor Error Flag Motion Control Module Monitoring Error Flag Negative Flag No END Error Flag Not Equal Flag Overflow Flag Peripheral Port Error Flags Peripheral Port Settings Changing Flag Phase Z Input Reset Flag Program Error Flag Pulse Output 1 Status Pulse Output 2 Status...
  • Page 403 END refresh immediate refresh Motion Control Modules using IORF(097) instruction I/O response time calculating Coordinator Modules Motion Control Modules I/O Setting Error Flag I/O Table Setting error Illegal Instruction Error Flag increment instructions execution times increment pulse inputs Independent Pulse Output Flag indicators error indications Motion Control Indicators...
  • Page 404 Less Than or Equals Flag Linear Counter linear counter CCW rotation CW rotation Linear Counter Mode linear mode logic instructions execution times Maximum Cycle Time MCRO(099) instruction Measuring Flag Memory Backup Status Window Memory Error Flag memory map Memory Not Held Flag momentary power interruption MONITOR mode monitoring...
  • Page 405 Peripheral Devices peripheral port connecting a personal computer Peripheral Port Communications Error Flag Peripheral Port Error Flags Peripheral Port Settings Changing Flag peripheral servicing settings personal computers connecting connectors phase differential inputs Phase Z Input Reset Flag phase-Z signal PLC Setup errors PLCs cooling...
  • Page 406 pulse inputs applicable instructions application examples connections high-speed counter internal circuit configuration mode specifications Pulse Output Completed Flag pulse output direction priority mode Pulse Output Flag pulse output instructions execution times Pulse Output Set Flag Pulse Output Status Flags pulse outputs accelerating frequency applicable instructions bit pattern outputs...
  • Page 407 operation procedure PLC Setup (Master) System Setup (Slave) Servo Drivers compatible with absolute encoder compatible with absolute encoders timing chart functions compatible with absolute encoders Servo Relay Units dimensions functions models nomenclature wiring example setup initial setup preparations for operation short-circuit protection signed binary data Slot No.
  • Page 408 table data processing instructions execution times Target Comparison Flag Target Comparison In-progress Flag Target Frequency Not Reached Flag target-value comparison interrupts Task Error Flag Temporary Relay Area terminal screws text strings operands Timeout Error Flag Timer Area Timer Completion Flags timer instructions execution times timing...
  • Page 409 Index...

  • Page 410: Revision History

    Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. O010-E1-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
  • Page 412 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...
  • Page 413 9. Cancellation; Etc. Orders are not subject to rescheduling or cancellation unless Buyer indemnifies Omron against all related costs or expenses. 10. Force Majeure. Omron shall not be liable for any delay or failure in delivery resulting from causes beyond its control, including earthquakes, fires, floods,...
  • Page 414 For US technical support or other inquiries: 800.556.6766 OMRON CANADA, INC. Milner Avenue Toronto, Ontario M 416.286.6465 OMRON ON-LINE Global - http://www.omron.com USA - http://www.omron.com/oei Canada - http://www.omron.ca O010-E1-01 11/05 ©2005 OMRON ELECTRONICS LLC Printed in the U.S.A. Specifications subject to change without notice.

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