Omron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-MMA21 Manuale Utente

OPERATION MANUALCat. No. O010-E1-01FQM1 SeriesFQM1-CM001FQM1-MMP21FQM1-MMA21Flexible Motion Controller

xi About this Manual:This manual describes the operation of the Coordinator Module and Motion Control Modules of theFQM1-series Flexible Motion Contro

77Wiring Servo Relay Units Section 3-4Upper Terminal Block Pin ArrangementLower Terminal Block Pin ArrangementNote (1) Allocated when connecting an FQ

78Wiring Servo Relay Units Section 3-46. Signal SwitchesNote (a) An external encoder with a line-driver output can be connected.(b) For 4 to 20 mA cur

79Wiring Servo Relay Units Section 3-4External DimensionsWiring Screw-less Clamp Terminal Blocks Screw-less clamp terminal blocks use clamps to attach

80Wiring Servo Relay Units Section 3-4Recommended ScrewdriverModel ManufacturerSZF1 Phoenix Contact Inc.3.5 mm0.6 mmSide Front

81Wiring Servo Relay Units Section 3-4Wiring when Using Servo Relay UnitsFLEXIBLEMOTIONCONTROLLERRDYRUNERRPRPHLCOMM1COMM2PERIPHERALPORTONOFFCM0012CN1R

82Wiring Servo Relay Units Section 3-4Example Servo Relay Unit WiringWhen Servo Relay Units for the FQM1 are used, the I/O power supply is pro-vided f

83List of FQM1 Connecting Cables Section 3-53-5 List of FQM1 Connecting CablesIt is recommended that special cables are used when connecting Coordinat

84List of FQM1 Connecting Cables Section 3-53. Servo Relay Unit Connecting Cables (for FQM1-MMP21/MMA21, 40-pinMIL Connector)4. RS-422A Connecting Cab

85Wiring Precautions Section 3-6• Attach the modified cable to the XW2D-40G6 Connector-Terminal BlockConversion Unit.3-6 Wiring Precautions3-6-1 Reduc

86Wiring Precautions Section 3-6Inductive Loads When an inductive load is connected to I/O, connect a surge suppressor ordiode in parallel with the lo

xii

87Wiring Precautions Section 3-63-6-2 Connecting I/O DevicesInput Devices Use the following information for reference when selecting or connecting inp

88Wiring Precautions Section 3-6• The circuit below should NOT be used for I/O devices having a voltageoutput. Precautions when Connecting a Two-wire

89Wiring Precautions Section 3-63. Relation between FQM1 OFF current and sensor leakage current:IOFF ≥ Ileak Connect a bleeder resistor R if Ileak is

90Wiring Precautions Section 3-6Output Surge Current When connecting a transistor or triac output to an output device having a highsurge current (such

91SECTION 4OperationThis section describes the operation of the FQM1. 4-1 Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

92Coordinator Module Section 4-14-1 Coordinator ModuleThe FQM1 Coordinator Module and each Motion Control Module have sepa-rate ladder programming. Ea

93Coordinator Module Section 4-1System Setup The System Setup contains software switches used to make initial settingsand other settings. As shown in

94Coordinator Module Section 4-14-1-3 I/O Refreshing and Peripheral ServicingI/O Refreshing I/O refreshing updates general-purpose I/O status. All I/O

95Motion Control Modules Section 4-24-2 Motion Control Modules4-2-1 OutlineMotion Control Modules each have independent ladder programming, whichperfo

96Motion Control Modules Section 4-2Broadly speaking, the user program consists of a cyclic task and interrupttasks, which are executed for interrupts

xiiiPRECAUTIONSThis section provides general precautions for using the FQM1-series Flexible Motion Controller and related devices.The information cont

97Motion Control Modules Section 4-2Sync Mode Operation In Sync Mode, the Motion Control Module's cyclic scan is synced with theCoordinator Modul

98Motion Control Modules Section 4-2Initialization at At power ONInternal Module initialization (determining the operating mode, initializing usermemo

99Operating Modes Section 4-34-3 Operating Modes4-3-1 Operating ModesCoordinator and Motion Control Modules have three operating modes thatcontrol the

100Power OFF Operation Section 4-44-3-3 Operating Mode Changes and I/O MemoryNote (1) The cycle time will increase by approximately 10 ms when the ope

101Power OFF Operation Section 4-4Note The above timing chart shows an example when the User-set Power OFFDetection Time is set to 0 ms.The following

102Power OFF Operation Section 4-4Description of OperationPower OFF will be detected if the 100 to 240 V AC power supply stays below85% of the minimum

103SECTION 5Module Functions and Data ExchangeThis section describes the functions common to both the Coordinator Module and Motion Control Modules an

104Synchronous Operation between Modules Section 5-15-1 Synchronous Operation between ModulesSync and ASync ModesSync Mode The Coordinator Module and

105Data Exchange between Modules Section 5-25-2 Data Exchange between ModulesThe three methods for data exchange between Coordinator and Motion Con-tr

106Cyclic Refresh Section 5-35-3 Cyclic Refresh5-3-1 OutlineStatus information, general-purpose I/O, and other information for eachMotion Control Modu

xivIntended Audience 11 Intended AudienceThis manual is intended for the following personnel, who must also haveknowledge of electrical systems (an el

107Cyclic Refresh Section 5-35-3-3 Cyclic Refresh Area DetailsCoordinator Module Cyclic Refresh AreaCIO 0100 to CIO 0109 in each Motion Control Module

108Cyclic Refresh Section 5-35-3-4 Cyclic Refresh Area AllocationsCM: Coordinator ModuleMM: Motion Control ModuleCIO 0105 00 to 07 MM Output Refresh A

109Synchronous Data Refresh Section 5-45-4 Synchronous Data Refresh5-4-1 OutlineIf Sync is set under Synchronization between Modules in the System Set

110Synchronous Data Refresh Section 5-4Synchronous DataNote (1) Synchronous data for Coordinator Modules is fixed to general-purpose(ladder execution

111Synchronous Data Refresh Section 5-4Note (1) Addresses are the same for the Coordinator Module and all Motion Con-trol Modules.(2) When the synchro

112DM Data Transfer Section 5-5System Setup (Motion Control Modules)Selecting Synchronous DataSelect the type of synchronous data to be sent by each M

113DM Data Transfer Section 5-55-5-2 Settings DetailsThe settings for using the DM data transfer function are made in the AuxiliaryArea.5-5-3 Executin

114Cycle Time Settings Section 5-6Step 2: Turn ON Request Bit• Transferring DM Data from the Coordinator Module to a Motion ControlModule: Turn ON the

115Cycle Time Settings Section 5-6System SetupConstant Cycle Time Exceeded FlagConstant Cycle Time Exceeded Error Clear BitConstant Cycle Time Functio

116Cycle Time Settings Section 5-6Note When the constant cycle time function is enabled for the Motion Control Mod-ule in ASync Mode, the Motion Contr

xvSafety Precautions 3• When the 24-VDC output (service power supply to the FQM1) is over-loaded or short-circuited, the voltage may drop and result i

117Cycle Time Settings Section 5-65-6-4 Clearing Constant Cycle Time Exceeded ErrorsWhen using the constant cycle time function, normally the cycle ti

118Operation Settings at Startup and Maintenance Functions Section 5-75-7 Operation Settings at Startup and Maintenance FunctionsThis section describe

119Operation Settings at Startup and Maintenance Functions Section 5-7Password Protection1,2,3... 1. Register a password either online or offline.a. S

120Diagnostic Functions Section 5-8in the PLC properties and Window/PLC Memory Backup Status must beselected from the View Menu. For normal transfer o

121Diagnostic Functions Section 5-8The number of records is stored in binary in the Error Log Pointer (A408). Thepointer is not incremented when more

122Diagnostic Functions Section 5-8Errors generated by FAL(006) can be cleared by executing FAL(006) with FALnumber 00 or performing the error read/cl

123SECTION 6Coordinator Module FunctionsThis section describes the serial communications functions, which are supported only by the Coordinator Module

124Serial Communications Section 6-16-1 Serial CommunicationsThe FQM1 supports the following serial communications functions. Protocol Connections Des

125Serial Communications Section 6-1Note The CJ1W-CIF11 is not insulated and the total transmission distance is 50meters max. If the total transmissio

126Serial Communications Section 6-16-1-1 Host Link CommunicationsThe following table shows the Host Link communication functions available inFQM1. Se

xviSafety Precautions 3• Locations subject to static electricity or other forms of noise• Locations subject to strong electromagnetic fields• Location

127Serial Communications Section 6-1Host Link Commands The following table lists the Host Link commands. Refer to the C-series HostLink Units System M

128Serial Communications Section 6-1FINS Commands The following table lists the FINS commands. Refer to the C-series Host LinkUnits System Manual (W14

129Serial Communications Section 6-16-1-2 No-protocol Communications (RS-232C Port)No-protocol Mode is used to send and receive data using the communi

130Serial Communications Section 6-1ProcedureMessage Frame FormatsData can be placed between a start code and end code for transmission byTXD(236) and

131Serial Communications Section 6-1Refer to the Instructions Reference Manual (Cat. No. O011) for more detailson the TXD(236) and RXD(235) instructio

132Serial Communications Section 6-16-1-4 Serial PLC Links Overview The FQM1 can be connected to a Serial PLC Link by linking to a Serial PLCMaster. (

133Serial Communications Section 6-1Direction of Data Transfer For example, if the number of link words is set to 10, the CJ1M CPU Unit(master) will b

134Serial Communications Section 6-1SettingsCJ1M (Master) PLC SetupNote (1) Automatically allocates 10 words (A hex) when the default setting of 0hex

135Serial Communications Section 6-1Note When the Serial Gateway function is used, the FQM1 receives FINS com-mands (encapsulated W-series or SMARTSTE

136Serial Communications Section 6-16-1-6 No-protocol Communications (RS-422A Port)RS-422A SettingsNote The settings are made using CX-Programmer Ver.

xviiSafety Precautions 3• Outputs may remain ON due to a malfunction in the built-in transistor out-puts or other internal circuits. As a countermeasu

137SECTION 7Motion Control Module FunctionsThis section describes the various functions supported by the Motion Control Module.7-1 Overview . . . . .

1387-6-10 Range Comparison Bit Pattern Outputs from Pulse Output PVs . . . 1827-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887) Instru

139Overview Section 7-17-1 OverviewThe FQM1 Modules have the following functions.Main function(Applicable Modules)Sub-functionsBasic interrupt functio

140Interrupt Functions Section 7-27-2 Interrupt Functions7-2-1 OverviewThe Motion Control Modules support the following interrupts.Executing Interrupt

141Interrupt Functions Section 7-2This situation can be avoided with the programming methods shown in the fol-lowing diagram.Note Only one interrupt t

142Input Interrupts Section 7-3The EI(694) instruction does not enable all interrupts. If an interrupt wasmasked before all interrupts were disabled,

143Input Interrupts Section 7-3Counter Mode7-3-5 Using Input InterruptsInput Interrupt Mode Procedure1,2,3... 1. Determine which input interrupt numbe

144Input Interrupts Section 7-3Counter Mode Procedure1,2,3... 1. Determine which input interrupt number will be used. 2. Determine the initial SV for

145Input Interrupts Section 7-37-3-6 Application ExampleThis example shows input interrupt 0 and input interrupt 1 used in interruptinput mode and cou

146Interval Timer Interrupts Section 7-4The following timing chart shows the operation of the program as it is exe-cuted.Note (1) Counting continues e

xviiiSafety Precautions 3• Do not apply voltages or connect loads to the built-in outputs in excess ofthe maximum switching capacity. Excess voltage o

147Interval Timer Interrupts Section 7-47-4-5 Application ExampleIn this example, the interval timer is used to generate an interrupt every2.4 ms (0.6

148Pulse Inputs Section 7-57-5 Pulse Inputs7-5-1 Applicable Models7-5-2 OutlineThe FQM1-MMP21 and FQM1-MMA21 Motion Control Modules can receivepulse i

149Pulse Inputs Section 7-5Counter values Linear Counter: 8000 0000 to 7FFF FFFF hexCircular Counter: 0000 0000 to Circular maximum count (hex)(The ci

150Pulse Inputs Section 7-57-5-4 Pulse Input SpecificationsItem SpecificationNumber of pulse inputs2 inputsNote High-speed counter 1 can be an RS-422A

151Pulse Inputs Section 7-5Minimum response pulseAt 50 kHzAt 500 kHz Operation may not be reliable above 50 kHz.Item SpecificationOFFON50%OFFONT1T2 T4

152Pulse Inputs Section 7-57-5-5 Latch Input Specifications7-5-6 Applicable Instructions7-5-7 Internal Circuit ConfigurationsPulse InputsPhases A and

153Pulse Inputs Section 7-57-5-8 Pulse Input Function DescriptionThe pulse input function uses the high-speed counters. The pulse input func-tion can

154Pulse Inputs Section 7-5Counter Operation(Numeric Ranges)The following two counter operations are available for high-speed counters 1and 2, with th

155Pulse Inputs Section 7-5 Phase-Z Signal (Reset Input) and Software ResetThe PV of the high-speed counter is reset on the first rising edge of thep

156Pulse Inputs Section 7-5 Range Comparison MethodUp to 16 comparison ranges (lower and upper limit values) and correspondingoutput bit patterns can

xixConformance to EC Directives 44 Conformance to EC Directives4-1 Applicable Directives•EMC Directives• Low Voltage Directive4-2 ConceptsEMC Directiv

157Pulse Inputs Section 7-5Monitoring High-speed Counter Movement (Mode 1)This function monitors the change in a high-speed counter’s PV (travel dis-t

158Pulse Inputs Section 7-5High-speed Counter Movement (Mode 1) SpecificationsNote (1) When using mode 1 with a circular counter, set the maximum circ

159Pulse Inputs Section 7-5Frequency Measurement (Mode 2) SpecificationsLatching a High-speed Counter’s PVThe present counter value can be latched at

160Pulse Inputs Section 7-57-5-9 Pulse Input Function ProceduresHigh-speed Counter Procedure1,2,3... 1. Determine the Input Mode, reset method, and Nu

161Pulse Inputs Section 7-5Mode 1 Procedure1,2,3... 1. Determine the Counting Speed, Input Mode, Reset Method, and CounterOperation.• Counting Speed:

162Pulse Inputs Section 7-5• Monitor the high-speed counter movement value in A604 and A605(high-speed counter 1) or A606 and A607 (high-speed counter

163Pulse Inputs Section 7-5ExampleWhen the PV reaches 2,500 hex, interrupt task 10 is started. When the PV reaches 7,500 hex, interrupt task 11 is sta

164Pulse Inputs Section 7-5Example 2:High-speed Counter Range Comparison & Bit Pattern OutputIn this example, pulse input 1 operates a high-speed

165Pulse Inputs Section 7-5RangeHigh-speedCounter PVTimeContent of A612310000Range27500Range12500A612: 0001 hex 0002 hex 0004 hex 0008 hex0001 hex0002

166Pulse Inputs Section 7-5Example 3:Latching High-speed Counter PVIn this example, pulse input 1 operates a high-speed counter, the high-speedcounter

xxConformance to EC Directives 44-5 Relay Output Noise Reduction MethodsThe FQM1-series Flexible Motion Controller conforms to the Common Emis-sion St

167Pulse Outputs Section 7-67-6 Pulse Outputs7-6-1 Applicable Models7-6-2 OutlineThe FQM1-MMP21 Motion Control Module provides 2 pulse outputs. Thepul

168Pulse Outputs Section 7-67-6-3 SpecificationsItem SpecificationAcceleration/ decelera-tionNone YesTrapezoid None None (acceleration or deceleration

169Pulse Outputs Section 7-67-6-4 Pulse Output SpecificationsAll Pulse Outputs Except for One-shot Pulse OutputsOne-shot Pulse OutputsNumber of output

170Pulse Outputs Section 7-67-6-5 Applicable InstructionsThe following seven instructions can be used to control pulse outputs. Therelationship betwee

171Pulse Outputs Section 7-67-6-6 Pulse Output Function DetailsOverview Pulses are output in independent mode or continuous mode. In independentmode,

172Pulse Outputs Section 7-6 Pulse output operation mode (Only in Independent Mode)Description Compatible instructions(1)Relative pulse outputPosition

173Pulse Outputs Section 7-6Pulse Output OperationsThe following table shows the operations that can be performed with the pulseoutput function. Mode

174Pulse Outputs Section 7-6Indepen-dent mode (Position-ing)Pulse output starts at the specified fre-quency and stops when the specified num-ber of pu

175Pulse Outputs Section 7-6Note With ACC(888) and PLS2(887), the acceleration/deceleration rate’sspeed-change cycle can be set to 2ms or 1 ms. Also,

176Pulse Outputs Section 7-6Formula:Actual frequency = Clock frequency ÷ INT (clock frequency/target frequency)Note INT (clock frequency/target freque

FQM1 SeriesFQM1-CM001FQM1-MMP21FQM1-MMA21Flexible Motion ControllerOperation ManualProduced November 2004

xxiConformance to EC Directives 4When switching a load with a high inrush current such as an incandescentlamp, suppress the inrush current as shown be

177Pulse Outputs Section 7-6Set the pulse output operation mode to 1 shot in advance in the SystemSetup, as shown in the following table.Note A pulse

178Pulse Outputs Section 7-67-6-8 Time Measurement with the Pulse CounterThe one-shot pulse output function can be used to create a high-precisionpuls

179Pulse Outputs Section 7-6(3) If the STIM(980) instruction is executed again to restart an operating tim-er, the timer value will be reset to 0 and

180Pulse Outputs Section 7-6Linear Mode OperationA target value can be set at a desired pulse output PV to execute an interrupttask when the target va

181Pulse Outputs Section 7-6D00100 0 0 3 2 D00101 0 7 D 0 D00102 0 0 0 0 ACC #1#0D00100@CTBL #3#0D000003.00 D00000 0 0 0 5D00001 0 5 0 0D00002 0 0

182Pulse Outputs Section 7-6Circular Mode OperationA speed control pattern can be repeated in continuous speed control to con-trol a series of repetit

183Pulse Outputs Section 7-6Setting the Speed-change CycleThe speed change cycle for the ACC(888) and PLS2(887) instructions isspecified by setting th

184Pulse Outputs Section 7-6Setting the Pulse Output Direction Priority ModeThe pulse output direction priority mode for the PLS2(887) instruction is

185Pulse Outputs Section 7-6• Set the clock speed for pulse outputs 1 and 2.4. Create the necessary ladder programming. • Use PULS(886) to set number

186Pulse Outputs Section 7-6• Use PRV(881) to read the pulse output PV of the specified port.Pulse Outputs without Acceleration/Deceleration (PULS(886

xxiiData Backup 55Data BackupThe user programs, I/O memories, and other data in the Coordinator Moduleand Motion Control Modules is backed up either b

187Pulse Outputs Section 7-6The PULS(886) instruction (Electronic Cam Control) can be used to imme-diately change the pulse output value for absolute

188Pulse Outputs Section 7-6• Select pulse output 1 or 2.2. Wire the output.• Output: CW and CCW• Output power supply: 5 V DC3. Make the necessary Sys

189Pulse Outputs Section 7-6• Set the pulse output operation mode (in the Pulse Output Tab Page −Operation Mode) to Calculation (time measurement).3.

190Pulse Outputs Section 7-6Changing the Frequency in StepsIn this example, the SPED(885) instruction is used to change the speed of apulse output fro

191Pulse Outputs Section 7-6Note The pulse output can be stopped by executing ACC(888) with a decelerationtarget frequency of 0. However, since the pu

192Pulse Outputs Section 7-6PULS#1#2D00000P_OnMOVL &200000 D00002 ENDP_OnAPR D01000A600D00000 D00000D00001D00002D00003D01000 1 0 0 4D01001 0 3 E 7

193Pulse Outputs Section 7-6Using PLS2(887) for Trapezoidal Acceleration/DecelerationIn this example, the axis is accelerated in the CW direction at 5

194Pulse Outputs Section 7-6get Frequency Not Reached Flag (A624.02 or A625.02) will turn ON at thepeak of the triangular pattern and turn OFF when de

195Pulse Outputs Section 7-6(3) Use this function for positioning.Allowed Startup Conditions for Pulse Output Operations (with Output Stopped)The foll

196Pulse Outputs Section 7-6PULS(886) Absolute Pulse Output in ProgressPulse Output Operation Mode (Absolute Linear) LimitationsPLS2(887)Startup Condi

xxiiiData Backup 5mentary power interruptions. For operating parameters and other long-term data, use the portion of DM Area stored in flash memory in

197Pulse Outputs Section 7-6Note Cancel the number of output pulses set with PULS(886) and then executePLS2(887).Cases (1), (2), and (3)Case (4)Case (

198Pulse Outputs Section 7-6Note The pulse output will stop. After the axis stops, it must be restarted. Cases (6), (8), (9), and (10)• Starting instr

199Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7• Starting instruction: ACC(888) (continuous or independent), deceleration

200Functions for Servo Drivers Compatible with Absolute Encoders Section 7-77-7-3 Data Format of Absolute Encoder OutputThe format of data from a Serv

201Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7•Example 1A value between 0 and 65,534 is set in the Servo Driver, the Sys

202Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7Absolute Circular Counter The absolute encoder’s pulse information is coun

203Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7Ps: Absolute offsetNote With an absolute circular counter, the absolute nu

204Functions for Servo Drivers Compatible with Absolute Encoders Section 7-77-7-9 Related AreasSystem SetupTab page Function Details Time when setting

205Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7Auxiliary AreaPulse input Counter 1 Max. circular valueWhen the counter op

206Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7A606 and A60700 to 15 High-speed Counter 2Counter operation• Absolute line

xxivData Backup 5

207Functions for Servo Drivers Compatible with Absolute Encoders Section 7-77-7-10 Overview of Absolute Encoder Output Data AcquireBehavior of the Ser

208Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7After a short time has passed to allow the Servo Driver's output to s

209Functions for Servo Drivers Compatible with Absolute Encoders Section 7-77-7-11 Timing Chart of the Functions for Servo Drivers Compatible with Abs

210Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7Note Adjust the timer value of TIMH(15) instruction (10 ms timer) to match

211Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7Note Adjust the timer value of TIMH(15) instruction (10 ms timer) to match

212Virtual Pulse Output Function Section 7-87-8 Virtual Pulse Output Function7-8-1 Applicable Models7-8-2 OverviewThe AXIS instruction allows the exec

213Virtual Pulse Output Function Section 7-87-8-3 AXIS Instruction (For Virtual Pulse Outputs)Overview The AXIS instruction is used to generate a virt

214Virtual Pulse Output Function Section 7-8Description • Use the AXIS instruction with an input condition that is ON for one cycle.AXIS cannot be use

215Analog Input Functions Section 7-97-8-4 Application ExamplePositioning or Speed Control Using a Virtual AxisThe internal pulse count can be treated

216Analog Input Functions Section 7-9The PRV(881) instruction can also be used to read the latest analog inputvalue through immediate refreshing. Anal

1SECTION 1Features and System ConfigurationThis section describes the features of the FQM1 and its system configuration.1-1 Outline of FQM1 Flexible M

217Analog Input Functions Section 7-97-9-3 Analog Input Function SpecificationsNote The following diagram is provided as a reference example. This ex

218Analog Input Functions Section 7-97-9-4 Related Areas and SettingsSystem SetupTab page Function Settings Time when setting becomes effectiveAnalog

219Analog Input Functions Section 7-9Auxiliary AreaWord Bits Function Settings Controlled byA550 00 to 15 Analog Input PV Contains the value input fro

220Analog Input Functions Section 7-9A562 00 Analog Out-put 1 FlagsUser Adjustment CompletedInitial value is 0.Set to 1 if user performs offset/gain a

221Analog Input Functions Section 7-9A570 00 Adjustment Mode Com-mand Bits(Effective only when A575 is 5A5A hex.)Adjustment EnableAnalog Input OFF: Ad

222Analog Input Functions Section 7-97-9-5 Applicable InstructionsWith END Refreshing Read the analog input PV (A550) using an instruction such as the

223Analog Input Functions Section 7-9Signal Range: 1 to 5 V and 4 to 20 mASignal Range: 0 to 5 V7-9-7 High-speed Analog Sampling (FQM1-MMA21 Only)Over

224Analog Input Functions Section 7-9Once the sampling of analog input values starts, the number of values speci-fied with the circular value (up to 3

225Analog Outputs Section 7-103. The high-speed analog sampling function stops when the specified num-ber of high-speed analog input data samples have

226Analog Outputs Section 7-107-10-3 Analog Output Function SpecificationsAnalog OutputsItem SpecificationOutput signals Voltage outputsNumber of anal

2Outline of FQM1 Flexible Motion Controller Section 1-11-1 Outline of FQM1 Flexible Motion ControllerThe FQM1 (Flexible Quick Motion) is a stand-alone

227Analog Outputs Section 7-10Note (1) The overall accuracy is the ratio of accuracy to the full scale.(2) The following table shows the status of the

228Analog Outputs Section 7-10Specified Output Values and Analog Output Signals7-10-4 Applicable InstructionsEND Refreshing Set the analog output valu

229Analog Outputs Section 7-10F: Analog output valueSpecifies the target analog output value as a 4-digit hexadecimal value.Note The specified analog

230Analog Outputs Section 7-107-10-6 Application ExampleOutputting the Analog Output Value Stored in the Auxiliary AreaIn this example, the Motion Con

231Analog Outputs Section 7-10

232Analog Outputs Section 7-10

233SECTION 8Connecting the CX-ProgrammerThis section explains how to connect a personal computer running the CX-Programmer to the FQM1.8-1 CX-Programm

234CX-Programmer Section 8-18-1 CX-ProgrammerConnect the CX-Programmer Support Software to the Coordinator Module tocreate and monitor programs for al

235Connecting the CX-Programmer Section 8-28-2 Connecting the CX-Programmer8-2-1 System ConfigurationConnecting a Personal Computer Running Support So

236Connecting the CX-Programmer Section 8-2Connecting through the USB port with a USB-Serial Conversion CableConnecting to the Peripheral PortCable Co

3Outline of FQM1 Flexible Motion Controller Section 1-1Built-in RS-232C Port in Coordinator ModuleA Programmable Terminal (PT) can be connected to the

237Connecting the CX-Programmer Section 8-2Connecting to the RS-232C PortConnection Methods (Using a USB-Serial Conversion Cable)Cable Connection Diag

238Connecting the CX-Programmer Section 8-28-2-2 CX-Programmer Connecting CablesNote When connecting one of these cables to the Coordinator Module’s R

239Connecting the CX-Programmer Section 8-2Connecting an RS-232C Cable to the Peripheral PortThe following connection configurations can be used when

240Connecting the CX-Programmer Section 8-2

241SECTION 9Error ProcessingThis section provides information on identifying and correcting errors that occur during FQM1 operation.9-1 Error Log. . .

242Error Log Section 9-19-1 Error LogEach time that an error occurs in the FQM1, the error information is stored inthe Error Log Area starting at A100

243Error Processing Section 9-29-2 Error Processing9-2-1 Error CategoriesErrors in the FQM1 can be broadly divided into the following three categories

244Error Processing Section 9-29-2-3 Error CodesERRONOFFOFFONFlashing--- --- ---PRPHL --- --- --- --- --- OFF --- ---COMM1 --- --- --- --- --- --- OFF

245Error Processing Section 9-29-2-4 Error Processing FlowchartUse the following flowchart as a guide for error processing with the CX-Pro-grammer.Yes

246Error Processing Section 9-29-2-5 Error TablesThe following tables show the errors which can occur in the FQM1 and indi-cate the probable cause of

4FQM1 Configuration Section 1-2Pulse Input Frequency Measurement FunctionThe speed of pulse inputs can be measured at the same time as the numberof pu

247Error Processing Section 9-2message and related Auxiliary Area flags/words and correct the cause of theerror.Errors are listed in order of importan

248Error Processing Section 9-2When operation is stopped, all outputs will be turned OFF. The Servo Driverthat is in Servo ON state for outputs from t

249Error Processing Section 9-2Non-fatal Errors If the following LED indicator condition appears during operation (in RUN orMONITOR mode), it indicate

250Error Processing Section 9-2Other ErrorsCoordinator Module Fatal error0006 A402.14: Coor-dinator Module Fatal Error FlagA fatal error occurred in t

251Error Processing Section 9-29-2-6 Power Supply CheckPower Supply Unit'sPOWER indicator is not lit.Is power being supplied to the Module?Connec

252Error Processing Section 9-29-2-7 Memory Error Check9-2-8 Program Error CheckMemory error occurredONOFFNoYesFlash Memory Error Flag (A403.10) ON?Th

253Error Processing Section 9-29-2-9 Cycle Time Overrun Error Check9-2-10 System Setup Error CheckNot causeof errorThe program execution time exceeded

254Error Processing Section 9-29-2-11 I/O Setting Error CheckYesNoI/O Setting Error occurredAre 5 or more Motion ControlModules connected?Reconfigure

255Error Processing Section 9-29-2-12 I/O CheckThe I/O check flowchart is based on the following ladder diagram section,assuming that the problem is S

256Troubleshooting Problems in Modules Section 9-39-2-13 Environmental Conditions CheckNote Prevent exposure to corrosive gases, flammable gases, dust

5FQM1 Configuration Section 1-2FQM1-CM001 Coordinator ModuleOne Coordinator Module is required in an FQM1. The Coordinator Moduleprovides the followin

257Troubleshooting Problems in Modules Section 9-3Motion Control Module ErrorsInput ErrorsError condition Probable cause RemedyThe Motion Control Modu

258Troubleshooting Problems in Modules Section 9-3Output ErrorsError condition Probable cause RemedyNone of the outputs will go ON. (1) The load power

259SECTION 10Inspection and MaintenanceThis section provides inspection and maintenance information.10-1 Inspections . . . . . . . . . . . . . . . .

260Inspections Section 10-110-1 InspectionsDaily or periodic inspections are required in order to maintain the FQM1 inpeak operating condition.10-1-1

261Inspections Section 10-1Note The following table shows the allowable voltage fluctuation ranges for sourcepower supplies.Tools Required for Inspect

262Inspections Section 10-1

263Appendix AProgrammingPrograms and TasksTasksThere are basically two types of task.1. Cyclic Task The cyclic task is executed once each cycle. 2. In

264Programming Appendix ASubroutinesWhat Are Subroutines?A subroutine is a program written between the SBN(092) and RET(093) instructions in a special

265Programming Appendix AUsing Subroutines That Pass ParametersWith these subroutines, parameters can be passed to the subroutine when it is called an

266Programming Appendix ANote (1) Index registers have been used to increase the usability of subroutines called with JSB(982). Theactual addresses i

6Modules Section 1-3FQM1-TER01 End Module One End Module is supplied with the Coordinator Module. Always attach theEnd Module because it acts as a ter

267Programming Appendix AApplication ExamplesExecution without Subroutine Input Condition FlagsMCRO 0049 0002 00150220.00MCRO 0049

268Programming Appendix AExecution with Subroutine Input Condition FlagsMain ProgramJSB 0 D00000D01000acSBN0 A000.00@ACC#0000#0000,IR0@INI#0000#000300

269Programming Appendix ABasic Information on ProgrammingBasic Information on InstructionsPrograms consist of instructions. The conceptual structure o

270Programming Appendix AThe following instructions are used in pairs to set and cancel certain instruction conditions. Each pair ofinstructions must

271Programming Appendix AInstruction Location and Input ConditionsThe following table shows the possible locations for instructions. Instructions are

272Programming Appendix ADM Area addresses are given with “D” prefixes, as shown below for the address D00200.Specifying Operands0010Word addressD0020

273Programming Appendix ANote With indirect address specifications in binary mode, the DM Area addresses are treated as consecutivememory addresses.Sp

274Programming Appendix AOperand Description Notation Application examplesSpecifying an indirect address using a reg-ister Indirect address (No offset

275Programming Appendix AText string Text string data is stored in ASCII (one byte except for special charac-ters) in order from the leftmost to the r

276Programming Appendix AData FormatsThe following table shows the data formats that the FQM1 can handle.Note Signed Binary DataIn signed binary data,

iv

7Modules Section 1-3Outline of Internal Data Exchange and I/OPTCX-ProgrammerDM DMRS-232CPLCRS-422ACoordinator ModuleMotion Control Module #1Motion Con

277Programming Appendix ANegative Numbers: A value is negative if the leftmost bit is 1 (ON). In 4-digit hexadecimal, this isexpressed as 8000 to FFFF

278Programming Appendix ANote Signed BCD DataSigned BCD data is a special data format that is used to express negative numbers in BCD. Althoughthis fo

279Programming Appendix AInstruction VariationsThe following variations are available for instructions to differentiate executing conditions.Input Con

280Programming Appendix A• Input Instructions (Logical Starts and Intermediate Instructions): The instruction reads bit status,makes comparisons, test

281Programming Appendix AProgramming Precautions Condition FlagsUsing Condition FlagsCondition flags are shared by all instructions, and will change d

282Programming Appendix ASince condition flags are shared by all instructions, make absolutely sure that they do not interfere with eachother within a

283Programming Appendix AExample: The following example will move #0200 to D00200 if D00100 contains #0010 and move #0300to D00300 if D00100 does not

284Programming Appendix A2. Using Execution Results from Differentiated InstructionsWith differentiated instructions, execution results for instructio

285Programming Appendix AEquals FlagThe Equals Flag is a temporary flag for all instructions except when comparison results are equal (=). It is setau

286Programming Appendix ASpecial Program SectionsFQM1 programs have special program sections that will control instruction conditions. The following s

8CX-Programmer Section 1-41-4 CX-ProgrammerThe CX-Programmer provides software functions for programming anddebugging.FQM1 Patch Software must be inst

287Programming Appendix AInstructions Not Allowed in SubroutinesThe following instructions cannot be placed in a subroutine.Note Block Program Section

288Programming Appendix AComputing the Cycle TimeFQM1 Operation FlowchartThe Coordinator Module and Motion Control Modules process data in repeating c

289Programming Appendix AOverview of Cycle Time CalculationsCoordinator ModuleThe cycle time of the Coordinator Module will vary with the following fa

290Programming Appendix A5. Sync Bus Refreshing6. Cyclic Refreshing7. Peripheral ServiceCalculating the Cycle Time of a Motion Control ModuleThe cycle

291Programming Appendix A4. I/O Refreshing5. Cyclic Refreshing6. Sync Bus Refreshing7. Peripheral ServiceModule I/O Refresh TimesCyclic Refresh Time i

292Programming Appendix AExample of Calculating the Cycle TimeAn example is given here for FQM1-MMP21 Motion Control Modules connected to a Coordinato

293Programming Appendix AResponse TimeI/O Response TimeThe I/O response time is the time it takes from when an built-in input on a Module turns ON, th

294Programming Appendix AMotion Control Module I/O Response TimeMinimum I/O Response Time (General-purpose I/O 0 to 3)The I/O response time is shortes

295Programming Appendix ACalculation ExampleInput ON delay: 0.03 msOverhead time: 0.193 msInstruction execution time: 0.001 msOutput ON delay: 0.1 msP

296Programming Appendix AScheduled Interrupt TaskThe interrupt response time of scheduled interrupt tasks is the time taken from after the scheduled t

9Expanded System Configuration Section 1-51-5 Expanded System Configuration1-5-1 Serial CommunicationsThe FQM1 system can be expanded using the two se

297Programming Appendix AProcessing TimeThe time required from when the interrupt factor occurs until the interrupt task is called and the time requir

298Programming Appendix A(2) When using interrupt tasks frequently, be sure to consider the time required for interrupt processingand its affect on th

299Appendix BI/O MemoryOverview of I/O MemoryIntroductionThis section describes the I/O Memory and other parts of memory in the Modules other than tha

300I/O Memory Appendix BI/O Memory StructureCoordinator ModuleThe following table shows the basic structure of the I/O Memory for the Coordinator Modu

301I/O Memory Appendix BMotion Control ModulesThe following table shows the basic structure of the I/O Memory Area for the Motion Control Modules.Note

302I/O Memory Appendix BCIO AreaOverviewIt is not necessary to input the “CIO” prefix when specifying an address in the CIO Area. The CIO Area is gen-

303I/O Memory Appendix BThis area can be used to transfer information between Modules that does not required high-speed exchange.The user can allocate

304I/O Memory Appendix BImmediate RefreshI/O can also be refreshed on the timing specified by the user using immediate refreshing. Any I/O refreshedus

305I/O Memory Appendix B• Each TR bit can be used only once in one program section. • The status of TR bits cannot be changed from the CX-Programmer.T

306I/O Memory Appendix BThe following table shows when timer PVs and Completion Flags will be reset.Note The present value of TIM, TIMH(015), and TMHH

10Expanded System Configuration Section 1-5Host Link System The Host Link System allows the I/O memory of the Modules to be read/writ-ten and the oper

307I/O Memory Appendix BData Memory (DM) AreaThe DM Area contains 32,768 words with addresses ranging from D00000 to D32767. This data area is usedfor

308I/O Memory Appendix BThe Condition Flags cannot be force-set and force-reset except for the Carry Flag, which can be manipulatedwith the STC(040) a

309I/O Memory Appendix BClock PulsesThe Clock Pulses are flags that are turned ON and OFF at regular intervals by the system.The Clock Pulses are spec

310I/O Memory Appendix BParameter AreaUnlike the data areas in I/O Memory, which can be used in instruction operands, the Parameter Area can beaccesse

311Appendix CSystem Setup, Auxiliary Area Allocations, and Built-in I/O AllocationsOverview of System SetupsA System Setup contains software settings

312System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CSync Cycle TimeSync ModeStartup Mode Setting (CX-Programmer: Start

313System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CPeripheral Port Settings (CX-Programmer: Peripheral Port Tab Page)

314System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CHost Link Unit NumberPeripheral Port Settings for NT Link Serial C

315System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CBaud RateRS-232C Port Settings (CX-Programmer: Host Port Tab Page)

316System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CHost Link Unit NumberRS-232C Port Settings for NT LinkSerial Commu

11Expanded System Configuration Section 1-5Set the PT communications settings for a 1:N or Standard NT Link. An NTLink System is possible for either t

317System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CBaud RateRS-232 Port Settings for No-protocol Communications (RS-2

318System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CStart Code and End CodeNumber of Received BytesRS-232C Port Settin

319System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CRS-422A Port Settings (CX-Programmer: Drive Tab Page)RS-422A Port

320System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CStart Code and End CodeNumber of Received BytesPeripheral Service

321System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CSystem Setup in Motion Control ModulesSettings Used by All Motion

322System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CFQM1-MMP21 Motion Control Modules with Pulse I/OCX-Programmer: Pul

323System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CCX-Programmer: Pulse Output Tab Page+323 00 to 03 High-speed count

324System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CNote Always set the Circular Maximum Count when setting any of the

325System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CCX-Programmer: Analog Input/Output Tab PageNote Analog outputs tha

326System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CNote The RS-232C port settings can also be changed with the STUP (

12Expanded System Configuration Section 1-51:N Connection between CJ1M and FQM1 Controllers1:1 Connection between CJ1M and FQM1 ControllerSerial Gatew

327System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CNote The watch cycle time setting cannot be changed while the Modu

328System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CThe default value for each servicing process is 6.25% of the last

329System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CAuxiliary Area Allocations by FunctionThe following tables list th

330System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CAddress Bits Name Function Controlled byA608 00 High-speed counter

331System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CA609 00 High-speed counter 2 statusTarget Compar-ison In-progress

332System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CA610 00 High-speed counter 1 com-mand bitsStart Bit OFF: Stops cou

333System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CA611 00 High-speed counter 2 com-mand bitsStart Bit Same as comman

334System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CA620 to A62100 to 15 Pulse Output 1 PVNote This item applies when

335System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CA626 00 Pulse Output 1 Command BitsPV Reset Bit OFF: Pulse output

336System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CFQM1-MMA21 Motion Control Modules with Analog I/OAddress Bits Name

13Basic Operating Procedure Section 1-6No-protocol (Custom) Communications System via RS-422A PortNo-protocol communications allow simple data transmi

337System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CA562 00 Analog Output 1 FlagsUser Adjustment Com-pletedInitial val

338System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CAddress Bits Name Function Controlled byA564 00 Analog Output 1 Co

339System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CAddress Bits Name Function Controlled byA600 00 to 15 High-speed C

340System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CAddress Bits Name Function Controlled byA608 00 High-speed counter

341System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CA609 00 High-speed counter 2 statusTarget Compar-ison In-progress

342System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CA610 00 High-speed counter 1 com-mand bitsStart Bit OFF: Stops cou

343System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CAllocations Related to Built-in InputsInput InterruptsA611 00 High

344System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CAllocations That Are the Same for the Coordinator Module and Motio

345System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CFAL/FALS ErrorsMemory ErrorsSystem SetupI/O ErrorsModule ErrorsA50

346System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix COtherAllocations Related to DM Data Transfer (Coordinator Module O

14Basic Operating Procedure Section 1-6Wiring I/O terminals and connectors. Refer to 3-3 Wiring Module Connec-tors for details.3. Initial Hardware Set

347System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CRS-232C PortRS-422A PortAllocations Directly Related to Instructio

348System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix CCoordinator Module Built-in I/O AllocationsInputs (40-pin General-

349Appendix DAuxiliary Area AllocationsAuxiliary Area Allocations in Order of AddressThe following table lists the Auxiliary Area allocations in order

350Auxiliary Area Allocations Appendix DA403 00 UM Error Flag Turns ON when there is an error in the user memory. 04 System Setup Error Flag Turns ON

351Auxiliary Area Allocations Appendix DA414 02 RS-422A Port Error FlagsParity Error Flag These error flags turn ON when an error has occurred at the

352Auxiliary Area Allocations Appendix DA520 00 to 15 Interrupt Counter 0 Counter SV Used for interrupt input 0 in counter mode.Sets the count value a

353Auxiliary Area Allocations Appendix DA559 00 to 15 Number of Analog Samples Indicates the number of data samples actually input since sam-pling sta

354Auxiliary Area Allocations Appendix DA570 00 Adjustment Mode Command Bits(Effective only when A575 is 5A5A hex.)Adjustment EnableAnalog Input OFF:

355Auxiliary Area Allocations Appendix DA606 to A60700 to 15 High-speed Counter 2For following counter modes• Absolute linear (CW−)• Absolute circular

356Auxiliary Area Allocations Appendix DA610 00 High-speed counter 1 com-mand bitsStart Bit OFF: Stops counter operation. The counter PV will be main-

15Basic Operating Procedure Section 1-61-6-1 Examples1. Installation Connect the Power Supply Unit, Coordinator Module, Motion Control Mod-ules, and E

357Auxiliary Area Allocations Appendix DA612 00 to 15 High-speed counter 1 monitor dataRange Comparison Execution Results FlagsContains the CTBL(882)

358Auxiliary Area Allocations Appendix DA626 00 Pulse Output 1 Com-mand BitsPV Reset Bit OFF: Pulse output 1 PV not reset.ON: Resets pulse output 1 PV

359Auxiliary Area Allocations Appendix DDetailed Explanations on the Auxiliary AreaError Log Area: A100 to A199Error Codes and Error FlagsNote (1) Co

360Auxiliary Area Allocations Appendix DFQM1 Memory AddressesFQM1 memory addresses are set in Index Registers (IR0 or IR1) to indirectly address I/O m

361Auxiliary Area Allocations Appendix DMemory MapNote Do not access the areas indicated Reserved for system.Classification FQM1 memory addresses (hex

362Auxiliary Area Allocations Appendix DFQM1 Instruction Execution Times and Number of StepsThe following table lists the execution times for all inst

363Auxiliary Area Allocations Appendix DNote When a double-length operand is used, add 1 to the value shown in the length column in the abovetable.Seq

364Auxiliary Area Allocations Appendix DNote When a double-length operand is used, add 1 to the value shown in the length column in the abovetable.Dat

365Auxiliary Area Allocations Appendix DData Shift InstructionsNote When a double-length operand is used, add 1 to the value shown in the length colum

366Auxiliary Area Allocations Appendix DNote When a double-length operand is used, add 1 to the value shown in the length column in the abovetable.Sym

16Basic Operating Procedure Section 1-64. Turning ON Power and Checking Initial OperationNote The System Setup and user programs are backed up in buil

367Auxiliary Area Allocations Appendix DNote When a double-length operand is used, add 1 to the value shown in the length column in the abovetable.Con

368Auxiliary Area Allocations Appendix DSpecial Math InstructionsNote When a double-length operand is used, add 1 to the value shown in the length col

369Auxiliary Area Allocations Appendix DNote When a double-length operand is used, add 1 to the value shown in the length column in the abovetable.Tab

370Auxiliary Area Allocations Appendix DInterrupt Control InstructionsNote When a double-length operand is used, add 1 to the value shown in the lengt

371Auxiliary Area Allocations Appendix DStep InstructionsNote When a double-length operand is used, add 1 to the value shown in the length column in t

372Auxiliary Area Allocations Appendix DSerial Communications InstructionsNote When a double-length operand is used, add 1 to the value shown in the l

373Auxiliary Area Allocations Appendix DNote When a double-length operand is used, add 1 to the value shown in the length column in the abovetable.Bra

374Auxiliary Area Allocations Appendix D

375IndexAA/D conversion value, 222absolute encoderabsolute circular counter, 202absolute linear counter, 202absolute offset preset, 203absolute presen

376IndexRS-232C port, 66, 134serial data, 200BCD data, 276BCD-mode addressing, 307binary-mode addressing, 307block programs, 270, 286, 287instruction

vNotice:OMRON products are manufactured for use according to proper proceduresby a qualified operator and only for the purposes described in this manu

17Basic Operating Procedure Section 1-67. Transferring the ProgramsWhen the programs has been created in the CX-Programmer, they must betransferred to

Index377current consumption, 45CX-Programmer, 92, 95Analog Input/Output Tab Page, 325connecting cables, 234, 238connections, 235methods, 237Cycle Time

378IndexEquals Flag, 285, 308error codes, 359Error Flag, 308error flags, 359error log, 120, 242Error Log Area, 242, 344, 349Error Log Pointer, 350erro

Index379Memory Error Flag, 248, 345, 349Memory Not Held Flag, 345, 350Motion Control Module Monitor Error Flag, 249Motion Control Module Monitoring Er

END refresh, 303immediate refresh, 304Motion Control Modules, 98using IORF(097) instruction, 304I/O response time, 293calculating, 293Coordinator Modu

Index381Less Than or Equals Flag, 308Linear Counter, 154linear counterCCW rotation, 201CW rotation, 201Linear Counter Mode, 205linear mode, 180logic i

382IndexPeripheral Devices, 6peripheral portconnecting a personal computer, 235Peripheral Port Communications Error Flag, 346, 350Peripheral Port Erro

Index383pulse inputs, 148applicable instructions, 152application examples, 162connections, 71high-speed counter, 153internal circuit configuration, 15

384Indexoperation procedure, 133PLC Setup (Master), 134System Setup (Slave), 134Servo Driverscompatible with absolute encoder, 207compatible with abso

Index385Ttable data processing instructionsexecution times, 369Target Comparison Flag, 357Target Comparison In-progress Flag, 340, 341, 355Target Freq

386Index

18Basic Operating Procedure Section 1-61,2,3... 1. Select the bit for differential monitoring.2. Select Differential Monitor from the PLC Menu. The Di

387Revision HistoryA manual revision code appears as a suffix to the catalog number on the front cover of the manual.The following table outlines the

388

OMRON CORPORATIONFA Systems Division H.Q.66 MatsumotoMishima-city, Shizuoka 411-8511JapanTel: (81)55-977-9181/Fax: (81)55-977-9045Regional Headquarter

Terms and Conditions of Sale1. Offer; Acceptance. These terms and conditions (these "Terms") are deemedpart of all quotes, agreements, purch

O010-E1-01 11/05 ©2005 OMRON ELECTRONICS LLC Specifications subject to change without notice.Printed in the U.S.A.OMRON ELECTRONICS LLC1 Commerce Dr

19Function Tables Arranged by Purpose Section 1-71-7 Function Tables Arranged by Purpose1-7-1 Sync Cycles and Synchronized dataPurpose Operation Funct

20Function Tables Arranged by Purpose Section 1-7Synchronizing 3 or more axesMake control cycle as short as possible with Modules syn-chronizedSynchro

21Function Tables Arranged by Purpose Section 1-71-7-2 Position and Speed ControlPurpose Operation Main functions usedDetailsPTP positioning using pul

22Function Tables Arranged by Purpose Section 1-7PTP positioning using pulse I/OUsing Servo Drivers compati-ble with an Absolute EncoderReading PV fro

23Function Tables Arranged by Purpose Section 1-7PTP positioning using analog I/OSimple position-ing using invert-ersStepped or sloped analog output c

24Function Tables Arranged by Purpose Section 1-7Synchronous controlSlave axis con-trol synchro-nized to virtual axis.Electronic cam: Changing target

25Function Tables Arranged by Purpose Section 1-71-7-3 Measuring Input PulsesSpeed control Torque control (position + torque control)Individual axis c

26Function Tables Arranged by Purpose Section 1-71-7-4 High-speed Analog I/O ControlDetecting speed using rotary encoder inputsDetecting speed and use

vi

27Function Tables Arranged by Purpose Section 1-7Control using measurement results for undu-lation, distortion, thickness, height, diame-ter, etc., of

28Function Tables Arranged by Purpose Section 1-71-7-5 Controlling TimingPurpose Operation Main functions usedDetailsResponding quickly to exter-nal s

29Function Tables Arranged by Purpose Section 1-7Operation with highly precise timingIncreasing accu-racy of external output ON time. (Feeding, hole o

30Function Tables Arranged by Purpose Section 1-7

31SECTION 2Specifications and NomenclatureThis section provides the specifications of the FQM1 and describes the parts and their functions on the Coor

32List of Models Section 2-12-1 List of ModelsNote If CX-Programmer Ver. 5.0 is used with the FQM1, the FQM1 Patch Softwaremust be installed.2-2 Gener

33General Specifications Section 2-2Note (1) Disconnect the Power Supply Unit's LG terminal from the GR terminalwhen testing insulation and diele

34Coordinator Module Section 2-3Note (1) The inrush current is given for a cold start at room temperature with anAC power supply. The AC inrush contro

35Coordinator Module Section 2-3Switch on Front Panel Peripheral Port Baud Rate Detection/System Setup SwitchFunction SpecificationsPRPHL Yellow Perip

36Coordinator Module Section 2-3CIO Area Input Bit Area 16 bits (CIO 0000): CIO 0000.00 to CIO 0000.15Output Bit Area 8 bits (CIO 0001): CIO 0001.00 t

viiTABLE OF CONTENTSPRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii1 Intended Audience . . . . . . . . . . . .

37Motion Control Modules Section 2-4I/O SpecificationsBuilt-in General-purpose I/O2-4 Motion Control ModulesMotion Control ModuleFQM1-MMP21 (Pulse I/O

38Motion Control Modules Section 2-4FQM1-MMA21 (Analog I/O)NomenclatureIndicatorsNote IN0 to IN 11, OUT0 to OUT7, and A1 to B2 are all controlled by h

39Motion Control Modules Section 2-4Performance SpecificationsItem SpecificationsControl method Stored programI/O control method Cyclic scanProgrammin

40Motion Control Modules Section 2-4I/O SpecificationsGeneral-purpose I/O SpecificationsCommon Specifications for FQM1-MMP21 (Pulse I/O) and FQM1-MMA2

41Motion Control Modules Section 2-4Pulse I/O Specifications FQM1-MMP21 (Pulse I/O)Item SpecificationsPulse inputsNumber of counters 2Counter operatio

42Motion Control Modules Section 2-4Pulse Inputs and Analog I/O SpecificationsFQM1-MMA21 (Analog I/O)Item SpecificationsPulse inputsNumber of counters

43Dimensions Section 2-52-5 DimensionsFQM1-CM001 Coordinator ModuleFQM1-MMP21/MMA21 Motion Control ModulesFQM1-TER01 End ModuleFLEXIBLEMOTIONCONTROLLE

44Dimensions Section 2-5Power Supply Units CJ1W-PA202CJ1W-PA205R654581.690POWERPA202INPUTNCNCAC100-240VL2/NL1POWERPA205RDC24VAC240VOUTPUTRUNINPUTAC100

45Module Current Consumption Section 2-6XW2B-80J7-1A Servo Relay Unit2-6 Module Current ConsumptionThe amount of current/power that can be supplied to

46Module Current Consumption Section 2-6Motion Control ModulesCurrent Consumption for 24-V SystemsExample Calculation of Current and Power Consumption

viiiTABLE OF CONTENTS4-4 Power OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

47Memory Block Diagram Section 2-72-7 Memory Block DiagramCoordinator Module and Motion Control Module memory has the followingblock configurations.•

48Memory Block Diagram Section 2-7

49SECTION 3Installation and WiringThis section describes how to install and wire the FQM1. 3-1 Installation. . . . . . . . . . . . . . . . . . . . . .

50Installation Section 3-13-1 Installation3-1-1 Installation and Wiring PrecautionsBe sure to consider the following factors when installing and wirin

51Installation Section 3-1• The FQM1 will be easiest to install and operate if it is mounted at a heightof about 1.0 to 1.6 m.Improving Noise Resistan

52Installation Section 3-1FQM1 Orientation • The FQM1 must be mounted in an upright position to provide proper cool-ing.• Do not install the FQM1 in a

53Installation Section 3-13-1-2 Installation in a Control PanelThe FQM1 must be mounted inside a control panel on DIN Track. Note The FQM1 must be mou

54Installation Section 3-1Routing Wiring Ducts Install the wiring ducts at least 20 mm away from the FQM1 and any otherobjects, (e.g., ceiling, wiring

55Installation Section 3-1Assembled DimensionsW = a + 49 + 49 × n* + 14.7* n is the number of connected Motion Control Modules (Up to 4 can be con-nec

56Installation Section 3-1Installation Height The installation height of the FQM1 varies from 115 to 165 mm.When a CX-Programmer or connecting cables

ixTABLE OF CONTENTSSECTION 10Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 25910-1 Inspections . . . . . . . . . . . .

57Installation Section 3-12. Move the yellow sliders at the top and bottom of each Module until theyclick into place to lock the Modules together.Note

58Installation Section 3-12. Fit the back of the FQM1 onto the DIN Track by inserting the FQM1 ontothe top of the Track and then pressing in at the bo

59Installation Section 3-1DIN Track and AccessoriesUse the DIN Track and DIN Track End Plates shown below.• DIN TrackModel numbers: PFP-50N (50 cm), P

60Wiring Section 3-23-2 Wiring3-2-1 Wiring Power Supply UnitsNote The RUN output function is provided only for the CJ1W-PA205R Power Sup-ply Unit. It

61Wiring Section 3-2Terminal Screws and Crimp TerminalsThe terminals on the Power Supply Unit use M4, self-raising terminal screws.Note (1) Use crimp

62Wiring Section 3-2• LG is a noise-filtered neutral terminal. If noise is a significant source oferrors and to prevent electrical shocks, connect the

63Wiring Section 3-2Terminal Screws and Crimp TerminalsThe terminals on the Power Supply Unit use M4 self-raising terminal screws.Note (1) Use crimp t

64Wiring Section 3-23-2-2 RS-232C Port WiringConnector Pin ArrangementNote Do not connect the 5-V power supply on pin number 6 of the RS-232C port toa

65Wiring Section 3-2Peripheral Bus (Toolbus) Serial Communications ModeUse the following connectors and cables if making the RS-232C cable for RS-232C

66Wiring Section 3-2Connection Example to Programmable Terminal (PT)Direct Connection from RS-232C to RS-232C• Communications Mode: NT Link (1:N, N =

xTABLE OF CONTENTS

67Wiring Module Connectors Section 3-33-3 Wiring Module Connectors3-3-1 Connector Pin ArrangementThe following tables provide the connector pin arran

68Wiring Module Connectors Section 3-3FQM1-MM@21 Motion Control ModulesGeneral-purpose I/O 26-pin ConnectorFQM1-MMP21 Pulse I/O 40-pin ConnectorPin No

69Wiring Module Connectors Section 3-3FQM1-MMA21 Analog I/O 40-pin Connector23 Counter 1 SEN output signal for absolute Servo DriverSEN output 24 Coun

70Wiring Module Connectors Section 3-3Note Connect the voltage input (+) and the current input when using with a currentinput between 4 and 20 mA.3-3-

71Wiring Module Connectors Section 3-33-3-3 Wiring ExamplesConnecting Pulse Inputs (FQM1-MMP21/MMA21)Connect the output from an encoder to the connect

72Wiring Module Connectors Section 3-3• The wiring for an encoder with a line-driver output (Am26LS31 or equiva-lent) is shown below.Connecting a Serv

73Wiring Module Connectors Section 3-3Connecting Pulse Outputs (FQM1-MMP21)Example Connections with a Servo Driver are given below, as an example.FQM1

74Wiring Module Connectors Section 3-3Connecting Analog Outputs (FQM1-MMA21)Output signals are connected as shown in the following diagram.Connecting

75Wiring Servo Relay Units Section 3-4Applicable Connector-Terminal Block Conversion UnitsRecommended Wire SizeThe recommended size for cable wires is

76Wiring Servo Relay Units Section 3-4Nomenclature and Functions1,2,3... 1. Motion Control Module 40-pin ConnectorConnects to the 40-pin connector on