Flexible Motion Controller | Omron FQM1-MMA21 instruction

Cat. No. O010-E1-01

FQM1 Series

FQM1-CM001

FQM1-MMP21

FQM1-MMA21

Flexible Motion Controller

OPERATION MANUAL

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Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 operation manual Flexible Motion Controller

Contents

Flexible Motion Controller FQM1 Series Page  Omron Omron Product ReferencesPage Table of Contents Coordinator Module Functions 123 Inspection and Maintenance 259 Table of Contents About this Manual Name Cat. No Contents Xii Precautions Safety Precautions General PrecautionsIntended Audience Safety Precautions Operating Environment Precautions Application Precautions Xvii Xviii Applicable Directives Conformance to EC DirectivesConcepts Conformance to EC Directives Relay Output Noise Reduction Methods Current Characteristic Required elementCountermeasures Countermeasure Examples Name Model Cable length Circuit Current Characteristic Required element Module Data Data backup Data BackupTemperature Initial After 5 years After 10 years Charge the capacitor Backing Up DM Area Data in Flash Memory Xxiv Section Section Outline of FQM1 Flexible Motion Controller Special I/O Servo Driver Pulse or Analog I/O Basic I/O FQM1 Configuration FQM1-MMA21 FQM1-MMP21CJ1W-PA205R Details Modules PLC Outline of Internal Data Exchange and I/O CX-Programmer CX-Programmer System Configuration Expanded System ConfigurationSerial Communications Systems Host Link System Yes See note 1N Connection between CJ1M and FQM1 Controllers Serial GatewayConnection between CJ1M and FQM1 Controller FQM1 No-protocol Custom Communications System via RS-422A Port Basic Operating Procedure Input wiring Output wiring Wiring Initial Hardware Settings InstallationExamples Writing the Programs Transferring the Programs Testing Operation Save and Print the Programs Time Chart MonitoringData Tracing Online Editing Purpose Operation Function used Details Function Tables Arranged by Purpose Function Tables Arranged by Purpose Purpose Operation Main functions Details Used Position and Speed Control Absolute Encoders Analog Outputs Pulse Output Function Procedures Measuring Input Pulses High-speed Analog I/O Control Analog Input Function Specifications Pulse Outputs Controlling Timing Input Interrupt Mode Time Measurement with the Pulse Section Specifications and Nomenclature General Specifications General SpecificationsMust be installed Name Type Model Specifications VA max Inrush current At 100 to 120 V AC See note Power Supply Unit Specifications Indicator Color Name Status Meaning IndicatorsCoordinator Module Nomenclature Switch on Front Panel Function SpecificationsPeripheral Port Baud Rate Detection/System Setup Switch Bits TR0 to TR15 Motion Control Modules SpecificationsMotion Control Module Built-in General-purpose I/O OUT7 FQM1-MMA21 Analog I/OMMP21 MMP21 Performance SpecificationsMMA21 Specifications CW/CCW Pulse I/O Specifications FQM1-MMP21 Pulse I/O Pulse Inputs and Analog FQM1-MMA21 Analog I/O Specifications FQM1-CM001 Coordinator Module DimensionsFQM1-TER01 End Module Power Supply Units CJ1W-PA202 Module Current Consumption Maximum Current Maximum Total Power ConsumptionCurrent Consumption for Each Module XW2B-80J7-1A Servo Relay Unit Combining Power Supply Units Motion Control Modules Example Calculation Current and Power ConsumptionMotion Control Modules Current Consumption for 24-V Systems Motion Control Modules Memory Block DiagramAreas Backed Up by Super Capacitors Areas Backed Up to Flash Memory Section Installation and Wiring Installation and Wiring Precautions InstallationTemperature Control Accessibility for Operation and Maintenance Improving Noise Resistance FQM1 Orientation Do not install the FQM1 in any of the following positionsIng Wiring Ducts Installation in a Control PanelFQM1 must be mounted inside a control panel on DIN Track Terminal Screws M4 1.2 N·m M3 0.5 N·m Routing Wiring Ducts Assembled Appearance and DimensionsPLC FQM1 Installation Dimensions Assembled DimensionsCoordinator Module width 49 mm Motion Control Module width 49 mm Installation Height Connecting FQM1 Components DIN Track Installation Lock the pins on the backs of the Modules DIN Track DIN Track and AccessoriesPFP-100N2 DIN Track PFP-100N/50N DIN Track Wiring Power Supply Units WiringAC Power Source Power Supply Capacity Terminal Screws GroundingCrimp Terminals FQM1 Crimp Terminals for Ground Wire WiringSection 2 RS-232C Port WiringConnector Pin Arrangement Connection Methods Applicable Connectors Coordinator Module Connector Peripheral Bus Toolbus Serial Communications ModeIBM PC/AT or Compatible Connector 9-pin, Male Connecting to an IBM PC/AT or Compatible Specification RS-232C Port SpecificationsConnection Example to Programmable Terminal PT Direct Connection from RS-232C to RS-232C Connector Pin Arrangement Wiring Module ConnectorsGeneral-purpose I/O 40-pin Connector FQM1-CM001 Coordinator Module FQM1-MMP21 Pulse I/O 40-pin Connector General-purpose I/O 26-pin ConnectorFQM1-MM@21 Motion Control Modules Pin No Name Pin Name FQM1-MMA21 Analog I/O 40-pin Connector Input between 4 and 20 mA External Connection DiagramsAre outlined in the following tables Pulse Outputs Connecting Pulse Inputs FQM1-MMP21 MMA21 Wiring ExamplesExample Power supply Encoder FQM1-MMP21 Connecting Pulse Outputs FQM1-MMP21 Connecting Analog Outputs FQM1 MMA21 Wiring MethodsConnecting Analog Inputs FQM1-MMA21 Connectors Applicable Connector-Terminal Block Conversion Units Wiring Servo Relay UnitsRecommended Wire Size Pin No Signal RS-422 ConnectorNomenclature and Functions Lower Terminal Block Pin Arrangement Upper Terminal Block Pin Arrangement Switch Setting details Signal Switches Wiring Screw-less Clamp Terminal Blocks External DimensionsWiring Method Following screwdriver can be used when removing wires Model Manufacturer Recommended ScrewdriverPhoenix Contact Inc Sysmac PLC Wiring when Using Servo Relay Units Upper Terminal Block Arrangement Example Servo Relay Unit WiringLower Terminal Block Arrangement Connecting Cable Models List of FQM1 Connecting CablesSpecifications Model RS-422A Connecting Cables with 9-pin D-sub Connector Signal Wiring Wiring PrecautionsReducing Electrical Noise Surge suppressor specifications Diode specifications External WiringInductive Loads OUT Input Devices Connecting I/O DevicesCOM + VON ≤ VCC VR Precautions when Connecting a Two-wire DC Sensor Output Short-circuit Protection Output Wiring PrecautionsTransistor Output Residual Voltage Output Surge Current Add a control resistor as shown in the following diagramReduce the surge current Method Operation User Program OutlineMemory Coordinator Module Operation System Setup Flash Memory 3 I/O Refreshing and Peripheral Servicing Servicing ContentsStartup Initialization Refreshing User Program Area Description of Each Area System Setup Using CX-Programmer Memory System Setup Read/Write DM Area D00000 to D32767Tab Settings Motion Control Module Operation Same time Sync Mode OperationScan or at the specified sync cycle time. See note Ules. Refer to 5-4 Synchronous Data Refresh for details Program Mode Cyclic task status Interrupt task status Following tables list status and operations for each modeOperating Modes Operating Modes Operating Mode Changes and I/O Memory Power OFF OperationPower OFF Operation Mode Changes Cleared areas Retained areas Fixed Power OFF Detection Time Power OFF Timing ChartUser-set Power OFF Detection Time Power Holding Time Description of Operation Instruction Execution for Power Interruptions Module Functions and Data Exchange ASync Mode Sync ModeSynchronous Operation between Modules Sync and ASync Modes Method Outline Description Data Exchange between Modules Applications Cyclic Refresh Coordinator Module Cyclic Refresh Area Cyclic Refresh Area DetailsMotion Control Module Cyclic Refresh Areas Word Bits Details Address CM Coordinator Module MM Motion Control Module Cyclic Refresh Area AllocationsBits Details Bit Sync Cycle Time Synchronous Data RefreshSynchronous Data Synchronous Data Link Bit Area Input or analog output value in the System SetupLadder execution results data Transfer time System Setup Coordinator Module SettingsTrol Modules Synchronization between Modules DM Data Transfer System Setup Motion Control ModulesProhibit System Interruption of the Sync Make Auxiliary Area Settings Settings DetailsExecuting DM Data Transfer Area Constant Cycle Time Function Cycle Time SettingsTurn on Request Bit Programming Example System Setup Constant Cycle Time Function in Sync ModeConstant Cycle Time Exceeded Error Clear Bit Constant Cycle Time Function Enabled for Coordinator Module Cycle Time Monitoring Function Watch Cycle Time FunctionCycle Time Too Long Flag Auxiliary Area Words Constant Cycle Time Exceeded Error Clear Function Clearing Constant Cycle Time Exceeded ErrorsNormal Operation Auxiliary Area Bits Specifying the Startup Mode Operation Settings at Startup and Maintenance FunctionsTab Name Details Settings Default Program Protection Password Protection Automatic Backup to Flash MemoryFlash Memory Error Log Diagnostic FunctionsAuxiliary Area Flags Name Address Meaning Operation of FAL006 Failure Alarm Functions Operation of FALS007 Coordinator Module Functions FQM1 supports the following serial communications functions Serial CommunicationsProtocol Connections Description Peripheral 232C 422A Serial Communications Host Link Communications ProcedureFQM1. Select the method that best suits your application Type Header Name Function Code Host Link Commands Type Command Name Function Code Fins Commands Forced SET/RESET Cancel Forced SET/RESETNo-protocol Communications RS-232C Port CR+LF Message Frame Formats End code setting YesCR+LF System Setup RS-232C Settings Host Link Port Settings NT Link 1N ModeSetting Default Enabled On the TXD236 and RXD235 instructions Overview Serial PLC LinksUle are shared with the CJ1M master as shown below CIO 0080 to CIO 0089 CJ1M master to FQM1 slave FQM1 Slave Settings CJ1M Master SettingsSource Words and Number of Link Words Function Settings Settings Default Enabled Smart Active Parts Communications SettingsSmartstep No-protocol Communications RS-422A Port RS-422A Settings Motion Control Module Functions 138 OverviewSection OverviewFQM1 Modules have the following functions Main function Sub-functions Applicable Modules Overview Interrupt FunctionsInterrupt Priority Executing Interrupt Programs Disabling and Enabling All Interrupts DI802 instruction will disable all interruptsDisabling All Interrupts Enabling All Interrupts Input Interrupts Input Interrupt SpecificationsApplicable Models Overview of the Input Interrupt Function Counter Mode Using Input InterruptsInput Interrupt Mode Procedure Input Allocated input bit Interrupt task number Counter Mode Procedure Application Example Interval Timer Interrupt Modes Interval Timer InterruptsUsing Interval Timer Interrupts Equipped with one interval timer each @STIM Stim Interval Timer Pulse Inputs SpecificationsBased on the counter PV Model Functions Pulse Inputs Pulse Input Specifications 151 Internal Circuit Configurations Latch Input SpecificationsApplicable Instructions Pulse Inputs High-speed Counter Function Description Pulse Input Function Description Counter Operation Numeric Ranges Reset MethodsCircular Counter Linear Counter Software Reset Phase-Z Signal Reset Input and Software ResetChecking for High-speed Counter Interrupts Target-value Comparison Method Range Comparison Method Word Bits Function Details Monitoring High-speed Counter Movement ModeTab Function Details System Setup Function Details Word Bit Function Details High-speed Counter Procedure Pulse Input Function Procedures Target-value comparison interrupt Mode 1 Procedure Procedure Mode 2 ProcedurePulse Input Function Example Application 163 164 165 Example Latching High-speed Counter PV Pulse Outputs 168 One-shot Pulse Outputs All Pulse Outputs Except for One-shot Pulse Outputs Instructions Ineffective during Pulse Output Sible is also listed in the following table Pulse Output Function Details Mode Description 172 SPED88 Pulse Output Operations PULS88 Target frequency Precautions when Using Pulse OutputsSet by user Dividing ratio Formula One-shot Pulse Output FunctionTarget frequency Hz Actual output frequency Tab Function Setting One-shot Pulse Output SpecificationsWord Bits Function Contents Time Measurement with the Pulse Counter Target-value Comparison Interrupts from Pulse Output PVs Pulse Counter Timer Specifications Linear Mode Operation END ACC Range Comparison Bit Pattern Outputs from Pulse Output PVs Circular Mode Operation Setting 12 PLS2887 Pulse Output Direction Priority ModeSpeed-change Cycle Ms Cycle Setting the Pulse Output Direction Priority Mode Pulse Output Function ProceduresPulse Output Direction Priority Mode Execute PLS2887 with A628.14 OFF Pulse output port Pulse Outputs with Acceleration/Deceleration Port Pulse output port Electronic Cam Control Functions 187 One-shot Pulse Output STIM980 Pulse Counter Timer Function STIM980 @SPED Pulse Output Function Examples Accelerating the Frequency at a Fixed Rate Changing the Frequency in Steps Speed Number of pulses is 0 or more 192 @PLS2 Using PLS2887 for Trapezoidal Acceleration/Deceleration Supports continuous mode only Pulse Counter Time Measurement Timer ExamplePulse Output Starting Conditions One-shot Pulse Output Function Example CCW Use this function for positioning SPED8 PULS8 PULS88 PULS886 Absolute Pulse Output in Progress Absolute linear CaseTarget position Present position Cases 7, 11, 12 Cases 6, 8, 9, 199 Data Format of Absolute Encoder Output Serial Data SpecificationData Format P is in ASCII. It is 50 hex in hexadecimal Counting Operation Counter Operation Details Counter Operation Absolute Present Value Absolute Number of Rotations PV Counter 1 A604 and A605Absolute Linear Counter Absolute Circular Counter Absolute Offset Preset Absolute Present Value Preset7FFF Related Areas Tab Function Details Time when Setting Word Bits Function Details Controlled Auxiliary Area 206 Absolute Encoder Overview of Absolute Encoder Output Data AcquireOutput Data Acquiring Method 208 Program Description Sample Programs Connecting an Omron W-series Servo Driver 210 211 Axis Virtual Pulse Output Function First Word of Setting Table Mode Specifier Sets the output modeAxis Instruction For Virtual Pulse Outputs Operands Description Analog Input Functions Positioning or Speed Control Using a Virtual AxisMotion Control Module for Analog I/O FQM1-MMA21 Analog Input Function Specifications Tab Function Settings Time when setting Becomes effective Related Areas and Settings Word Bits Function Settings Controlled 220 221 6 A/D Conversion Value Signal Range −10 to 10 Signal Range 0 to 10With END Refreshing With Immediate Signal Range 0 to 5 Signal Range 1 to 5 V and 4 to 20 mAHigh-speed Analog Sampling FQM1-MMA21 Only Overview CTBL882 Instruction Operation Comparison Table At several measurement points @CTBL Analog Outputs Analog Outputs Analog Output Function Specifications CPU standby status Overall accuracy is the ratio of accuracy to the full scaleCondition Analog output END Refreshing With Immediate Refreshing Specified Output Values and Analog Output SignalsTo 10 To 5 Procedure Outputting a Stepped Analog Output Outputting the Analog Output Value Stored Auxiliary AreaOutputting a Sloped Analog Output 231 232 Connecting the CX-Programmer Name Model Specifications Make System Setup settings, and monitor or debug operationCables shown in the following table CS1W-CIF31 System Configuration Connecting the CX-ProgrammerConnecting a Personal Computer Running Support Software CS1W-CIF31 Cable Connection Diagram Connection Methods Using a USB-Serial Conversion Cable Cable Port Communic Connecting Ations Connector Model CX-Programmer Connecting Cables When connecting the CX-Programmer to the FQM1 Connecting an RS-232C Cable to the RS-232C PortConnecting an RS-232C Cable to the Peripheral Port Serial Features Communications Mode 240 Error Processing Errors Generated by FAL006/FALS007 Error LogError Log Structure Instruction FAL numbers Error codes Error Categories Error ProcessingError Information Indicator Status and Error Conditions Classification Error code Error name Error CodesERR OFF Prphl OFF COMM1 COMM2 Error Processing Flowchart CPU Errors Error TablesFatal Errors CPU Standby 247 Fatal Errors Non-fatal Errors Non-fatal ErrorsC2FF Lit Flashing Other Errors Power Supply Check Program Error Check Memory Error Check System Setup Error Check Cycle Time Overrun Error Check 11 I/O Setting Error Check 12 I/O Check Coordinator Module Errors Troubleshooting Problems in ModulesError condition Probable cause Remedy Environmental Conditions Check Input Errors Motion Control Module Errors Output Errors Inspection and Maintenance Inspection Points InspectionsInspection Points for Periodic Inspections Inspection Criteria Action Tools Required for Inspections Module Replacement PrecautionsRequired Tools Tools Required 262 Tasks Programming Programs and TasksType of task Description Subroutines Using Normal SubroutinesWhat Are Subroutines? Type of subroutine Description Calling instruction Execution without Subroutine Input Condition Flags Using Subroutines That Pass ParametersExecution with Subroutine Input Condition Flags Overview Address Corresponding subroutines Word Bits JSB982 OperationJSB Mcro Appendix aRET Main Program Basic Information on Programming Power FlowBasic Information on Instructions Instruction Conditions Operand types Description Symbol Instruction Description Setting Canceling ConditionFlags Operands Addressing I/O Memory Areas Instruction Location and Input ConditionsBit Addresses Word Addresses Operand Description Notation Application Specifying Operands BCD Operand Description Notation Application Examples LD ,IR0 Data Operand Data form Symbol Range Application exampleBCD #FFFFFFFF NUL AbcdeAbcd NUL NUL Data type Data FormatsDecimal Digit Two’s Complements Complements Ffff Decimal Hexadecimal BinaryFffe 7FFF Instruction Variations Variation Symbol DescriptionInput Conditions Non-differentiated Instructions 280 Using Condition Flags Programming PrecautionsCondition Flags Using Execution Results in NC and no Inputs CMP Error Flag Using Execution Results from Differentiated InstructionsMain Conditions Turning on Condition Flags Difu Carry Flag Equals FlagLess Than and Greater Than Flags Negative Flag Instruction Combinations Special Program SectionsSubroutines Program section Instructions Instruction condition Status Instructions Not Allowed in Step Ladder Program Sections Instructions Not Allowed in SubroutinesInstructions Not Allowed in Block Program Sections Following instructions cannot be placed in a subroutine Computing the Cycle Time FQM1 Operation FlowchartYES Coordinator Module Overview of Cycle Time CalculationsMotion Control Modules Calculating the Cycle Time of the Coordinator Module Calculating the Cycle Time of a Motion Control Module Peripheral ServiceSync Bus Refreshing Cyclic Refreshing Cyclic Refresh Time in the Coordinator Module Module I/O Refresh TimesCyclic Refresh Time in Motion Control Modules Model Refresh time Online Editing Cycle Time Extension Example of Calculating the Cycle TimeConditions Calculation Example for FQM1-MMP21 Response Time Response TimeCoordinator Module I/O Response Time Minimum I/O Response Time General-purpose I/O 0 to Motion Control Module I/O Response Time Motion Control Module Interrupt Response Times Interrupt Response TimesResponse Time for Pulse and Analog I/O Input Interrupt Tasks Scheduled Interrupt Task Motion Control Module Interrupt Processing Times Interrupt Response Time Calculation Example Processing TimeMinimum Response Time Maximum Response Time 298 Introduction Memory Overview of I/O MemoryParameter Area Coordinator Module Memory StructureCIO Motion Control Modules Bit Area CIO 0000 and CIO CIO Area Synchronous Data Link Bit Area CIO 0200 to RefreshSerial PLC Link Bit Area CIO 0080 to CIO END Refresh Work Area W000 to W255 W000.00 to W255.15, 4,096 Bits Refreshing Using the IORF097 InstructionAuxiliary Area A000 to A649 A000.00 to A649.15 Temporary Relay Area TR Timer Area Appendix B Counter Area Condition Flags Data Memory DM AreaBinary-mode Addressing @D BCD-mode Addressing *D Name CX-Programmer Function Symbol Using the Condition FlagsSummary of the Condition Flags Name Label CX-Programmer Operation Symbol Using the Clock PulsesClock Pulses Parameter Area System Setup Prohibit System Interrupt of the Sync Mode System Setup in the Coordinator ModuleAllow Writing to User Memory Cycle Time Settings CX-Programmer Timer/Peripheral Service Startup Mode Setting CX-Programmer Startup TabAppendix C Peripheral Port Settings for Host Link Peripheral Port Settings CX-Programmer Peripheral Port Tab Peripheral Port Settings for Peripheral Bus ToolBus Peripheral Port Settings for NT LinkStandard/Customer Setting Host Link Unit Number Format RS-232C Port Settings for Host Link RS-232C Port Settings for Peripheral Bus ToolBus RS-232C Port Settings for NT Link Send Delay RS-232 Port Settings for No-protocol Communications RS-232CData Format Start Code and End Code RS-232C Port Settings for PLC Link PC Link SlaveNumber of Received Bytes PLC Link Unit No. PC Link Unit Number Send Delay Time Peripheral Service Time Fixed Service Time Enable Setting Set Time to All Events Settings Used by All Motion Control Modules System Setup in Motion Control ModulesCX-Programmer Module Settings Tab CX-Programmer Cycle Time Tab CX-Programmer Pulse Input Tab FQM1-MMP21 Motion Control Modules with Pulse I/O Function Details CX-Programmer Pulse Output Tab FQM1-MMA21 Motion Control Modules with Analog I/O Address Bits Function Remarks When setting Startup Mode Details on System Setup SettingsPeripheral Port Settings RS-232C Port Settings Host Link Port Constant Cycle Time Messages Sent and Received with No-protocol ModeWatch Cycle Time Over Fixed Peripheral Servicing Time 328 Allocations That Are the Same for All Modules Auxiliary Area Allocations by FunctionFQM1-MMP21 Motion Control Modules with Pulse I/O 330 331 332 333 334 335 FQM1-MMA21 Motion Control Modules with Analog I/O 337 338 339 340 341 342 Appendix C Allocations Related to Built-in Inputs Other Error Flags and Bits Program Error FlagsError Log and Error Code System Flags Memory Errors FAL/FALS ErrorsErrors Module Errors Other CommunicationsPeripheral Port RS-232C Port Allocations Directly Related to InstructionsRS-422A Port Motion Control Module Built-in I/O Allocations Coordinator Module Built-in I/O Allocations Appendix D Appendix D 351 352 353 354 355 356 357 358 Error Log Area A100 to A199 Error Codes and Error FlagsClassification Error code Meaning Error flags Detailed Explanations on the Auxiliary Area FQM1 Memory Addresses Memory Configuration Memory Map Sequence Input Instructions FQM1 Instruction Execution Times and Number of StepsSequence Output Instructions Sequence Control Instructions Timer and Counter InstructionsComparison Instructions Data Movement Instructions Increment/Decrement Instructions Data Shift Instructions Symbol Math Instructions Logic Instructions Conversion Instructions Floating-point Math Instructions Special Math Instructions Data Control Instructions Table Data Processing InstructionsSubroutine Instructions High-speed Counter and Pulse Output Instructions Interrupt Control Instructions Refresh Instruction Step Instructions Debugging Instructions Serial Communications InstructionsFailure Diagnosis Instructions Other Instructions Else If notIend 374 Index Index 377 378 379 Page 381 382 383 384 385 386 Revision History Revision code Date Revised contentOriginal production 388 Regional Headquarters Omron Corporation Terms and Conditions of Sale Omron Electronics LLC