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Omron FQM1-MMP21, FQM1-CM001, FQM1-MMA21 operation manual Xii

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 Intended Audience General PrecautionsSafety Precautions Safety Precautions Operating Environment Precautions Application Precautions Xvii Xviii Conformance to EC Directives Conformance to EC DirectivesApplicable Directives Concepts Countermeasure Examples Current Characteristic Required elementRelay Output Noise Reduction Methods Countermeasures Name Model Cable length Circuit Current Characteristic Required element Charge the capacitor Data BackupModule Data Data backup Temperature Initial After 5 years After 10 years 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 CJ1W-PA205R FQM1-MMP21FQM1-MMA21 Details Modules PLC Outline of Internal Data Exchange and I/O CX-Programmer CX-Programmer Systems Expanded System ConfigurationSystem Configuration Serial Communications Host Link System Yes See note FQM1 Serial Gateway1N Connection between CJ1M and FQM1 Controllers Connection between CJ1M and FQM1 Controller No-protocol Custom Communications System via RS-422A Port Basic Operating Procedure Input wiring Output wiring Examples InstallationWiring Initial Hardware Settings Writing the Programs Transferring the Programs Testing Operation Online Editing Time Chart MonitoringSave and Print the Programs Data Tracing 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 Name Type Model Specifications General SpecificationsGeneral Specifications Must be installed VA max Inrush current At 100 to 120 V AC See note Power Supply Unit Specifications Nomenclature IndicatorsIndicator Color Name Status Meaning Coordinator Module Peripheral Port Baud Rate Detection/System Setup Switch Function SpecificationsSwitch on Front Panel Bits TR0 to TR15 Built-in General-purpose I/O SpecificationsMotion Control Modules Motion Control Module MMP21 FQM1-MMA21 Analog I/OOUT7 MMA21 Performance SpecificationsMMP21 Specifications CW/CCW Pulse I/O Specifications FQM1-MMP21 Pulse I/O Pulse Inputs and Analog FQM1-MMA21 Analog I/O Specifications FQM1-TER01 End Module DimensionsFQM1-CM001 Coordinator Module Power Supply Units CJ1W-PA202 XW2B-80J7-1A Servo Relay Unit Maximum Current Maximum Total Power ConsumptionModule Current Consumption Current Consumption for Each Module Current Consumption for 24-V Systems Example Calculation Current and Power ConsumptionCombining Power Supply Units Motion Control Modules Motion Control Modules Areas Backed Up to Flash Memory Memory Block DiagramMotion Control Modules Areas Backed Up by Super Capacitors Section Installation and Wiring Accessibility for Operation and Maintenance InstallationInstallation and Wiring Precautions Temperature Control Improving Noise Resistance Ing Do not install the FQM1 in any of the following positionsFQM1 Orientation Terminal Screws M4 1.2 N·m M3 0.5 N·m Installation in a Control PanelWiring Ducts FQM1 must be mounted inside a control panel on DIN Track PLC FQM1 Assembled Appearance and DimensionsRouting Wiring Ducts Motion Control Module width 49 mm Assembled DimensionsInstallation Dimensions Coordinator Module width 49 mm Installation Height Connecting FQM1 Components DIN Track Installation Lock the pins on the backs of the Modules PFP-100N/50N DIN Track DIN Track and AccessoriesDIN Track PFP-100N2 DIN Track Power Supply Capacity WiringWiring Power Supply Units AC Power Source Crimp Terminals GroundingTerminal Screws FQM1 Crimp Terminals for Ground Wire Connection Methods 2 RS-232C Port WiringWiringSection Connector Pin Arrangement Connecting to an IBM PC/AT or Compatible Peripheral Bus Toolbus Serial Communications ModeApplicable Connectors Coordinator Module Connector IBM PC/AT or Compatible Connector 9-pin, Male Direct Connection from RS-232C to RS-232C RS-232C Port SpecificationsSpecification Connection Example to Programmable Terminal PT FQM1-CM001 Coordinator Module Wiring Module ConnectorsConnector Pin Arrangement General-purpose I/O 40-pin Connector Pin No Name General-purpose I/O 26-pin ConnectorFQM1-MMP21 Pulse I/O 40-pin Connector FQM1-MM@21 Motion Control Modules Pin Name FQM1-MMA21 Analog I/O 40-pin Connector Pulse Outputs External Connection DiagramsInput between 4 and 20 mA Are outlined in the following tables Example Wiring ExamplesConnecting Pulse Inputs FQM1-MMP21 MMA21 Power supply Encoder FQM1-MMP21 Connecting Pulse Outputs FQM1-MMP21 Connectors Wiring MethodsConnecting Analog Outputs FQM1 MMA21 Connecting Analog Inputs FQM1-MMA21 Recommended Wire Size Wiring Servo Relay UnitsApplicable Connector-Terminal Block Conversion Units Nomenclature and Functions RS-422 ConnectorPin No Signal Lower Terminal Block Pin Arrangement Upper Terminal Block Pin Arrangement Switch Setting details Signal Switches Following screwdriver can be used when removing wires External DimensionsWiring Screw-less Clamp Terminal Blocks Wiring Method Phoenix Contact Inc Recommended ScrewdriverModel Manufacturer Sysmac PLC Wiring when Using Servo Relay Units Lower Terminal Block Arrangement Example Servo Relay Unit WiringUpper Terminal Block Arrangement Specifications Model List of FQM1 Connecting CablesConnecting Cable Models RS-422A Connecting Cables with 9-pin D-sub Connector Reducing Electrical Noise Wiring PrecautionsSignal Wiring OUT External WiringSurge suppressor specifications Diode specifications Inductive Loads COM + Connecting I/O DevicesInput Devices VON ≤ VCC VR Precautions when Connecting a Two-wire DC Sensor Residual Voltage Output Wiring PrecautionsOutput Short-circuit Protection Transistor Output Method Add a control resistor as shown in the following diagramOutput Surge Current Reduce the surge current Operation Memory OutlineUser Program Coordinator Module Operation System Setup Flash Memory Refreshing Servicing Contents3 I/O Refreshing and Peripheral Servicing Startup Initialization User Program Area Description of Each Area Motion Control Module Operation Memory System Setup Read/Write DM Area D00000 to D32767System Setup Using CX-Programmer Tab Settings Ules. Refer to 5-4 Synchronous Data Refresh for details Sync Mode OperationSame time Scan or at the specified sync cycle time. See note Program Operating Modes Following tables list status and operations for each modeMode Cyclic task status Interrupt task status Operating Modes Mode Changes Cleared areas Retained areas Power OFF OperationOperating Mode Changes and I/O Memory Power OFF Operation Power Holding Time Power OFF Timing ChartFixed Power OFF Detection Time User-set Power OFF Detection Time Description of Operation Instruction Execution for Power Interruptions Module Functions and Data Exchange Sync and ASync Modes Sync ModeASync Mode Synchronous Operation between Modules Method Outline Description Data Exchange between Modules Applications Cyclic Refresh Word Bits Details Address Cyclic Refresh Area DetailsCoordinator Module Cyclic Refresh Area Motion Control Module Cyclic Refresh Areas Bit Cyclic Refresh Area AllocationsCM Coordinator Module MM Motion Control Module Bits Details Synchronous Data Synchronous Data RefreshSync Cycle Time Transfer time Input or analog output value in the System SetupSynchronous Data Link Bit Area Ladder execution results data Synchronization between Modules SettingsSystem Setup Coordinator Module Trol Modules Interruption of the Sync System Setup Motion Control ModulesDM Data Transfer Prohibit System Area Settings DetailsMake Auxiliary Area Settings Executing DM Data Transfer Turn on Request Bit Programming Example Cycle Time SettingsConstant Cycle Time Function Constant Cycle Time Function Enabled for Coordinator Module Constant Cycle Time Function in Sync ModeSystem Setup Constant Cycle Time Exceeded Error Clear Bit Auxiliary Area Words Watch Cycle Time FunctionCycle Time Monitoring Function Cycle Time Too Long Flag Auxiliary Area Bits Clearing Constant Cycle Time Exceeded ErrorsConstant Cycle Time Exceeded Error Clear Function Normal Operation Program Protection Operation Settings at Startup and Maintenance FunctionsSpecifying the Startup Mode Tab Name Details Settings Default Flash Memory Automatic Backup to Flash MemoryPassword Protection Name Address Meaning Diagnostic FunctionsError Log Auxiliary Area Flags Operation of FAL006 Failure Alarm Functions Operation of FALS007 Coordinator Module Functions Peripheral 232C 422A Serial CommunicationsFQM1 supports the following serial communications functions Protocol Connections Description Serial Communications FQM1. Select the method that best suits your application ProcedureHost Link Communications Type Header Name Function Code Host Link Commands Type Command Name Function Code Fins Commands CR+LF Forced SET/RESETForced SET/RESET Cancel No-protocol Communications RS-232C Port CR+LF End code setting YesMessage Frame Formats On the TXD236 and RXD235 instructions NT Link 1N ModeSystem Setup RS-232C Settings Host Link Port Settings Setting Default Enabled CIO 0080 to CIO 0089 CJ1M master to FQM1 slave Serial PLC LinksOverview Ule are shared with the CJ1M master as shown below Source Words and Number of Link Words CJ1M Master SettingsFQM1 Slave Settings Function Settings Smartstep Smart Active Parts Communications SettingsSettings Default Enabled No-protocol Communications RS-422A Port RS-422A Settings Motion Control Module Functions 138 Main function Sub-functions Applicable Modules OverviewOverviewSection FQM1 Modules have the following functions Executing Interrupt Programs Interrupt FunctionsOverview Interrupt Priority Enabling All Interrupts DI802 instruction will disable all interruptsDisabling and Enabling All Interrupts Disabling All Interrupts Overview of the Input Interrupt Function Input Interrupt SpecificationsInput Interrupts Applicable Models Input Allocated input bit Interrupt task number Using Input InterruptsCounter Mode Input Interrupt Mode Procedure Counter Mode Procedure Application Example Equipped with one interval timer each Interval Timer InterruptsInterval Timer Interrupt Modes Using Interval Timer Interrupts @STIM Stim Interval Timer Model Functions SpecificationsPulse Inputs Based on the counter PV Pulse Inputs Pulse Input Specifications 151 Pulse Inputs Latch Input SpecificationsInternal Circuit Configurations Applicable Instructions High-speed Counter Function Description Pulse Input Function Description Linear Counter Reset MethodsCounter Operation Numeric Ranges Circular Counter Target-value Comparison Method Phase-Z Signal Reset Input and Software ResetSoftware Reset Checking for High-speed Counter Interrupts Range Comparison Method Tab Function Details Monitoring High-speed Counter Movement ModeWord Bits 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 Pulse Input Function Example Application Mode 2 ProcedureProcedure 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 Dividing ratio Precautions when Using Pulse OutputsTarget frequency Set by user Target frequency Hz Actual output frequency One-shot Pulse Output FunctionFormula Word Bits Function Contents One-shot Pulse Output SpecificationsTab Function Setting 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 Ms Cycle 12 PLS2887 Pulse Output Direction Priority ModeSetting Speed-change Cycle Execute PLS2887 with A628.14 OFF Pulse Output Function ProceduresSetting the Pulse Output Direction Priority Mode Pulse Output Direction Priority Mode 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 One-shot Pulse Output Function Example Pulse Counter Time Measurement Timer ExampleSupports continuous mode only Pulse Output Starting Conditions CCW Use this function for positioning SPED8 PULS8 PULS88 PULS886 Absolute Pulse Output in Progress Target position Present position CaseAbsolute linear Cases 7, 11, 12 Cases 6, 8, 9, 199 P is in ASCII. It is 50 hex in hexadecimal Serial Data SpecificationData Format of Absolute Encoder Output Data Format Counting Operation Counter Operation Details Counter Operation Absolute Linear Counter Absolute Circular Counter Absolute Number of Rotations PV Counter 1 A604 and A605Absolute Present Value 7FFF Absolute Present Value PresetAbsolute Offset Preset Related Areas Tab Function Details Time when Setting Word Bits Function Details Controlled Auxiliary Area 206 Acquiring Method Overview of Absolute Encoder Output Data AcquireAbsolute Encoder Output Data 208 Program Description Sample Programs Connecting an Omron W-series Servo Driver 210 211 Axis Virtual Pulse Output Function Operands Mode Specifier Sets the output modeFirst Word of Setting Table Axis Instruction For Virtual Pulse Outputs Description Motion Control Module for Analog I/O Positioning or Speed Control Using a Virtual AxisAnalog Input Functions 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 With END Refreshing With Immediate Signal Range −10 to 10 Signal Range 0 to 106 A/D Conversion Value Overview CTBL882 Instruction Operation Signal Range 1 to 5 V and 4 to 20 mASignal Range 0 to 5 High-speed Analog Sampling FQM1-MMA21 Only Comparison Table At several measurement points @CTBL Analog Outputs Analog Outputs Analog Output Function Specifications Condition Analog output Overall accuracy is the ratio of accuracy to the full scaleCPU standby status To 5 Specified Output Values and Analog Output SignalsEND Refreshing With Immediate Refreshing To 10 Procedure Outputting a Sloped Analog Output Outputting the Analog Output Value Stored Auxiliary AreaOutputting a Stepped Analog Output 231 232 Connecting the CX-Programmer CS1W-CIF31 Make System Setup settings, and monitor or debug operationName Model Specifications Cables shown in the following table Connecting a Personal Computer Running Support Software Connecting the CX-ProgrammerSystem Configuration CS1W-CIF31 Cable Connection Diagram Connection Methods Using a USB-Serial Conversion Cable Cable Port Communic Connecting Ations Connector Model CX-Programmer Connecting Cables Serial Features Communications Mode Connecting an RS-232C Cable to the RS-232C PortWhen connecting the CX-Programmer to the FQM1 Connecting an RS-232C Cable to the Peripheral Port 240 Error Processing Instruction FAL numbers Error codes Error LogErrors Generated by FAL006/FALS007 Error Log Structure Indicator Status and Error Conditions Error ProcessingError Categories Error Information Prphl OFF COMM1 COMM2 Error CodesClassification Error code Error name ERR OFF Error Processing Flowchart CPU Standby Error TablesCPU Errors Fatal Errors 247 Fatal Errors Lit Flashing Non-fatal ErrorsNon-fatal Errors C2FF 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 Environmental Conditions Check Troubleshooting Problems in ModulesCoordinator Module Errors Error condition Probable cause Remedy Input Errors Motion Control Module Errors Output Errors Inspection and Maintenance Inspection Criteria Action InspectionsInspection Points Inspection Points for Periodic Inspections Tools Required Module Replacement PrecautionsTools Required for Inspections Required Tools 262 Type of task Description Programming Programs and TasksTasks Type of subroutine Description Calling instruction Using Normal SubroutinesSubroutines What Are Subroutines? Overview Using Subroutines That Pass ParametersExecution without Subroutine Input Condition Flags Execution with Subroutine Input Condition Flags JSB JSB982 OperationAddress Corresponding subroutines Word Bits RET Appendix aMcro Main Program Instruction Conditions Power FlowBasic Information on Programming Basic Information on Instructions Operands Instruction Description Setting Canceling ConditionOperand types Description Symbol Flags Word Addresses Instruction Location and Input ConditionsAddressing I/O Memory Areas Bit Addresses Operand Description Notation Application Specifying Operands BCD Operand Description Notation Application Examples #FFFFFFFF Data Operand Data form Symbol Range Application exampleLD ,IR0 BCD NUL NUL AbcdeNUL Abcd Decimal Digit Data FormatsData type Two’s Complements Complements 7FFF Decimal Hexadecimal BinaryFfff Fffe Non-differentiated Instructions Variation Symbol DescriptionInstruction Variations Input Conditions 280 Condition Flags Programming PrecautionsUsing Condition Flags Using Execution Results in NC and no Inputs CMP Difu Using Execution Results from Differentiated InstructionsError Flag Main Conditions Turning on Condition Flags Negative Flag Equals FlagCarry Flag Less Than and Greater Than Flags Program section Instructions Instruction condition Status Special Program SectionsInstruction Combinations Subroutines Following instructions cannot be placed in a subroutine Instructions Not Allowed in SubroutinesInstructions Not Allowed in Step Ladder Program Sections Instructions Not Allowed in Block Program Sections YES FQM1 Operation FlowchartComputing the Cycle Time Calculating the Cycle Time of the Coordinator Module Overview of Cycle Time CalculationsCoordinator Module Motion Control Modules Cyclic Refreshing Peripheral ServiceCalculating the Cycle Time of a Motion Control Module Sync Bus Refreshing Model Refresh time Module I/O Refresh TimesCyclic Refresh Time in the Coordinator Module Cyclic Refresh Time in Motion Control Modules Calculation Example for FQM1-MMP21 Example of Calculating the Cycle TimeOnline Editing Cycle Time Extension Conditions Coordinator Module I/O Response Time Response TimeResponse Time Minimum I/O Response Time General-purpose I/O 0 to Motion Control Module I/O Response Time Input Interrupt Tasks Interrupt Response TimesMotion Control Module Interrupt Response Times Response Time for Pulse and Analog I/O Scheduled Interrupt Task Motion Control Module Interrupt Processing Times Maximum Response Time Processing TimeInterrupt Response Time Calculation Example Minimum Response Time 298 Parameter Area Memory Overview of I/O MemoryIntroduction CIO Memory StructureCoordinator Module Motion Control Modules Bit Area CIO 0000 and CIO CIO Area END Refresh RefreshSynchronous Data Link Bit Area CIO 0200 to Serial PLC Link Bit Area CIO 0080 to CIO Temporary Relay Area TR Refreshing Using the IORF097 InstructionWork Area W000 to W255 W000.00 to W255.15, 4,096 Bits Auxiliary Area A000 to A649 A000.00 to A649.15 Timer Area Appendix B Counter Area BCD-mode Addressing *D Data Memory DM AreaCondition Flags Binary-mode Addressing @D Summary of the Condition Flags Using the Condition FlagsName CX-Programmer Function Symbol Clock Pulses Using the Clock PulsesName Label CX-Programmer Operation Symbol Parameter Area System Setup Allow Writing to User Memory System Setup in the Coordinator ModuleProhibit System Interrupt of the Sync Mode Appendix C Startup Mode Setting CX-Programmer Startup TabCycle Time Settings CX-Programmer Timer/Peripheral Service Peripheral Port Settings for Host Link Peripheral Port Settings CX-Programmer Peripheral Port Tab Host Link Unit Number Peripheral Port Settings for NT LinkPeripheral Port Settings for Peripheral Bus ToolBus Standard/Customer Setting Format RS-232C Port Settings for Host Link RS-232C Port Settings for Peripheral Bus ToolBus RS-232C Port Settings for NT Link Data Format RS-232 Port Settings for No-protocol Communications RS-232CSend Delay PLC Link Unit No. PC Link Unit Number RS-232C Port Settings for PLC Link PC Link SlaveStart Code and End Code Number of Received Bytes Send Delay Time Peripheral Service Time Fixed Service Time Enable Setting Set Time to All Events CX-Programmer Cycle Time Tab System Setup in Motion Control ModulesSettings Used by All Motion Control Modules CX-Programmer Module Settings 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 RS-232C Port Settings Host Link Port Details on System Setup SettingsStartup Mode Peripheral Port Settings Watch Cycle Time Messages Sent and Received with No-protocol ModeConstant Cycle Time Over Fixed Peripheral Servicing Time 328 FQM1-MMP21 Motion Control Modules with Pulse I/O Auxiliary Area Allocations by FunctionAllocations That Are the Same for All Modules 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 System Flags Program Error FlagsOther Error Flags and Bits Error Log and Error Code Module Errors FAL/FALS ErrorsMemory Errors Errors Peripheral Port CommunicationsOther RS-422A Port Allocations Directly Related to InstructionsRS-232C 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 Detailed Explanations on the Auxiliary Area Error Codes and Error FlagsError Log Area A100 to A199 Classification Error code Meaning Error flags FQM1 Memory Addresses Memory Configuration Memory Map Sequence Output Instructions FQM1 Instruction Execution Times and Number of StepsSequence Input Instructions Comparison Instructions Timer and Counter InstructionsSequence Control Instructions Data Movement Instructions Increment/Decrement Instructions Data Shift Instructions Symbol Math Instructions Logic Instructions Conversion Instructions Floating-point Math Instructions Special Math Instructions Subroutine Instructions Table Data Processing InstructionsData Control Instructions High-speed Counter and Pulse Output Instructions Interrupt Control Instructions Refresh Instruction Step Instructions Other Instructions Serial Communications InstructionsDebugging Instructions Failure Diagnosis Instructions Iend If notElse 374 Index Index 377 378 379 Page 381 382 383 384 385 386 Original production Revision code Date Revised contentRevision History 388 Regional Headquarters Omron Corporation Terms and Conditions of Sale Omron Electronics LLC