FQM1-CM001 FQM1-MMP21 FQM1-MMA21
FQM1 Series
OPERATION MANUAL
Flexible Motion Controller
Produced November
FQM1-CM001 FQM1-MMP21 FQM1-MMA21
Flexible Motion Controller Operation Manual
FQM1 Series
Page
OMRON,
Notice
OMRON Product References
Visual Aids
Page
TABLE OF CONTENTS
SECTION
TABLE OF CONTENTS
Appendices
TABLE OF CONTENTS
Inspection and Maintenance
SECTION
TABLE OF CONTENTS
About this Manual
Page
xiii
PRECAUTIONS
Intended Audience
2 General Precautions
3 Safety Precautions
1 Intended Audience
Safety Precautions
3-1Operating Environment Precautions
Safety Precautions
3-2Application Precautions
Safety Precautions
xvii
•Changing the operating mode of the FQM1
Safety Precautions
•Do not apply voltages or connect loads to the built-inoutputs in excess of the maximum switching capacity. Excess voltage or loads may result in burning
xviii
EMC Directives
Conformance to EC Directives
EMC Directive Conformance Conditions
Conformance to EC Directives
Countermeasure Examples
4-5Relay Output Noise Reduction Methods
Conformance to EC Directives
Countermeasures
Circuit
Characteristic
Conformance to EC Directives
Motion Controller
5 Data Backup
Data Backup
xxii
A404.14
Data Backup
Backing Up DM Area Data in Flash Memory
xxiii
xxiv
Data Backup
SECTION Features and System Configuration
Section
1-1Outline of FQM1 Flexible Motion Controller
Flexible Configurations of Up To 8 Axes
Outline of FQM1 Flexible Motion Controller
Built-in RS-422APort in Coordinator Module
Outline of FQM1 Flexible Motion Controller
Section
Built-in RS-232CPort in Coordinator Module
Pulse Input Frequency Measurement Function
1-2FQM1 Configuration
FQM1 Configuration
Section
FQM1-CM001Coordinator Module
FQM1 Configuration
CJ1W-PA202/PA205RPower Supply Units
Section
Modules
Modules
Section
Modules
Section
Outline of Internal Data Exchange and I/O
CX-Programmer
1-4 CX-Programmer
CX-Programmer
Section
Section
1-5Expanded System Configuration
Expanded System Configuration
System Configuration
NT Link System 1:N Mode, Standard
Expanded System Configuration
Section
Host Link System
Expanded System Configuration
Section
NT Link 1:N Mode RS-232C PT NT Link 1:N Mode
Serial Gateway
Expanded System Configuration
System Configuration Example
Section
1-6Basic Operating Procedure
Basic Operating Procedure
Section
Basic Operating Procedure
3.Initial Hardware Settings
Section
1-6-1Examples
Basic Operating Procedure
1. Installation
2.Wiring 3.Initial Hardware Settings
6.Writing the Programs
Basic Operating Procedure
5.System Setup Settings
Section
Check Output Wiring
Basic Operating Procedure
7.Transferring the Programs 8.Testing Operation
8-aI/O Wiring Checks 8-bTrial Operation
9.Save and Print the Programs
Basic Operating Procedure
Time Chart Monitoring
Section
Sync Cycles and Synchronized data
Function Tables Arranged by Purpose
5-4-4Settings
1-7-1
5-1Synchronous Operation between Modules
Function Tables Arranged by Purpose
Section
5-1Synchronous Operation between Modules
7-6-12PLS2887 Pulse Output Direction Prior
1-7-2
Function Tables Arranged by PurposeSection
7-6-6Pulse Output Function Details
7-6-6Pulse Output Function Details
Function Tables Arranged by Purpose
Section
Absolute Encoders
7-8Virtual Pulse Output Function
Function Tables Arranged by Purpose
Section
7-10Analog Outputs
Section
7-6-13Pulse Output Function Procedures
7-6-13Pulse Output Function Procedures
Function Tables Arranged by Purpose
7-9Analog Input Functions
1-7-3
Function Tables Arranged by Purpose
Section
Section
7-9-3Analog Input Function Specifications
1-7-4
Function Tables Arranged by Purpose
7-6Pulse Outputs
Function Tables Arranged by Purpose
Section
7-9Analog Input Functions
7-4-3Interval Timer Interrupt Modes
7-4Interval Timer Interrupts
7-4-3Interval Timer Interrupt Modes
7-4Interval Timer Interrupts
7-6-8Time Measurement with the Pulse
Function Tables Arranged by Purpose
Section
7-5Pulse Inputs
Section
Function Tables Arranged by Purpose
SECTION Specifications and Nomenclature
List of ModelsSection
General Specifications
List of Models
General Specifications
General Specifications
Power Supply Unit Specifications
Section
Section
2-3Coordinator Module
Indicators
Coordinator Module
Section
Function Specifications
Switch on Front Panel
Coordinator Module
Coordinator Module
Section
CIO Area
Section
Motion Control Modules
I/O Specifications
Motion Control Modules
Nomenclature
Indicators
Motion Control Modules
Section
Performance Specifications
Motion Control Modules
Section
Section
I/O Specifications
General-purposeI/O Specifications
Motion Control Modules
FQM1-MMP21Pulse I/O
Pulse I/O Specifications
Motion Control Modules
Section
Pulse Inputs and Analog
I/O Specifications
Motion Control Modules
Section
FQM1-CM001Coordinator Module
2-5Dimensions
Dimensions
Section
POWER L1
Dimensions
Power Supply Units
POWER L1
Section
2-6Module Current Consumption
Maximum Current and Maximum Total Power
Module Current Consumption
Section
Example Calculation of Current and Power
Combining Power Supply Units and Motion Control
Module Current Consumption
Areas Backed Up by Super Capacitors
2-7Memory Block Diagram
Memory Block Diagram
Section
Section
Memory Block Diagram
SECTION Installation and Wiring
Temperature Control
3-1Installation
Installation
Installation in Cabinets or Control Panels
Improving Noise Resistance
Installation
Power lines 200 mm min FQM1 200 mm min
Section
Installation
Section
FQM1 Orientation
Wiring Duct Example
3-1-2Installation in a Control Panel
Installation
Wiring Ducts
Section
3-1-3Assembled Appearance and Dimensions
Installation
Routing Wiring Ducts
Power Supply Unit width: “a” mm
Installation
Assembled Dimensions
Installation Dimensions
Section
3-1-4Connecting FQM1 Components
Installation
Installation Height
Section
3-1-5DIN Track Installation
Installation
Release DIN Track mounting pins
Installation
2 3. Lock the pins on the backs of the Modules
Section
•DIN Track
Installation
DIN Track and Accessories
Section
Power Supply Capacity
3-2Wiring
Wiring
AC Power Source
Terminal Screws and
Wiring
Section
Grounding
Control panel
Wiring
Section
FQM1
Terminal Screws and
Wiring
Crimp Terminals for Ground Wire
Section
1:1 Connections with
WiringSection
Connector Pin Arrangement
Connection Methods
IBM PC/AT or Compatible Connector 9-pin,Male
Wiring
Applicable Connectors
Coordinator Module Connector
Connection Example to Programmable Terminal PT
Wiring
RS-232CPort Specifications
Section
Section
3-3Wiring Module Connectors
Wiring Module Connectors
General-purposeI/O 40-pinConnector
Section
Wiring Module Connectors
General-purposeI/O 26-pinConnector
FQM1-MMP21Pulse I/O 40-pinConnector
Wiring Module Connectors
FQM1-MMA21Analog I/O 40-pinConnector
Section
FQM1-MM@21Motion Control Modules
Wiring Module Connectors
3-3-2
Section
Section
3-3-3Wiring Examples
Wiring Module Connectors
Connecting Pulse Inputs FQM1-MMP21 MMA21
FQM1 Shielded twisted-paircable
Wiring Module Connectors
Power supply Encoder
Section
Example
Wiring Module Connectors
Connecting Pulse Outputs FQM1-MMP21
Section
Connectors
Wiring Module Connectors
Connecting Analog Outputs FQM1 MMA21
Connecting Analog Inputs FQM1-MMA21
Section
3-4Wiring Servo Relay Units
Wiring Servo Relay Units
Recommended Wire Size
Wiring Servo Relay Units
Section
Nomenclature and Functions
Lower Terminal Block Pin Arrangement
Wiring Servo Relay Units
Section
Upper Terminal Block Pin Arrangement
Wiring Servo Relay Units
6. Signal Switches
Section
Wiring Method
Wiring Servo Relay Units
External Dimensions
Wiring Screw-less Clamp Terminal Blocks
Model
Wiring Servo Relay Units
Section
Recommended Screwdriver
Wiring Servo Relay Units
Wiring when Using Servo Relay Units
Section
Upper Terminal Block Arrangement
Wiring Servo Relay Units
Example Servo Relay Unit Wiring
Section
Section
3-5List of FQM1 Connecting Cables
List of FQM1 Connecting Cables
Connecting Cable Models
List of FQM1 Connecting Cables
6.Servomotor Connecting Cables
Section
3-6-1Reducing Electrical Noise
3-6Wiring Precautions
Wiring Precautions
I/O Signal Wiring
Diode specifications
Wiring Precautions
External Wiring
Surge suppressor specifications
Input Devices
3-6-2Connecting I/O Devices
Wiring Precautions
Section
1,2,3
Wiring Precautions
Precautions when Connecting a Two-wireDC Sensor
Section
Output Short-circuitProtection
Wiring Precautions
Output Wiring Precautions
Section
FQM1
Wiring Precautions
Section
FQM1
SECTION Operation
User Program
4-1Coordinator Module
Coordinator Module
Section
Section
System Setup Flash Memory
4-1-2Coordinator Module Operation
Coordinator Module
Section
4-1-3I/O Refreshing and Peripheral Servicing
4-1-4Startup Initialization
Coordinator Module
Motion Control Modules
4-2Motion Control Modules
4-2-1Outline
4-2-2Description of Each Area
Section
I/O Memory System Setup
System Setup Using CX-Programmer
Motion Control Modules
Motion Control Modules
Section
Sync Mode Operation
Program Execution
Initialization at At power ON Common Processing
Motion Control Modules
Section
Operating Modes
4-3Operating Modes
4-3-2
Status and Operations in Each Operating Mode
4-3-3Operating Mode Changes and I/O Memory
4-4Power OFF Operation
4-4-1Power OFF Operation
Power OFF OperationSection
User-setPower OFF Detection Time
Power OFF Operation
Power OFF Timing Chart
Fixed Power OFF Detection Time
Power OFF Operation
Section
Description of Operation
SECTION Module Functions and Data Exchange
Sync Mode
Synchronous Operation between Modules
Synchronous Operation between ModulesSection
Sync and ASync Modes
5-2Data Exchange between Modules
Data Exchange between Modules
Section
Cyclic Refresh
5-3Cyclic Refresh
5-3-1Outline
5-3-2Applications
Coordinator Module Cyclic Refresh Area
5-3-3Cyclic Refresh Area Details
Cyclic Refresh
Section
Section
Cyclic Refresh Area Allocations
5-3-4
Cyclic Refresh
5-4-2
Synchronous Data Refresh
5-4-1
Outline
Section
Synchronous Data Link Bit Area
5-4-3
Synchronous Data Refresh
Synchronization between Modules
System Setup Coordinator Module
Synchronous Data Refresh
Section
Section
5-5DM Data Transfer
System Setup Motion Control Modules
DM Data Transfer
5-5-2
Settings Details
Step 1: Make Auxiliary Area Settings
5-5-3Executing DM Data Transfer
Section
5-6Cycle Time Settings
Cycle Time Settings
5-6-1Constant Cycle Time Function
Section
Cycle Time Settings
System Setup
Constant Cycle Time Exceeded Error Clear Bit
Cycle Time Too Long Flag
Cycle Time Settings
System Setup
Section
Normal Operation
Cycle Time Settings
Constant Cycle Time Exceeded Error Clear Function
Section
5-7-2Program Protection
Read Protection Using Passwords
System Setup
5-7-1Specifying the Startup Mode
Section
Automatic Backup to Flash Memory
Password Protection
5-7-3Flash Memory
Section
5-8Diagnostic Functions
Diagnostic Functions
Refer to SECTION 9 Error Processing for details
Operation of FAL006
5-8-2Failure Alarm Functions
Diagnostic Functions
Section
FALS
Diagnostic Functions
Section
Operation of FALS007
SECTION Coordinator Module Functions
Serial CommunicationsSection
Serial Communications
Section
Serial Communications
Serial CommunicationsSection
Procedure
Host Link Communications
6-1-1
Link Units System Manual W143 for details
Host Link Commands
Section
Serial Communications
FINS Commands
Serial Communications
Section
6-1-2 No-protocolCommunications RS-232CPort
Serial Communications
Section
Section
Procedure
End code setting
Serial Communications
Serial Communications
System Setup
RS-232CSettings Host Link Port Settings
System Setup
Overview
System Configuration
6-1-4Serial PLC Links
Serial CommunicationsSection
Serial Communications
Procedure
CJ1M Master Settings
FQM1 Slave Settings
System Configuration
Settings
CJ1M Master PLC Setup
FQM1 Slave System Setup
Section
System Setup
Smart Active Parts Communications Settings
Serial Communications
Section
RS-422ASettings
6-1-6 No-protocolCommunications RS-422APort
Serial Communications
SECTION Motion Control Module Functions
7-6-10
OverviewSection
Overview
Section
7-2Interrupt Functions
Interval Timer Interrupts
Interrupt Functions
Disabling All Interrupts
7-2-3Disabling and Enabling All Interrupts
Interrupt Functions
Section
Clearing Recorded Interrupts
Input Interrupts
Input Interrupts
Section
Section
7-3-5Using Input Interrupts
Input Interrupt Mode Procedure
Input Interrupts
1,2,3
Counter Mode Procedure
Input Interrupts
Section
7-3-6Application Example
Input Interrupts
Section
Interval Timer Interrupts
7-4Interval Timer Interrupts
Interval Timer Interrupt Modes
7-4-4Using Interval Timer Interrupts
Interval Timer Interrupts
7-4-5Application Example
Section
Applicable Models
Pulse Inputs
Specifications
7-5-1
Section
Pulse Inputs
Pulse InputsSection
7-5-4Pulse Input Specifications
At 50 kHz
Pulse Inputs
Section
Minimum response pulse
7-5-7
Phases A and B
Phase Z
7-5-6
Pulse Inputs
Input Signal Type and Count Mode
Phase Differential Inputs
Phase Differential Input Operation
Counter Operation Numeric Ranges
Reset Methods
Pulse Inputs
Section
Section
Phase-ZSignal Reset Input and Software Reset
Software Reset
Pulse Inputs
Pulse Inputs
Section
Range Comparison Method
Pulse Inputs
Section
Monitoring High-speedCounter Movement Mode
Monitoring a High-speedCounter’s Frequency Mode
High-speedCounter Movement Mode 1 Specifications
Pulse Inputs
Section
Latching a High-speedCounter’s PV
Frequency Measurement Mode 2 Specifications
Pulse Inputs
Section
Section
7-5-9Pulse Input Function Procedures
High-speedCounter Procedure
Pulse Inputs
Mode 1 Procedure
Pulse Inputs
Section
Pulse Inputs
Mode 2 Procedure
Procedure
Procedure
High-speed Counter PV
Pulse Inputs
Section
Example
Bit Pattern Output
Pulse Inputs
Section
Example High-speedCounter Range Comparison
Pulse Inputs
Section
P_On
Pulse Inputs
Section
Example Latching High-speed Counter PV
Pulse OutputsSection
Pulse Outputs
7-6-1
7-6-2
7-6-3
Pulse OutputsSection
Acceleration/ decelera
Section
Pulse Output Specifications
7-6-4
Pulse Outputs
Instructions Ineffective during Pulse Output
7-6-5
Applicable Instructions
Pulse OutputsSection
Overview
7-6-6
Pulse Output Function Details
Pulse OutputsSection
Description
Pulse Outputs
Section
Pulse output
Section
Procedure
Settings
Pulse Outputs
Pulse Outputs
Section
Indepen
Target frequency
Precautions when Using Pulse Outputs
Pulse Outputs
Section
Formula
7-6-7 One-shotPulse Output Function
Pulse Outputs
Section
One-shotPulse Output Specifications
Pulse Outputs
Section
7-6-8Time Measurement with the Pulse Counter
Pulse Outputs
Section
Pulse Counter Timer Specifications
Pulse Outputs
Section
Frequency speed Target value Target value
Pulse Outputs
Section
Linear Mode Operation
Pulse Outputs
Section
3.00
High-speedregion Low-speed 0region
Section
Circular Mode Operation
Single-rotationspeed control pattern
Speed-changeCycle
Setting the
Pulse Outputs
Section
Pulse Output Direction Priority Mode
Setting the Pulse Output Direction Priority Mode
Pulse Outputs
Section
Pulse Outputs
Section
Pulse Outputs with Acceleration/Deceleration
Electronic Cam Control Functions
Procedure
Pulse Outputs
Section
Section
Pulse Outputs
One-shotPulse Output STIM980
Pulse Counter Timer Function STIM980
Pulse Outputs
Section
7-6-14Pulse Output Function Examples
Pulse Outputs
Section
Accelerating the Frequency at a Fixed Rate
Pulse Outputs
Section
Changing the Frequency in Steps
Speed reaches 0 while the remaining
Pulse Outputs
Section
Specified number of pulses
Pulse Outputs
Section
P_On Always ON Flag P_On Always ON Flag
Section
Pulse Outputs
Section
Pulse Counter Time Measurement Timer Example
7-6-15Pulse Output Starting Conditions
Pulse Outputs
Section
Pulse Outputs
Pulse Output Operation
Pulse Outputs
Section
PULS886 Absolute Pulse Output in Progress
Cases 1, 2, and
Pulse Outputs
Section
PLS2887
Cases 7, 11, 12,
Pulse Outputs
Section
Cases 6, 8, 9, and
7-7-1Applicable Models
7-7-2Overview
Section
Data Format
Serial Data Specification
7-7-3Data Format of Absolute Encoder Output
Section
Absolute Linear CW−
7-7-4Counter Operation
Section
Counting Operation Counter Operation Details
7-7-6Absolute Present Value
Section
Absolute Linear Counter Absolute Circular Counter
7-7-7Absolute Present Value Preset
7-7-8Absolute Offset Preset
Section
System Setup
Related Areas
7-7-9
Auxiliary Area
Section
Section
A606
Note Refer to 7-7-6Absolute Present Value
Setting the Counter Operation
Step 1 Required: Setting
Setting the Pulse Input Method
Setting the Input Pulse Counting Speed
Step 3 as Needed: Origin Compensation Absolute
Offset Preset
Step 4 Required Absolute Present Value Preset
Section
Program Description
Section
0.00
Section
000005
Section
Virtual Pulse Output FunctionSection
7-8Virtual Pulse Output Function
7-8-1
7-8-2
Operands
T First Word of Setting Table
Virtual Pulse Output FunctionSection
Overview
Virtual Pulse Output Function
Section
Description
7-9-2
7-9Analog Input Functions
Positioning or Speed Control Using a Virtual Axis
7-9-1
Sensor pressure, displacement, etc
Analog Input Functions
Section
Analog Input Function Specifications
7-9-3
Analog Input FunctionsSection
Time when setting
Related Areas and Settings
System Setup
Settings
A550
Analog Input Functions
Section
Auxiliary Area
Analog Input Functions
Section
A562
Analog Input Functions
Section
A570
Analog Input Functions
Signal Range: −10 to 10 Signal Range: 0 to 10
7-9-5Applicable Instructions
7-9-6A/D Conversion Value
Section
Signal Range: 1 to 5 V and 4 to 20 mA
Signal Range: 0 to 5
Analog Input Functions
Application Example
Analog Input Functions
Section
Example
7-10-2
7-10
Analog Outputs
7-10-1
put Tab Page − Output
7-10-3Analog Output Function Specifications
Analog OutputsSection
Analog Outputs
Analog Outputs
Section
CPU standby status
END Refreshing With Immediate Refreshing
Specified Output Values and Analog Output Signals
Analog Outputs
Section
7-10-5Procedure
Analog Outputs
Section
in the Auxiliary Area
Analog Outputs
Section
Outputting the Analog Output Value Stored
Section
Analog Outputs
Section
Analog Outputs
SECTION Connecting the CX-Programmer
CX-ProgrammerSection
CX-Programmer
Connecting to the RS-232CPort
8-2Connecting the CX-Programmer
Connecting the CX-Programmer
Connecting to the Peripheral Port
Section
Connecting the CX-Programmer
Connecting to the Peripheral Port
Connection Diagram
Section
Connecting the CX-Programmer
Connecting to the RS-232CPort
Using an RS-232CCable
8-2-2 CX-ProgrammerConnecting Cables
Connecting the CX-Programmer
Section
Connecting the CX-Programmer
Connecting an RS-232CCable to the RS-232CPort
Section
Section
Connecting the CX-Programmer
SECTION Error Processing
Error Log Structure
9-1Error Log
Error Log
Errors Generated by FAL006/FALS007
Error ProcessingSection
Error Processing
Error Categories
9-2-2Error Information
Section
Error Codes
Error Processing
9-2-3
9-2-4Error Processing Flowchart
Error Processing
Section
Section
Error Processing
CPU Errors
Fatal Errors
Error Processing
message and related Auxiliary Area flags/words and correct the cause of the error
Section
Error
Error Processing
Fatal Errors
Error
Section
Error Processing
Non-fatalErrors
Non-fatalErrors
Error Processing
Other Errors
Section
9-2-6Power Supply Check
Error Processing
Section
Section
9-2-7Memory Error Check
9-2-8Program Error Check
Error Processing
Section
9-2-9Cycle Time Overrun Error Check
9-2-10System Setup Error Check
Error Processing
Section
9-2-11I/O Setting Error Check
Error Processing
I/O Setting Error occurred
Error Processing
9-2-12I/O Check
Section
9-2-13Environmental Conditions Check
Troubleshooting Problems in Modules
Troubleshooting Problems in Modules
Coordinator Module Errors
Section
Troubleshooting Problems in Modules
Motion Control Module Errors
Input Errors
Troubleshooting Problems in Modules
Output Errors
Section
10-1Inspections
Inspection and Maintenance
SECTION
Module Replacement Precautions
Inspection Points for Periodic Inspections
10-1Inspections
10-1-1Inspection Points
InspectionsSection
Required Tools
Inspections
Section
Tools Required for Inspections
Section
Inspections
Programming Programs and Tasks
Appendix A
Programming
Subroutines
Using Normal Subroutines
What Are Subroutines?
Execution with Subroutine Input Condition Flags
Using Subroutines That Pass Parameters
Programming
Appendix A
Address
Programming
Appendix A
JSB982 Operation
Without Macro Function
Programming
Appendix A
Application Examples
Main Program
Programming
Appendix A
Execution with Subroutine Input Condition Flags
Appendix A
Basic Information on Programming
Power Flow
Programming
Operands
Programming
Appendix A
Flags
Appendix A
Instruction Location and Input Conditions
Addressing I/O Memory Areas
Programming
Operand
Specifying Operands
Programming
Appendix A
Description
Programming
Appendix A
Operand
Programming
Appendix A
Operand
Lower 4 bits
Programming
Appendix A
Upper 4 bits
Note Signed Binary Data
Data Formats
Programming
Appendix A
Two’s Complements
Programming
Appendix A
Complements
Note Signed BCD Data
ProgrammingAppendix A
Appendix A
Instruction Variations
Input Conditions
Programming
Programming
Appendix A
Upwardly differentiated input instruction
Programming
Programming Precautions
Using Condition Flags
Condition Flags
Instruction A
1.Using Execution Results in NC and NO Inputs
Programming
Appendix A
MOV 1 0200 D00200 Reflects MOV execution results
Programming
Appendix A
CMP 0010 D00100 Reflects CMP execution results
Main Conditions Turning ON Condition Flags
Error Flag
Programming
Appendix A
Carry Flag
Programming
Appendix A
Equals Flag
Instruction Combinations
Special Program Sections
Programming
Appendix A
Note Block Program Sections
Programming
Appendix A
Instructions Not Allowed in Subroutines
Appendix A
Computing the Cycle Time
FQM1 Operation Flowchart
Programming
Coordinator Module
Overview of Cycle Time Calculations
Programming
Appendix A
Appendix A
Programming
Cyclic Refresh Time in the Coordinator Module
Module I/O Refresh Times
Programming
Appendix A
Appendix A
Example of Calculating the Cycle Time
Online Editing Cycle Time Extension
Programming
Coordinator Module I/O Response Time
Response Time
Programming
Appendix A
Minimum I/O Response Time General-purposeI/O 0 to
Programming
Appendix A
Motion Control Module I/O Response Time
Calculation Example
Programming
Appendix A
Motion Control Module Interrupt Response Times
Scheduled Interrupt Task
Programming
Appendix A
Motion Control Module Interrupt Processing Times
Interrupt Response Time Calculation Example
Programming
Appendix A
Processing Time
2When using interrupt tasks frequently, be sure to consider the time required for interrupt processing and its affect on the overall system
Programming
Appendix A
Parameter Area
Appendix B
I/O Memory Overview of I/O Memory
I/O Memory
Appendix B
I/O Memory Structure
Coordinator Module
I/O Memory
Motion Control Modules
I/O Memory
Appendix B
I/O Bit Area: CIO 0000 and CIO
CIO Area
I/O Memory
Appendix B
Serial PLC Link Bit Area CIO 0080 to CIO
I/O Memory
Appendix B
Synchronous Data Link Bit Area: CIO 0200 to
I/O Memory
Auxiliary Area: A000 to A649 A000.00 to A649.15
Temporary Relay Area TR
Refreshing Using the IORF097 Instruction
Timer Area
I/O Memory
Appendix B
Counter Area
I/O Memory
Appendix B
BCD-modeAddressing *D
Data Memory DM Area
Condition Flags
Binary-modeAddressing @D
Appendix B
Using the Condition Flags
symbol
I/O Memory
Appendix B
Clock Pulses
Using the Clock Pulses
I/O Memory
Appendix B
Parameter Area
System Setup
I/O Memory
Appendix C
System Setup, Auxiliary Area Allocations
Overview of System Setups
System Setup in the Coordinator Module
Appendix C
Appendix C
Peripheral Port Settings for Host Link
Communications Settings
Standard/Custom Setting
Host Link Unit Number
Peripheral Port Settings for NT Link
Standard/Customer Setting
Appendix C
Serial Communications Mode
RS-232CPort Settings for Host Link
Appendix C
Baud Rate
Appendix C
RS-232CPort Settings for NT Link
RS-232CPort Settings for Peripheral Bus ToolBus
Standard/Custom Setting
Serial Communications Mode
Send Delay
Appendix C
Baud Rate
Number of Received Bytes
RS-232CPort Settings for PLC Link PC Link Slave
Appendix C
Start Code and End Code
Send Delay Time
RS-422APort Settings CX-Programmer:Drive Tab Page
RS-422APort Settings for Serial Gateway
Standard/Custom Setting
Number of Received Bytes
Peripheral Service Time
Appendix C
Start Code and End Code
CX-Programmer:Cycle Time Tab Page
System Setup in Motion Control Modules
CX-Programmer:Module Settings Tab Page
Appendix C
CX-Programmer:Pulse Input Tab Page
FQM1-MMP21Motion Control Modules with Pulse I/O
Function Details
Appendix C
CX-Programmer:Pulse Output Tab Page
Pulse Output
CX-Programmer:Pulse Input Tab Page
When setting
FQM1-MMA21Motion Control Modules with Analog I/O
Appendix C
Appendix C
Details on System Setup Settings
Peripheral Port Settings
RS-232CPort Settings Host Link Port
Messages Sent and Received with No-protocolMode
Appendix C
Constant Cycle Time
Watch Cycle Time
Fixed Peripheral Servicing Time
Appendix C
Appendix C
The default value for each servicing process is 6.25% of the last cycle’s cycle time. In general, it is rec- ommended that the default value be used. Set a uniform servicing time only when peripheral servicing is being delayed because each service process is being spread over several cycles
FQM1-MMP21Motion Control Modules with Pulse I/O
Auxiliary Area Allocations by Function
Appendix C
Allocations That Are the Same for All Modules
A608
Appendix C
Name
Appendix C
Address
Bits
A610
Appendix C
A611
Appendix C
A620 to
Appendix C
A626
Appendix C
Bits
Appendix C
FQM1-MMA21Motion Control Modules with Analog I/O
Address
A562
Appendix C
A564
Appendix C
change in the PV of the high-speedcounter over
flows/underflows are checked when the PV is read
Appendix C
Note For a Linear Counter, high-speedcounter over
Name
Appendix C
Address
Bits
Name
Appendix C
Address
Bits
A610
Appendix C
Allocations Related to Built-inInputs
Appendix C
Input Interrupts
Appendix C
Program Error Flags
Other Error Flags and Bits
Error Log and Error Code
I/O Errors
FAL/FALS Errors
Memory Errors
System Setup
Peripheral Port
Appendix C
Communications
Other
RS-232CPort
Built-inI/O Allocations
Allocations Directly Related to Instructions
Appendix C
Outputs 26-pin General-purposeI/O Connector
Inputs 40-pin General-purposeI/O Connector
Outputs 40-pin General-purposeI/O Connector
Inputs 26-pin General-purposeI/O Connector
Appendix D
Auxiliary Area Allocations
Auxiliary Area Allocations in Order of Address
Appendix D
Auxiliary Area Allocations
Auxiliary Area Allocations
Appendix D
A414
Auxiliary Area Allocations
Appendix D
A520
Auxiliary Area Allocations
Appendix D
A559
Auxiliary Area Allocations
Appendix D
A570
Auxiliary Area Allocations
Appendix D
A606 to
Auxiliary Area Allocations
Appendix D
A610
Auxiliary Area Allocations
Appendix D
A612
Auxiliary Area Allocations
Appendix D
A626
Auxiliary Area Allocations
Error Codes and Error Flags
Error Log Area: A100 to A199
Detailed Explanations on the Auxiliary Area
Appendix D
Memory Configuration
FQM1 Memory Addresses
Auxiliary Area Allocations
Auxiliary Area AllocationsAppendix D
Memory Map
Sequence Output Instructions
Auxiliary Area Allocations
Appendix D
Sequence Input Instructions
Sequence Control Instructions
Timer and Counter Instructions
Auxiliary Area Allocations
Appendix D
Auxiliary Area Allocations
Appendix D
Data Movement Instructions
Increment/Decrement Instructions
Auxiliary Area Allocations
Appendix D
Data Shift Instructions
Symbol Math Instructions
Auxiliary Area Allocations
Appendix D
Logic Instructions
Auxiliary Area Allocations
Appendix D
Conversion Instructions
Floating-pointMath Instructions
Auxiliary Area Allocations
Appendix D
Special Math Instructions
Data Control Instructions
Auxiliary Area Allocations
Appendix D
Table Data Processing Instructions
High-speedCounter and Pulse Output Instructions
Auxiliary Area Allocations
Appendix D
Interrupt Control Instructions
I/O Refresh Instruction
Auxiliary Area Allocations
Appendix D
Step Instructions
Debugging Instructions
Auxiliary Area Allocations
Appendix D
Serial Communications Instructions
Auxiliary Area Allocations
Appendix D
Branching
Appendix D
Auxiliary Area Allocations
Index
Index
Index
Index
Index
Page
Index
Peripheral Devices, 6 peripheral port
Index
Index
Servo Drivers
Index
Index
Index
Cat. No. O010-E1-01
Revision History
Page
Tel: 8155-977-9181/Fax:
OMRON CORPORATION
FA Systems Division H.Q 66 Matsumoto
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Certain Precautions on Specifications and Use
885 Milner Avenue Toronto, Ontario M1B
OMRON ELECTRONICS LLC
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OMRON CANADA, INC