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

Models: FQM1-MMP21 FQM1-MMA21 FQM1-CM001

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PRECAUTIONS

This section provides general precautions for using the FQM1-series Flexible Motion Controller and related devices.

The information contained in this section is important for the safe and reliable application of the FQM1-series Flexible Motion Controller. You must read this section and understand the information contained before attempting to set up or operate a control system using the FQM1-series Flexible Motion Controller.

1	Intended Audience		xiv
2	General Precautions		xiv
3	Safety Precautions		xiv
4	Conformance to EC Directives		xix
	4-1	Applicable Directives	xix
	4-2	Concepts	xix
	4-3	Conformance to EC Directives	xix
	4-5	Relay Output Noise Reduction Methods	xx
5	Data Backup		xxii

xiii

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

Contents

Flexible Motion Controller FQM1 Series Page Omron Product References  OmronPage Table of Contents Coordinator Module Functions 123 Inspection and Maintenance 259 Table of Contents Name Cat. No Contents About this ManualXii Precautions General Precautions Safety PrecautionsIntended Audience Operating Environment Precautions Safety PrecautionsApplication Precautions Xvii Xviii Conformance to EC Directives Applicable DirectivesConcepts Conformance to EC DirectivesCurrent Characteristic Required element Relay Output Noise Reduction MethodsCountermeasures Countermeasure ExamplesCircuit Current Characteristic Required element Name Model Cable lengthData Backup Module Data Data backupTemperature Initial After 5 years After 10 years Charge the capacitorBacking Up DM Area Data in Flash Memory Xxiv Section Outline of FQM1 Flexible Motion Controller SectionSpecial I/O Servo Driver Pulse or Analog I/O Basic I/O FQM1 Configuration FQM1-MMP21 FQM1-MMA21CJ1W-PA205R Modules DetailsOutline of Internal Data Exchange and I/O PLCCX-Programmer CX-ProgrammerExpanded System Configuration System ConfigurationSerial Communications SystemsHost Link System Yes See note Serial Gateway 1N Connection between CJ1M and FQM1 ControllersConnection between CJ1M and FQM1 Controller FQM1Basic Operating Procedure No-protocol Custom Communications System via RS-422A PortOutput wiring Input wiringInstallation Wiring Initial Hardware SettingsExamples Writing the Programs Transferring the Programs Testing Operation Time Chart Monitoring Save and Print the ProgramsData Tracing Online EditingFunction Tables Arranged by Purpose Purpose Operation Function used DetailsFunction Tables Arranged by Purpose Position and Speed Control Purpose Operation Main functions Details UsedAbsolute Encoders Analog Outputs Pulse Output Function Procedures Measuring Input Pulses Analog Input Function Specifications High-speed Analog I/O ControlPulse Outputs Input Interrupt Mode Controlling TimingTime Measurement with the Pulse Section Specifications and Nomenclature General Specifications General SpecificationsMust be installed Name Type Model SpecificationsPower Supply Unit Specifications VA max Inrush current At 100 to 120 V AC See noteIndicators Indicator Color Name Status MeaningCoordinator Module NomenclatureFunction Specifications Switch on Front PanelPeripheral Port Baud Rate Detection/System Setup Switch Bits TR0 to TR15 Specifications Motion Control ModulesMotion Control Module Built-in General-purpose I/OFQM1-MMA21 Analog I/O OUT7MMP21 Performance Specifications MMP21MMA21 Specifications Pulse I/O Specifications FQM1-MMP21 Pulse I/O CW/CCWPulse Inputs and Analog FQM1-MMA21 Analog I/O Specifications Dimensions FQM1-CM001 Coordinator ModuleFQM1-TER01 End Module Power Supply Units CJ1W-PA202 Maximum Current Maximum Total Power Consumption Module Current ConsumptionCurrent Consumption for Each Module XW2B-80J7-1A Servo Relay UnitExample Calculation Current and Power Consumption Combining Power Supply Units Motion Control ModulesMotion Control Modules Current Consumption for 24-V SystemsMemory Block Diagram Motion Control ModulesAreas Backed Up by Super Capacitors Areas Backed Up to Flash MemorySection Installation and Wiring Installation Installation and Wiring PrecautionsTemperature Control Accessibility for Operation and MaintenanceImproving Noise Resistance Do not install the FQM1 in any of the following positions FQM1 OrientationIng Installation in a Control Panel Wiring DuctsFQM1 must be mounted inside a control panel on DIN Track Terminal Screws M4 1.2 N·m M3 0.5 N·mAssembled Appearance and Dimensions Routing Wiring DuctsPLC FQM1 Assembled Dimensions Installation DimensionsCoordinator Module width 49 mm Motion Control Module width 49 mmConnecting FQM1 Components Installation HeightDIN Track Installation Lock the pins on the backs of the Modules DIN Track and Accessories DIN TrackPFP-100N2 DIN Track PFP-100N/50N DIN TrackWiring Wiring Power Supply UnitsAC Power Source Power Supply CapacityGrounding Terminal ScrewsCrimp Terminals FQM1 Crimp Terminals for Ground Wire 2 RS-232C Port Wiring WiringSectionConnector Pin Arrangement Connection MethodsPeripheral Bus Toolbus Serial Communications Mode Applicable Connectors Coordinator Module ConnectorIBM PC/AT or Compatible Connector 9-pin, Male Connecting to an IBM PC/AT or CompatibleRS-232C Port Specifications SpecificationConnection Example to Programmable Terminal PT Direct Connection from RS-232C to RS-232CWiring Module Connectors Connector Pin ArrangementGeneral-purpose I/O 40-pin Connector FQM1-CM001 Coordinator ModuleGeneral-purpose I/O 26-pin Connector FQM1-MMP21 Pulse I/O 40-pin ConnectorFQM1-MM@21 Motion Control Modules Pin No NameFQM1-MMA21 Analog I/O 40-pin Connector Pin NameExternal Connection Diagrams Input between 4 and 20 mAAre outlined in the following tables Pulse OutputsWiring Examples Connecting Pulse Inputs FQM1-MMP21 MMA21Example Power supply Encoder Connecting Pulse Outputs FQM1-MMP21 FQM1-MMP21Wiring Methods Connecting Analog Outputs FQM1 MMA21Connecting Analog Inputs FQM1-MMA21 ConnectorsWiring Servo Relay Units Applicable Connector-Terminal Block Conversion UnitsRecommended Wire Size RS-422 Connector Pin No SignalNomenclature and Functions Upper Terminal Block Pin Arrangement Lower Terminal Block Pin ArrangementSignal Switches Switch Setting detailsExternal Dimensions Wiring Screw-less Clamp Terminal BlocksWiring Method Following screwdriver can be used when removing wiresRecommended Screwdriver Model ManufacturerPhoenix Contact Inc Wiring when Using Servo Relay Units Sysmac PLCExample Servo Relay Unit Wiring Upper Terminal Block ArrangementLower Terminal Block Arrangement List of FQM1 Connecting Cables Connecting Cable ModelsSpecifications Model RS-422A Connecting Cables with 9-pin D-sub Connector Wiring Precautions Signal WiringReducing Electrical Noise External Wiring Surge suppressor specifications Diode specificationsInductive Loads OUTConnecting I/O Devices Input DevicesCOM + Precautions when Connecting a Two-wire DC Sensor VON ≤ VCC VROutput Wiring Precautions Output Short-circuit ProtectionTransistor Output Residual VoltageAdd a control resistor as shown in the following diagram Output Surge CurrentReduce the surge current MethodOperation Outline User ProgramMemory System Setup Flash Memory Coordinator Module OperationServicing Contents 3 I/O Refreshing and Peripheral ServicingStartup Initialization RefreshingDescription of Each Area User Program AreaMemory System Setup Read/Write DM Area D00000 to D32767 System Setup Using CX-ProgrammerTab Settings Motion Control Module OperationSync Mode Operation Same timeScan or at the specified sync cycle time. See note Ules. Refer to 5-4 Synchronous Data Refresh for detailsProgram Following tables list status and operations for each mode Mode Cyclic task status Interrupt task statusOperating Modes Operating ModesPower OFF Operation Operating Mode Changes and I/O MemoryPower OFF Operation Mode Changes Cleared areas Retained areasPower OFF Timing Chart Fixed Power OFF Detection TimeUser-set Power OFF Detection Time Power Holding TimeInstruction Execution for Power Interruptions Description of OperationModule Functions and Data Exchange Sync Mode ASync ModeSynchronous Operation between Modules Sync and ASync ModesData Exchange between Modules Method Outline DescriptionCyclic Refresh ApplicationsCyclic Refresh Area Details Coordinator Module Cyclic Refresh AreaMotion Control Module Cyclic Refresh Areas Word Bits Details AddressCyclic Refresh Area Allocations CM Coordinator Module MM Motion Control ModuleBits Details BitSynchronous Data Refresh Sync Cycle TimeSynchronous Data Input or analog output value in the System Setup Synchronous Data Link Bit AreaLadder execution results data Transfer timeSettings System Setup Coordinator ModuleTrol Modules Synchronization between ModulesSystem Setup Motion Control Modules DM Data TransferProhibit System Interruption of the SyncSettings Details Make Auxiliary Area SettingsExecuting DM Data Transfer AreaCycle Time Settings Constant Cycle Time FunctionTurn on Request Bit Programming Example Constant Cycle Time Function in Sync Mode System SetupConstant Cycle Time Exceeded Error Clear Bit Constant Cycle Time Function Enabled for Coordinator ModuleWatch Cycle Time Function Cycle Time Monitoring FunctionCycle Time Too Long Flag Auxiliary Area WordsClearing Constant Cycle Time Exceeded Errors Constant Cycle Time Exceeded Error Clear FunctionNormal Operation Auxiliary Area BitsOperation Settings at Startup and Maintenance Functions Specifying the Startup ModeTab Name Details Settings Default Program ProtectionAutomatic Backup to Flash Memory Password ProtectionFlash Memory Diagnostic Functions Error LogAuxiliary Area Flags Name Address MeaningFailure Alarm Functions Operation of FAL006Operation of FALS007 Coordinator Module Functions Serial Communications FQM1 supports the following serial communications functionsProtocol Connections Description Peripheral 232C 422ASerial Communications Procedure Host Link CommunicationsFQM1. Select the method that best suits your application Host Link Commands Type Header Name Function CodeFins Commands Type Command Name Function CodeForced SET/RESET Forced SET/RESET CancelNo-protocol Communications RS-232C Port CR+LFEnd code setting Yes Message Frame FormatsCR+LF NT Link 1N Mode System Setup RS-232C Settings Host Link Port SettingsSetting Default Enabled On the TXD236 and RXD235 instructionsSerial PLC Links OverviewUle are shared with the CJ1M master as shown below CIO 0080 to CIO 0089 CJ1M master to FQM1 slaveCJ1M Master Settings FQM1 Slave SettingsSource Words and Number of Link Words Settings FunctionSmart Active Parts Communications Settings Settings Default EnabledSmartstep RS-422A Settings No-protocol Communications RS-422A PortMotion Control Module Functions 138 Overview OverviewSectionFQM1 Modules have the following functions Main function Sub-functions Applicable ModulesInterrupt Functions OverviewInterrupt Priority Executing Interrupt ProgramsDI802 instruction will disable all interrupts Disabling and Enabling All InterruptsDisabling All Interrupts Enabling All InterruptsInput Interrupt Specifications Input InterruptsApplicable Models Overview of the Input Interrupt FunctionUsing Input Interrupts Counter ModeInput Interrupt Mode Procedure Input Allocated input bit Interrupt task numberCounter Mode Procedure Application Example Interval Timer Interrupts Interval Timer Interrupt ModesUsing Interval Timer Interrupts Equipped with one interval timer eachStim Interval Timer @STIMSpecifications Pulse InputsBased on the counter PV Model FunctionsPulse Inputs Pulse Input Specifications 151 Latch Input Specifications Internal Circuit ConfigurationsApplicable Instructions Pulse InputsPulse Input Function Description High-speed Counter Function DescriptionReset Methods Counter Operation Numeric RangesCircular Counter Linear CounterPhase-Z Signal Reset Input and Software Reset Software ResetChecking for High-speed Counter Interrupts Target-value Comparison MethodRange Comparison Method Monitoring High-speed Counter Movement Mode Word Bits Function DetailsTab Function Details System Setup Function Details Word Bit Function Details Pulse Input Function Procedures High-speed Counter ProcedureMode 1 Procedure Target-value comparison interruptMode 2 Procedure ProcedurePulse Input Function Example Application 163 164 165 Example Latching High-speed Counter PV Pulse Outputs 168 All Pulse Outputs Except for One-shot Pulse Outputs One-shot Pulse OutputsSible is also listed in the following table Instructions Ineffective during Pulse OutputMode Description Pulse Output Function Details172 Pulse Output Operations SPED88PULS88 Precautions when Using Pulse Outputs Target frequencySet by user Dividing ratioOne-shot Pulse Output Function FormulaTarget frequency Hz Actual output frequency One-shot Pulse Output Specifications Tab Function SettingWord Bits Function Contents Time Measurement with the Pulse Counter Pulse Counter Timer Specifications Target-value Comparison Interrupts from Pulse Output PVsLinear Mode Operation END ACC Circular Mode Operation Range Comparison Bit Pattern Outputs from Pulse Output PVs12 PLS2887 Pulse Output Direction Priority Mode SettingSpeed-change Cycle Ms CyclePulse Output Function Procedures Setting the Pulse Output Direction Priority ModePulse Output Direction Priority Mode Execute PLS2887 with A628.14 OFFPulse Outputs with Acceleration/Deceleration Pulse output portElectronic Cam Control Functions Port Pulse output port187 Pulse Counter Timer Function STIM980 One-shot Pulse Output STIM980Pulse Output Function Examples @SPEDChanging the Frequency in Steps Accelerating the Frequency at a Fixed RateNumber of pulses is 0 or more Speed192 Using PLS2887 for Trapezoidal Acceleration/Deceleration @PLS2Pulse Counter Time Measurement Timer Example Supports continuous mode onlyPulse Output Starting Conditions One-shot Pulse Output Function ExampleUse this function for positioning CCWPULS886 Absolute Pulse Output in Progress SPED8 PULS8 PULS88Case Absolute linearTarget position Present position Cases 6, 8, 9, Cases 7, 11, 12199 Serial Data Specification Data Format of Absolute Encoder OutputData Format P is in ASCII. It is 50 hex in hexadecimalCounter Operation Counting Operation Counter Operation DetailsAbsolute Number of Rotations PV Counter 1 A604 and A605 Absolute Present ValueAbsolute Linear Counter Absolute Circular Counter Absolute Present Value Preset Absolute Offset Preset7FFF Tab Function Details Time when Setting Related AreasAuxiliary Area Word Bits Function Details Controlled206 Overview of Absolute Encoder Output Data Acquire Absolute EncoderOutput Data Acquiring Method208 Sample Programs Connecting an Omron W-series Servo Driver Program Description210 211 Virtual Pulse Output Function AxisMode Specifier Sets the output mode First Word of Setting TableAxis Instruction For Virtual Pulse Outputs OperandsDescription Positioning or Speed Control Using a Virtual Axis Analog Input FunctionsMotion Control Module for Analog I/O FQM1-MMA21 Analog Input Function Specifications Related Areas and Settings Tab Function Settings Time when setting Becomes effectiveWord Bits Function Settings Controlled 220 221 Signal Range −10 to 10 Signal Range 0 to 10 6 A/D Conversion ValueWith END Refreshing With Immediate Signal Range 1 to 5 V and 4 to 20 mA Signal Range 0 to 5High-speed Analog Sampling FQM1-MMA21 Only Overview CTBL882 Instruction OperationAt several measurement points Comparison TableAnalog Outputs @CTBLAnalog Output Function Specifications Analog OutputsOverall accuracy is the ratio of accuracy to the full scale CPU standby statusCondition Analog output Specified Output Values and Analog Output Signals END Refreshing With Immediate RefreshingTo 10 To 5Procedure Outputting the Analog Output Value Stored Auxiliary Area Outputting a Stepped Analog OutputOutputting a Sloped Analog Output 231 232 Connecting the CX-Programmer Make System Setup settings, and monitor or debug operation Name Model SpecificationsCables shown in the following table CS1W-CIF31Connecting the CX-Programmer System ConfigurationConnecting a Personal Computer Running Support Software Cable Connection Diagram CS1W-CIF31Connection Methods Using a USB-Serial Conversion Cable CX-Programmer Connecting Cables Cable Port Communic Connecting Ations Connector ModelConnecting an RS-232C Cable to the RS-232C Port When connecting the CX-Programmer to the FQM1Connecting an RS-232C Cable to the Peripheral Port Serial Features Communications Mode240 Error Processing Error Log Errors Generated by FAL006/FALS007Error Log Structure Instruction FAL numbers Error codesError Processing Error CategoriesError Information Indicator Status and Error ConditionsError Codes Classification Error code Error nameERR OFF Prphl OFF COMM1 COMM2Error Processing Flowchart Error Tables CPU ErrorsFatal Errors CPU Standby247 Fatal Errors Non-fatal Errors Non-fatal ErrorsC2FF Lit FlashingOther Errors Power Supply Check Memory Error Check Program Error CheckCycle Time Overrun Error Check System Setup Error Check11 I/O Setting Error Check 12 I/O Check Troubleshooting Problems in Modules Coordinator Module ErrorsError condition Probable cause Remedy Environmental Conditions CheckMotion Control Module Errors Input ErrorsOutput Errors Inspection and Maintenance Inspections Inspection PointsInspection Points for Periodic Inspections Inspection Criteria ActionModule Replacement Precautions Tools Required for InspectionsRequired Tools Tools Required262 Programming Programs and Tasks TasksType of task Description Using Normal Subroutines SubroutinesWhat Are Subroutines? Type of subroutine Description Calling instructionUsing Subroutines That Pass Parameters Execution without Subroutine Input Condition FlagsExecution with Subroutine Input Condition Flags OverviewJSB982 Operation Address Corresponding subroutines Word BitsJSB Appendix a McroRET Main Program Power Flow Basic Information on ProgrammingBasic Information on Instructions Instruction ConditionsInstruction Description Setting Canceling Condition Operand types Description SymbolFlags OperandsInstruction Location and Input Conditions Addressing I/O Memory AreasBit Addresses Word AddressesSpecifying Operands Operand Description Notation ApplicationOperand Description Notation Application Examples BCDData Operand Data form Symbol Range Application example LD ,IR0BCD #FFFFFFFFAbcde NULAbcd NUL NULData Formats Data typeDecimal Digit Complements Two’s ComplementsDecimal Hexadecimal Binary FfffFffe 7FFFVariation Symbol Description Instruction VariationsInput Conditions Non-differentiated Instructions280 Programming Precautions Using Condition FlagsCondition Flags Using Execution Results in NC and no Inputs CMP Using Execution Results from Differentiated Instructions Error FlagMain Conditions Turning on Condition Flags DifuEquals Flag Carry FlagLess Than and Greater Than Flags Negative FlagSpecial Program Sections Instruction CombinationsSubroutines Program section Instructions Instruction condition StatusInstructions Not Allowed in Subroutines Instructions Not Allowed in Step Ladder Program SectionsInstructions Not Allowed in Block Program Sections Following instructions cannot be placed in a subroutineFQM1 Operation Flowchart Computing the Cycle TimeYES Overview of Cycle Time Calculations Coordinator ModuleMotion Control Modules Calculating the Cycle Time of the Coordinator ModulePeripheral Service Calculating the Cycle Time of a Motion Control ModuleSync Bus Refreshing Cyclic RefreshingModule I/O Refresh Times Cyclic Refresh Time in the Coordinator ModuleCyclic Refresh Time in Motion Control Modules Model Refresh timeExample of Calculating the Cycle Time Online Editing Cycle Time ExtensionConditions Calculation Example for FQM1-MMP21Response Time Response TimeCoordinator Module I/O Response Time Motion Control Module I/O Response Time Minimum I/O Response Time General-purpose I/O 0 toInterrupt Response Times Motion Control Module Interrupt Response TimesResponse Time for Pulse and Analog I/O Input Interrupt TasksMotion Control Module Interrupt Processing Times Scheduled Interrupt TaskProcessing Time Interrupt Response Time Calculation ExampleMinimum Response Time Maximum Response Time298 Memory Overview of I/O Memory IntroductionParameter Area Memory Structure Coordinator ModuleCIO Motion Control Modules CIO Area Bit Area CIO 0000 and CIORefresh Synchronous Data Link Bit Area CIO 0200 toSerial PLC Link Bit Area CIO 0080 to CIO END RefreshRefreshing Using the IORF097 Instruction Work Area W000 to W255 W000.00 to W255.15, 4,096 BitsAuxiliary Area A000 to A649 A000.00 to A649.15 Temporary Relay Area TRTimer Area Counter Area Appendix BData Memory DM Area Condition FlagsBinary-mode Addressing @D BCD-mode Addressing *DUsing the Condition Flags Name CX-Programmer Function SymbolSummary of the Condition Flags Using the Clock Pulses Name Label CX-Programmer Operation SymbolClock Pulses System Setup Parameter AreaSystem Setup in the Coordinator Module Prohibit System Interrupt of the Sync ModeAllow Writing to User Memory Startup Mode Setting CX-Programmer Startup Tab Cycle Time Settings CX-Programmer Timer/Peripheral ServiceAppendix C Peripheral Port Settings CX-Programmer Peripheral Port Tab Peripheral Port Settings for Host LinkPeripheral Port Settings for NT Link Peripheral Port Settings for Peripheral Bus ToolBusStandard/Customer Setting Host Link Unit NumberRS-232C Port Settings for Host Link FormatRS-232C Port Settings for NT Link RS-232C Port Settings for Peripheral Bus ToolBusRS-232 Port Settings for No-protocol Communications RS-232C Send DelayData Format RS-232C Port Settings for PLC Link PC Link Slave Start Code and End CodeNumber of Received Bytes PLC Link Unit No. PC Link Unit NumberSend Delay Time Fixed Service Time Enable Setting Set Time to All Events Peripheral Service TimeSystem Setup in Motion Control Modules Settings Used by All Motion Control ModulesCX-Programmer Module Settings Tab CX-Programmer Cycle Time TabFQM1-MMP21 Motion Control Modules with Pulse I/O CX-Programmer Pulse Input TabCX-Programmer Pulse Output Tab Function DetailsAddress Bits Function Remarks When setting FQM1-MMA21 Motion Control Modules with Analog I/ODetails on System Setup Settings Startup ModePeripheral Port Settings RS-232C Port Settings Host Link PortMessages Sent and Received with No-protocol Mode Constant Cycle TimeWatch Cycle Time Fixed Peripheral Servicing Time Over328 Auxiliary Area Allocations by Function Allocations That Are the Same for All ModulesFQM1-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 Allocations Related to Built-in Inputs Appendix CProgram Error Flags Other Error Flags and BitsError Log and Error Code System FlagsFAL/FALS Errors Memory ErrorsErrors Module ErrorsCommunications OtherPeripheral Port Allocations Directly Related to Instructions RS-232C PortRS-422A Port Coordinator Module Built-in I/O Allocations Motion Control Module Built-in I/O AllocationsAppendix D Appendix D 351 352 353 354 355 356 357 358 Error Codes and Error Flags Error Log Area A100 to A199Classification Error code Meaning Error flags Detailed Explanations on the Auxiliary AreaMemory Configuration FQM1 Memory AddressesMemory Map FQM1 Instruction Execution Times and Number of Steps Sequence Input InstructionsSequence Output Instructions Timer and Counter Instructions Sequence Control InstructionsComparison Instructions Data Movement Instructions Data Shift Instructions Increment/Decrement InstructionsSymbol Math Instructions Conversion Instructions Logic InstructionsSpecial Math Instructions Floating-point Math InstructionsTable Data Processing Instructions Data Control InstructionsSubroutine Instructions Interrupt Control Instructions High-speed Counter and Pulse Output InstructionsStep Instructions Refresh InstructionSerial Communications Instructions Debugging InstructionsFailure Diagnosis Instructions Other InstructionsIf not ElseIend 374 Index Index 377 378 379 Page 381 382 383 384 385 386 Revision code Date Revised content Revision HistoryOriginal production 388 Omron Corporation Regional HeadquartersTerms and Conditions of Sale Omron Electronics LLC