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Omron FQM1-MMP21, FQM1-CM001, FQM1-MMA21 operation manual 5-2Data Exchange between Modules, Section

Models: FQM1-MMP21 FQM1-MMA21 FQM1-CM001

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Data Exchange between Modules

Data Exchange between Modules

Section 5-2

5-2 Data Exchange between Modules

The three methods for data exchange between Coordinator and Motion Con- trol Modules are outlined in the following table. These methods can be used

simultaneously.

	Method	Outline	Description

1.	Cyclic refresh	Exchanges data each	A Cyclic Refresh Area is allocated for each Motion Control
		Coordinator Module cycle.	Module in the Coordinator Module.

2.	Synchronous	Broadcasts data at a spec-	Specified synchronous data is broadcast from each Motion
	data refresh	ified sync cycle.	Control Module and the Coordinator Module. All other
			Modules receive and share the data in the Synchronous
			Data Link Bit Area.

3.	DM data	Transfers large volumes of	Data is transferred in the specified direction between the
	transfer	data between a specified	specified DM Area words of a specified Motion Control
		Motion Control Module and	Module and the specified DM Area words of the Coordina-
		the Coordinator Module	tor Module when the DM Write Request Bit (A530.00) or
		when required.	DM Read Request Bit (A530.01) in the Auxiliary Area of
			the Coordinator Module is turned ON.

Coordinator

Module

Cyclic

Refresh

Area

Sync Data

Link Bit

Area

Motion Control	Motion Control
Module #1	Module #2

Cyclic	Cyclic
Refresh	Refresh
Area	Area
1. Cyclic refresh
Sync Data	Sync Data
Link Bit	Link Bit
Area	Area

Motion Control Module #3

Cyclic

Refresh

Area

Sync Data

Link Bit

Area

Motion Control Module #4

Cyclic

Refresh

Area

Sync Data

Link Bit

Area

Specified

DM Area

words

2. Synchronous data refresh

Specified DM Area words

3. DM data transfer

105

Image 128

Omron FQM1-MMP21, FQM1-CM001, FQM1-MMA21 operation manual 5-2Data Exchange between Modules, Section

Contents

FQM1 Series OPERATION MANUALFlexible Motion Controller FQM1-CM001 FQM1-MMP21 FQM1-MMA21FQM1-CM001 FQM1-MMP21 FQM1-MMA21 Flexible Motion Controller Operation ManualFQM1 Series Produced NovemberPage Notice OMRON Product ReferencesVisual Aids OMRON,Page TABLE OF CONTENTS TABLE OF CONTENTS SECTIONTABLE OF CONTENTS Inspection and MaintenanceSECTION AppendicesTABLE OF CONTENTS About this Manual Page PRECAUTIONS xiii2 General Precautions 3 Safety Precautions1 Intended Audience Intended Audience3-1Operating Environment Precautions Safety Precautions3-2Application Precautions Safety Precautions•Changing the operating mode of the FQM1 Safety Precautionsxvii xviii 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 Conformance to EC Directives EMC Directive Conformance ConditionsConformance to EC Directives EMC Directives4-5Relay Output Noise Reduction Methods Conformance to EC DirectivesCountermeasures Countermeasure ExamplesCharacteristic Conformance to EC DirectivesMotion Controller Circuitxxii 5 Data BackupData Backup Data Backup Backing Up DM Area Data in Flash Memoryxxiii A404.14Data Backup xxivSECTION Features and System Configuration 1-1Outline of FQM1 Flexible Motion Controller Flexible Configurations of Up To 8 AxesOutline of FQM1 Flexible Motion Controller SectionOutline of FQM1 Flexible Motion Controller SectionBuilt-in RS-232CPort in Coordinator Module Built-in RS-422APort in Coordinator Module1-2FQM1 Configuration FQM1 ConfigurationSection Pulse Input Frequency Measurement FunctionFQM1 Configuration CJ1W-PA202/PA205RPower Supply UnitsSection FQM1-CM001Coordinator ModuleSection ModulesModules Outline of Internal Data Exchange and I/O ModulesSection 1-4 CX-Programmer CX-ProgrammerSection CX-Programmer1-5Expanded System Configuration Expanded System ConfigurationSystem Configuration SectionExpanded System Configuration SectionHost Link System NT Link System 1:N Mode, StandardNT Link 1:N Mode RS-232C PT NT Link 1:N Mode Expanded System ConfigurationSection Expanded System Configuration System Configuration ExampleSection Serial GatewaySection 1-6Basic Operating ProcedureBasic Operating Procedure Section Basic Operating Procedure3.Initial Hardware Settings Basic Operating Procedure 1. Installation2.Wiring 3.Initial Hardware Settings 1-6-1ExamplesBasic Operating Procedure 5.System Setup SettingsSection 6.Writing the ProgramsBasic Operating Procedure 7.Transferring the Programs 8.Testing Operation8-aI/O Wiring Checks 8-bTrial Operation Check Output WiringBasic Operating Procedure Time Chart MonitoringSection 9.Save and Print the ProgramsFunction Tables Arranged by Purpose 5-4-4Settings1-7-1 Sync Cycles and Synchronized dataFunction Tables Arranged by Purpose Section5-1Synchronous Operation between Modules 5-1Synchronous Operation between Modules1-7-2 Function Tables Arranged by PurposeSection7-6-6Pulse Output Function Details 7-6-12PLS2887 Pulse Output Direction PriorFunction Tables Arranged by Purpose SectionAbsolute Encoders 7-6-6Pulse Output Function DetailsFunction Tables Arranged by Purpose Section7-10Analog Outputs 7-8Virtual Pulse Output Function7-6-13Pulse Output Function Procedures 7-6-13Pulse Output Function ProceduresFunction Tables Arranged by Purpose Section1-7-3 Function Tables Arranged by PurposeSection 7-9Analog Input Functions7-9-3Analog Input Function Specifications 1-7-4Function Tables Arranged by Purpose SectionFunction Tables Arranged by Purpose Section7-9Analog Input Functions 7-6Pulse Outputs7-4Interval Timer Interrupts 7-4-3Interval Timer Interrupt Modes7-4Interval Timer Interrupts 7-4-3Interval Timer Interrupt ModesFunction Tables Arranged by Purpose Section7-5Pulse Inputs 7-6-8Time Measurement with the PulseFunction Tables Arranged by Purpose SectionSECTION Specifications and Nomenclature General Specifications List of ModelsGeneral Specifications List of ModelsSectionSection General SpecificationsPower Supply Unit Specifications 2-3Coordinator Module IndicatorsCoordinator Module SectionFunction Specifications Switch on Front PanelCoordinator Module SectionCIO Area Coordinator ModuleSection Motion Control Modules I/O SpecificationsMotion Control Modules SectionIndicators Motion Control ModulesSection NomenclatureSection Performance SpecificationsMotion Control Modules I/O Specifications General-purposeI/O SpecificationsMotion Control Modules SectionPulse I/O Specifications Motion Control ModulesSection FQM1-MMP21Pulse I/OI/O Specifications Motion Control ModulesSection Pulse Inputs and Analog2-5Dimensions DimensionsSection FQM1-CM001Coordinator ModuleDimensions Power Supply UnitsPOWER L1 POWER L12-6Module Current Consumption Maximum Current and Maximum Total PowerModule Current Consumption SectionExample Calculation of Current and Power Combining Power Supply Units and Motion ControlModule Current Consumption Section2-7Memory Block Diagram Memory Block DiagramSection Areas Backed Up by Super CapacitorsMemory Block Diagram SectionSECTION Installation and Wiring 3-1Installation InstallationInstallation in Cabinets or Control Panels Temperature ControlInstallation Power lines 200 mm min FQM1 200 mm minSection Improving Noise ResistanceFQM1 Orientation InstallationSection 3-1-2Installation in a Control Panel InstallationWiring Ducts Wiring Duct Example3-1-3Assembled Appearance and Dimensions InstallationRouting Wiring Ducts SectionInstallation Assembled DimensionsInstallation Dimensions Power Supply Unit width: “a” mm3-1-4Connecting FQM1 Components InstallationInstallation Height Section3-1-5DIN Track Installation InstallationRelease DIN Track mounting pins SectionSection Installation2 3. Lock the pins on the backs of the Modules Installation DIN Track and AccessoriesSection •DIN Track3-2Wiring WiringAC Power Source Power Supply CapacityWiring SectionGrounding Terminal Screws andWiring SectionFQM1 Control panelWiring Crimp Terminals for Ground WireSection Terminal Screws andWiringSection Connector Pin ArrangementConnection Methods 1:1 Connections withWiring Applicable ConnectorsCoordinator Module Connector IBM PC/AT or Compatible Connector 9-pin,MaleWiring RS-232CPort SpecificationsSection Connection Example to Programmable Terminal PT3-3Wiring Module Connectors Wiring Module ConnectorsGeneral-purposeI/O 40-pinConnector SectionWiring Module Connectors General-purposeI/O 26-pinConnectorFQM1-MMP21Pulse I/O 40-pinConnector SectionSection Wiring Module ConnectorsFQM1-MMA21Analog I/O 40-pinConnector Wiring Module Connectors 3-3-2Section FQM1-MM@21Motion Control Modules3-3-3Wiring Examples Wiring Module ConnectorsConnecting Pulse Inputs FQM1-MMP21 MMA21 SectionWiring Module Connectors Power supply EncoderSection FQM1 Shielded twisted-paircableWiring Module Connectors Connecting Pulse Outputs FQM1-MMP21Section ExampleWiring Module Connectors Connecting Analog Outputs FQM1 MMA21Connecting Analog Inputs FQM1-MMA21 Connectors3-4Wiring Servo Relay Units Wiring Servo Relay UnitsRecommended Wire Size SectionNomenclature and Functions Wiring Servo Relay UnitsSection Wiring Servo Relay Units SectionUpper Terminal Block Pin Arrangement Lower Terminal Block Pin ArrangementSection Wiring Servo Relay Units6. Signal Switches Wiring Servo Relay Units External DimensionsWiring Screw-less Clamp Terminal Blocks Wiring MethodWiring Servo Relay Units SectionRecommended Screwdriver ModelSection Wiring Servo Relay UnitsWiring when Using Servo Relay Units Wiring Servo Relay Units Example Servo Relay Unit WiringSection Upper Terminal Block Arrangement3-5List of FQM1 Connecting Cables List of FQM1 Connecting CablesConnecting Cable Models SectionSection List of FQM1 Connecting Cables6.Servomotor Connecting Cables 3-6Wiring Precautions Wiring PrecautionsI/O Signal Wiring 3-6-1Reducing Electrical NoiseWiring Precautions External WiringSurge suppressor specifications Diode specifications3-6-2Connecting I/O Devices Wiring PrecautionsSection Input DevicesWiring Precautions Precautions when Connecting a Two-wireDC SensorSection 1,2,3Wiring Precautions Output Wiring PrecautionsSection Output Short-circuitProtectionWiring Precautions SectionFQM1 FQM1SECTION Operation 4-1Coordinator Module Coordinator ModuleSection User ProgramSystem Setup Flash Memory 4-1-2Coordinator Module OperationCoordinator Module Section4-1-3I/O Refreshing and Peripheral Servicing 4-1-4Startup InitializationCoordinator Module Section4-2Motion Control Modules 4-2-1Outline4-2-2Description of Each Area Motion Control ModulesI/O Memory System Setup System Setup Using CX-ProgrammerMotion Control Modules SectionSync Mode Operation Motion Control ModulesSection Initialization at At power ON Common Processing Motion Control ModulesSection Program Execution4-3Operating Modes 4-3-2Status and Operations in Each Operating Mode Operating Modes4-4Power OFF Operation 4-4-1Power OFF OperationPower OFF OperationSection 4-3-3Operating Mode Changes and I/O MemoryPower OFF Operation Power OFF Timing ChartFixed Power OFF Detection Time User-setPower OFF Detection TimeDescription of Operation Power OFF OperationSection SECTION Module Functions and Data Exchange Synchronous Operation between Modules Synchronous Operation between ModulesSectionSync and ASync Modes Sync ModeSection 5-2Data Exchange between ModulesData Exchange between Modules 5-3Cyclic Refresh 5-3-1Outline5-3-2Applications Cyclic Refresh5-3-3Cyclic Refresh Area Details Cyclic RefreshSection Coordinator Module Cyclic Refresh AreaCyclic Refresh Area Allocations 5-3-4Cyclic Refresh SectionSynchronous Data Refresh 5-4-1Outline 5-4-2Synchronous Data Link Bit Area 5-4-3Synchronous Data Refresh SectionSystem Setup Coordinator Module Synchronous Data RefreshSection Synchronization between Modules5-5DM Data Transfer System Setup Motion Control ModulesDM Data Transfer SectionSettings Details Step 1: Make Auxiliary Area Settings5-5-3Executing DM Data Transfer 5-5-25-6Cycle Time Settings Cycle Time Settings5-6-1Constant Cycle Time Function SectionCycle Time Settings System SetupConstant Cycle Time Exceeded Error Clear Bit SectionCycle Time Settings System SetupSection Cycle Time Too Long FlagCycle Time Settings Constant Cycle Time Exceeded Error Clear FunctionSection Normal OperationRead Protection Using Passwords System Setup5-7-1Specifying the Startup Mode 5-7-2Program ProtectionAutomatic Backup to Flash Memory Password Protection5-7-3Flash Memory Section5-8Diagnostic Functions Diagnostic FunctionsRefer to SECTION 9 Error Processing for details Section5-8-2Failure Alarm Functions Diagnostic FunctionsSection Operation of FAL006Diagnostic Functions SectionOperation of FALS007 FALSSECTION Coordinator Module Functions Serial Communications Serial CommunicationsSectionSerial Communications SectionProcedure Host Link Communications6-1-1 Serial CommunicationsSectionHost Link Commands SectionSerial Communications Link Units System Manual W143 for detailsSection FINS CommandsSerial Communications Section 6-1-2 No-protocolCommunications RS-232CPortSerial Communications Procedure End code settingSerial Communications SectionSystem Setup RS-232CSettings Host Link Port SettingsSystem Setup Serial CommunicationsSystem Configuration 6-1-4Serial PLC LinksSerial CommunicationsSection OverviewProcedure CJ1M Master SettingsFQM1 Slave Settings Serial CommunicationsSettings CJ1M Master PLC SetupFQM1 Slave System Setup System ConfigurationSystem Setup Smart Active Parts Communications SettingsSerial Communications SectionRS-422ASettings 6-1-6 No-protocolCommunications RS-422APortSerial Communications SectionSECTION Motion Control Module Functions 7-6-10 Overview OverviewSection7-2Interrupt Functions Interval Timer InterruptsInterrupt Functions Section7-2-3Disabling and Enabling All Interrupts Interrupt FunctionsSection Disabling All InterruptsInput Interrupts Input InterruptsSection Clearing Recorded Interrupts7-3-5Using Input Interrupts Input Interrupt Mode ProcedureInput Interrupts SectionCounter Mode Procedure Input InterruptsSection 1,2,3Section 7-3-6Application ExampleInput Interrupts 7-4Interval Timer Interrupts Interval Timer Interrupt Modes7-4-4Using Interval Timer Interrupts Interval Timer InterruptsSection Interval Timer Interrupts7-4-5Application Example Pulse Inputs Specifications7-5-1 Applicable ModelsPulse Inputs Section7-5-4Pulse Input Specifications Pulse InputsSectionPulse Inputs SectionMinimum response pulse At 50 kHzPhases A and B Phase Z7-5-6 7-5-7Input Signal Type and Count Mode Phase Differential InputsPhase Differential Input Operation Pulse InputsReset Methods Pulse InputsSection Counter Operation Numeric RangesPhase-ZSignal Reset Input and Software Reset Software ResetPulse Inputs SectionRange Comparison Method Pulse InputsSection Monitoring High-speedCounter Movement Mode Pulse InputsSection High-speedCounter Movement Mode 1 Specifications Pulse InputsSection Monitoring a High-speedCounter’s Frequency ModeFrequency Measurement Mode 2 Specifications Pulse InputsSection Latching a High-speedCounter’s PV7-5-9Pulse Input Function Procedures High-speedCounter ProcedurePulse Inputs SectionSection Mode 1 ProcedurePulse Inputs Mode 2 Procedure ProcedureProcedure Pulse InputsPulse Inputs SectionExample High-speed Counter PVPulse Inputs SectionExample High-speedCounter Range Comparison Bit Pattern OutputP_On Pulse InputsSection Example Latching High-speed Counter PV Pulse InputsSection Pulse Outputs 7-6-17-6-2 Pulse OutputsSectionAcceleration/ decelera 7-6-3Pulse OutputsSection Pulse Output Specifications 7-6-4Pulse Outputs Section7-6-5 Applicable InstructionsPulse OutputsSection Instructions Ineffective during Pulse Output7-6-6 Pulse Output Function DetailsPulse OutputsSection OverviewPulse Outputs SectionPulse output DescriptionProcedure SettingsPulse Outputs SectionIndepen Pulse OutputsSection Precautions when Using Pulse Outputs Pulse OutputsSection Target frequency7-6-7 One-shotPulse Output Function Pulse OutputsSection FormulaSection One-shotPulse Output SpecificationsPulse Outputs Section 7-6-8Time Measurement with the Pulse CounterPulse Outputs Section Pulse Counter Timer SpecificationsPulse Outputs Pulse Outputs SectionLinear Mode Operation Frequency speed Target value Target value3.00 Pulse OutputsSection Section Circular Mode OperationSingle-rotationspeed control pattern High-speedregion Low-speed 0regionSetting the Pulse OutputsSection Speed-changeCycleSetting the Pulse Output Direction Priority Mode Pulse OutputsSection Pulse Output Direction Priority ModePulse Outputs with Acceleration/Deceleration Pulse OutputsSection Procedure Pulse OutputsSection Electronic Cam Control FunctionsPulse Outputs SectionPulse Counter Timer Function STIM980 Pulse OutputsSection One-shotPulse Output STIM980Section 7-6-14Pulse Output Function ExamplesPulse Outputs Pulse Outputs SectionChanging the Frequency in Steps Accelerating the Frequency at a Fixed RatePulse Outputs SectionSpecified number of pulses Speed reaches 0 while the remainingP_On Always ON Flag P_On Always ON Flag Pulse OutputsSection Pulse Outputs SectionPulse Counter Time Measurement Timer Example 7-6-15Pulse Output Starting ConditionsPulse Outputs SectionPulse Outputs SectionPulse Outputs SectionPULS886 Absolute Pulse Output in Progress Pulse Output OperationPulse Outputs SectionPLS2887 Cases 1, 2, andPulse Outputs SectionCases 6, 8, 9, and Cases 7, 11, 12,Section 7-7-1Applicable Models7-7-2Overview Serial Data Specification 7-7-3Data Format of Absolute Encoder OutputSection Data Format7-7-4Counter Operation SectionCounting Operation Counter Operation Details Absolute Linear CW−Absolute Linear Counter Absolute Circular Counter 7-7-6Absolute Present ValueSection Section 7-7-7Absolute Present Value Preset7-7-8Absolute Offset Preset 7-7-9 System SetupRelated Areas Section Auxiliary AreaNote Refer to 7-7-6Absolute Present Value SectionA606 Step 1 Required: Setting Setting the Pulse Input MethodSetting the Input Pulse Counting Speed Setting the Counter OperationOffset Preset Step 4 Required Absolute Present Value PresetSection Step 3 as Needed: Origin Compensation AbsoluteSection Program DescriptionSection 0.00Section 0000057-8Virtual Pulse Output Function 7-8-17-8-2 Virtual Pulse Output FunctionSectionT First Word of Setting Table Virtual Pulse Output FunctionSectionOverview OperandsDescription Virtual Pulse Output FunctionSection 7-9Analog Input Functions Positioning or Speed Control Using a Virtual Axis7-9-1 7-9-2Section Sensor pressure, displacement, etcAnalog Input Functions Analog Input FunctionsSection Analog Input Function Specifications7-9-3 Related Areas and Settings System SetupSettings Time when settingAnalog Input Functions SectionAuxiliary Area A550A562 Analog Input FunctionsSection A570 Analog Input FunctionsSection Signal Range: −10 to 10 Signal Range: 0 to 10 7-9-5Applicable Instructions7-9-6A/D Conversion Value Analog Input FunctionsSignal Range: 1 to 5 V and 4 to 20 mA Signal Range: 0 to 5Analog Input Functions SectionAnalog Input Functions SectionExample Application Example7-10 Analog Outputs7-10-1 7-10-27-10-3Analog Output Function Specifications Analog OutputsSectionAnalog Outputs put Tab Page − OutputCPU standby status Analog OutputsSection Specified Output Values and Analog Output Signals Analog OutputsSection END Refreshing With Immediate RefreshingSection 7-10-5ProcedureAnalog Outputs Analog Outputs SectionOutputting the Analog Output Value Stored in the Auxiliary AreaAnalog Outputs SectionAnalog Outputs SectionSECTION Connecting the CX-Programmer CX-Programmer CX-ProgrammerSection8-2Connecting the CX-Programmer Connecting the CX-ProgrammerConnecting to the Peripheral Port Connecting to the RS-232CPortConnecting the CX-Programmer Connecting to the Peripheral PortConnection Diagram SectionConnecting the CX-Programmer Connecting to the RS-232CPortUsing an RS-232CCable SectionSection 8-2-2 CX-ProgrammerConnecting CablesConnecting the CX-Programmer Section Connecting the CX-ProgrammerConnecting an RS-232CCable to the RS-232CPort Connecting the CX-Programmer SectionSECTION Error Processing 9-1Error Log Error LogErrors Generated by FAL006/FALS007 Error Log StructureError Processing Error Categories9-2-2Error Information Error ProcessingSectionError Codes Error Processing9-2-3 SectionSection 9-2-4Error Processing FlowchartError Processing Error Processing CPU ErrorsFatal Errors SectionSection Error Processingmessage and related Auxiliary Area flags/words and correct the cause of the error Error Processing Fatal ErrorsError ErrorError Processing Non-fatalErrorsNon-fatalErrors SectionSection Error ProcessingOther Errors Section 9-2-6Power Supply CheckError Processing 9-2-7Memory Error Check 9-2-8Program Error CheckError Processing Section9-2-9Cycle Time Overrun Error Check 9-2-10System Setup Error CheckError Processing Section9-2-11I/O Setting Error Check Error ProcessingI/O Setting Error occurred SectionSection Error Processing9-2-12I/O Check Troubleshooting Problems in Modules Troubleshooting Problems in ModulesCoordinator Module Errors 9-2-13Environmental Conditions CheckTroubleshooting Problems in Modules Motion Control Module ErrorsInput Errors SectionSection Troubleshooting Problems in ModulesOutput Errors Inspection and Maintenance SECTIONModule Replacement Precautions 10-1Inspections10-1Inspections 10-1-1Inspection PointsInspectionsSection Inspection Points for Periodic InspectionsInspections SectionTools Required for Inspections Required ToolsInspections SectionAppendix A Programming Programs and TasksSubroutines Using Normal SubroutinesWhat Are Subroutines? ProgrammingUsing Subroutines That Pass Parameters ProgrammingAppendix A Execution with Subroutine Input Condition FlagsProgramming Appendix AJSB982 Operation AddressProgramming Appendix AApplication Examples Without Macro FunctionProgramming Appendix AExecution with Subroutine Input Condition Flags Main ProgramBasic Information on Programming Power FlowProgramming Appendix AProgramming Appendix AFlags OperandsInstruction Location and Input Conditions Addressing I/O Memory AreasProgramming Appendix ASpecifying Operands ProgrammingAppendix A OperandProgramming Appendix AOperand DescriptionOperand ProgrammingAppendix A Programming Appendix AUpper 4 bits Lower 4 bitsData Formats ProgrammingAppendix A Note Signed Binary DataProgramming Appendix AComplements Two’s ComplementsProgrammingAppendix A Note Signed BCD DataInstruction Variations Input ConditionsProgramming Appendix AUpwardly differentiated input instruction ProgrammingAppendix A Programming Precautions Using Condition FlagsCondition Flags Programming1.Using Execution Results in NC and NO Inputs ProgrammingAppendix A Instruction AProgramming Appendix ACMP 0010 D00100 Reflects CMP execution results MOV 1 0200 D00200 Reflects MOV execution resultsError Flag ProgrammingAppendix A Main Conditions Turning ON Condition FlagsProgramming Appendix AEquals Flag Carry FlagSpecial Program Sections ProgrammingAppendix A Instruction CombinationsProgramming Appendix AInstructions Not Allowed in Subroutines Note Block Program SectionsComputing the Cycle Time FQM1 Operation FlowchartProgramming Appendix AOverview of Cycle Time Calculations ProgrammingAppendix A Coordinator ModuleProgramming Appendix AModule I/O Refresh Times ProgrammingAppendix A Cyclic Refresh Time in the Coordinator ModuleExample of Calculating the Cycle Time Online Editing Cycle Time ExtensionProgramming Appendix AResponse Time ProgrammingAppendix A Coordinator Module I/O Response TimeProgramming Appendix AMotion Control Module I/O Response Time Minimum I/O Response Time General-purposeI/O 0 toProgramming Appendix AMotion Control Module Interrupt Response Times Calculation ExampleProgramming Appendix AMotion Control Module Interrupt Processing Times Scheduled Interrupt TaskProgramming Appendix AProcessing Time Interrupt Response Time Calculation ExampleAppendix A 2When using interrupt tasks frequently, be sure to consider the time required for interrupt processing and its affect on the overall systemProgramming Appendix B I/O Memory Overview of I/O MemoryI/O Memory Parameter AreaI/O Memory Structure Coordinator ModuleI/O Memory Appendix BAppendix B Motion Control ModulesI/O Memory CIO Area I/O MemoryAppendix B I/O Bit Area: CIO 0000 and CIOI/O Memory Appendix BSynchronous Data Link Bit Area: CIO 0200 to Serial PLC Link Bit Area CIO 0080 to CIOAuxiliary Area: A000 to A649 A000.00 to A649.15 Temporary Relay Area TRRefreshing Using the IORF097 Instruction I/O MemoryAppendix B Timer AreaI/O Memory Appendix B Counter AreaI/O Memory Data Memory DM Area Condition FlagsBinary-modeAddressing @D BCD-modeAddressing *DUsing the Condition Flags symbolI/O Memory Appendix BClock Pulses Using the Clock PulsesI/O Memory Appendix BParameter Area System SetupI/O Memory Appendix BSystem Setup, Auxiliary Area Allocations Overview of System SetupsSystem Setup in the Coordinator Module Appendix CAppendix C Peripheral Port Settings for Host Link Communications SettingsStandard/Custom Setting Appendix CPeripheral Port Settings for NT Link Standard/Customer SettingAppendix C Host Link Unit NumberRS-232CPort Settings for Host Link Appendix CBaud Rate Serial Communications ModeRS-232CPort Settings for NT Link RS-232CPort Settings for Peripheral Bus ToolBusStandard/Custom Setting Appendix CSend Delay Appendix CBaud Rate Serial Communications ModeRS-232CPort Settings for PLC Link PC Link Slave Appendix CStart Code and End Code Number of Received BytesRS-422APort Settings CX-Programmer:Drive Tab Page RS-422APort Settings for Serial GatewayStandard/Custom Setting Send Delay TimePeripheral Service Time Appendix CStart Code and End Code Number of Received BytesSystem Setup in Motion Control Modules CX-Programmer:Module Settings Tab PageAppendix C CX-Programmer:Cycle Time Tab PageFQM1-MMP21Motion Control Modules with Pulse I/O CX-Programmer:Pulse Input Tab PageAppendix C CX-Programmer:Pulse Output Tab PagePulse Output Function DetailsWhen setting FQM1-MMA21Motion Control Modules with Analog I/OAppendix C CX-Programmer:Pulse Input Tab PageDetails on System Setup Settings Peripheral Port SettingsRS-232CPort Settings Host Link Port Appendix CAppendix C Constant Cycle TimeWatch Cycle Time Messages Sent and Received with No-protocolModeAppendix C Fixed Peripheral Servicing TimeThe 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 Appendix CAuxiliary Area Allocations by Function Appendix CAllocations That Are the Same for All Modules FQM1-MMP21Motion Control Modules with Pulse I/OAppendix C A608Appendix C AddressBits NameAppendix C A610Appendix C A611Appendix C A620 toAppendix C A626Appendix C FQM1-MMA21Motion Control Modules with Analog I/OAddress BitsAppendix C A562Appendix C A564flows/underflows are checked when the PV is read Appendix CNote For a Linear Counter, high-speedcounter over change in the PV of the high-speedcounter overAppendix C AddressBits NameAppendix C AddressBits NameAppendix C A610Input Interrupts Allocations Related to Built-inInputsAppendix C Program Error Flags Other Error Flags and BitsError Log and Error Code Appendix CFAL/FALS Errors Memory ErrorsSystem Setup I/O ErrorsAppendix C CommunicationsOther Peripheral PortBuilt-inI/O Allocations Allocations Directly Related to InstructionsAppendix C RS-232CPortInputs 40-pin General-purposeI/O Connector Outputs 40-pin General-purposeI/O ConnectorInputs 26-pin General-purposeI/O Connector Outputs 26-pin General-purposeI/O ConnectorAuxiliary Area Allocations in Order of Address Appendix DAuxiliary Area Allocations Auxiliary Area Allocations Appendix DA414 Auxiliary Area AllocationsAppendix D A520 Auxiliary Area AllocationsAppendix D A559 Auxiliary Area AllocationsAppendix D A570 Auxiliary Area AllocationsAppendix D A606 to Auxiliary Area AllocationsAppendix D A610 Auxiliary Area AllocationsAppendix D A612 Auxiliary Area AllocationsAppendix D A626 Auxiliary Area AllocationsAppendix D Error Codes and Error Flags Error Log Area: A100 to A199Detailed Explanations on the Auxiliary Area Auxiliary Area AllocationsMemory Configuration FQM1 Memory AddressesAuxiliary Area Allocations Appendix DMemory Map Auxiliary Area AllocationsAppendix DAuxiliary Area Allocations Appendix DSequence Input Instructions Sequence Output InstructionsTimer and Counter Instructions Auxiliary Area AllocationsAppendix D Sequence Control InstructionsData Movement Instructions Auxiliary Area AllocationsAppendix D Auxiliary Area Allocations Appendix DData Shift Instructions Increment/Decrement InstructionsAppendix D Symbol Math InstructionsAuxiliary Area Allocations Auxiliary Area Allocations Appendix DConversion Instructions Logic InstructionsAuxiliary Area Allocations Appendix DSpecial Math Instructions Floating-pointMath InstructionsAuxiliary Area Allocations Appendix DTable Data Processing Instructions Data Control InstructionsAuxiliary Area Allocations Appendix DInterrupt Control Instructions High-speedCounter and Pulse Output InstructionsAuxiliary Area Allocations Appendix DStep Instructions I/O Refresh InstructionAuxiliary Area Allocations Appendix DSerial Communications Instructions Debugging InstructionsBranching Auxiliary Area AllocationsAppendix D Auxiliary Area Allocations Appendix DIndex Index Index Index Index Page Index Index Peripheral Devices, 6 peripheral portIndex Index Servo DriversIndex Index Revision History Cat. No. O010-E1-01Page OMRON CORPORATION FA Systems Division H.Q 66 MatsumotoMishima-city,Shizuoka Japan Tel: 8155-977-9181/Fax:Certain Precautions on Specifications and Use Terms and Conditions of SaleOMRON ELECTRONICS LLC 1 Commerce Drive Schaumburg, ILOMRON CANADA, INC 885 Milner Avenue Toronto, Ontario M1B