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