FQM1 Series | Omron FQM1-MMP21, FQM1-CM001, FQM1-MMA21 specification

FQM1 Series

FQM1-CM001

FQM1-MMP21

FQM1-MMA21

Flexible Motion Controller Operation Manual

Produced November 2004

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

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 Manual Xii Precautions Intended Audience General PrecautionsSafety Precautions Operating Environment Precautions Safety Precautions Application Precautions Xvii Xviii Concepts Conformance to EC DirectivesApplicable Directives Conformance to EC Directives Countermeasures Current Characteristic Required elementRelay Output Noise Reduction Methods Countermeasure Examples Circuit Current Characteristic Required element Name Model Cable length Temperature Initial After 5 years After 10 years Data BackupModule Data Data backup Charge the capacitor Backing Up DM Area Data in Flash Memory Xxiv Section Outline of FQM1 Flexible Motion Controller Section Special I/O Servo Driver Pulse or Analog I/O Basic I/O FQM1 Configuration CJ1W-PA205R FQM1-MMP21FQM1-MMA21 Modules Details Outline of Internal Data Exchange and I/O PLC CX-Programmer CX-Programmer Serial Communications Expanded System ConfigurationSystem Configuration Systems Host Link System Yes See note Connection between CJ1M and FQM1 Controller Serial Gateway1N Connection between CJ1M and FQM1 Controllers FQM1 Basic Operating Procedure No-protocol Custom Communications System via RS-422A Port Output wiring Input wiring Examples InstallationWiring Initial Hardware Settings Writing the Programs Transferring the Programs Testing Operation Data Tracing Time Chart MonitoringSave and Print the Programs Online Editing Function Tables Arranged by Purpose Purpose Operation Function used Details Function Tables Arranged by Purpose Position and Speed Control Purpose Operation Main functions Details Used Absolute Encoders Analog Outputs Pulse Output Function Procedures Measuring Input Pulses Analog Input Function Specifications High-speed Analog I/O Control Pulse Outputs Input Interrupt Mode Controlling Timing Time Measurement with the Pulse Section Specifications and Nomenclature Must be installed General SpecificationsGeneral Specifications Name Type Model Specifications Power Supply Unit Specifications VA max Inrush current At 100 to 120 V AC See note Coordinator Module IndicatorsIndicator Color Name Status Meaning Nomenclature Peripheral Port Baud Rate Detection/System Setup Switch Function SpecificationsSwitch on Front Panel Bits TR0 to TR15 Motion Control Module SpecificationsMotion Control Modules Built-in General-purpose I/O MMP21 FQM1-MMA21 Analog I/OOUT7 MMA21 Performance SpecificationsMMP21 Specifications Pulse I/O Specifications FQM1-MMP21 Pulse I/O CW/CCW Pulse Inputs and Analog FQM1-MMA21 Analog I/O Specifications FQM1-TER01 End Module DimensionsFQM1-CM001 Coordinator Module Power Supply Units CJ1W-PA202 Current Consumption for Each Module Maximum Current Maximum Total Power ConsumptionModule Current Consumption XW2B-80J7-1A Servo Relay Unit Motion Control Modules Example Calculation Current and Power ConsumptionCombining Power Supply Units Motion Control Modules Current Consumption for 24-V Systems Areas Backed Up by Super Capacitors Memory Block DiagramMotion Control Modules Areas Backed Up to Flash Memory Section Installation and Wiring Temperature Control InstallationInstallation and Wiring Precautions Accessibility for Operation and Maintenance Improving Noise Resistance Ing Do not install the FQM1 in any of the following positionsFQM1 Orientation FQM1 must be mounted inside a control panel on DIN Track Installation in a Control PanelWiring Ducts Terminal Screws M4 1.2 N·m M3 0.5 N·m PLC FQM1 Assembled Appearance and DimensionsRouting Wiring Ducts Coordinator Module width 49 mm Assembled DimensionsInstallation Dimensions Motion Control Module width 49 mm Connecting FQM1 Components Installation Height DIN Track Installation Lock the pins on the backs of the Modules PFP-100N2 DIN Track DIN Track and AccessoriesDIN Track PFP-100N/50N DIN Track AC Power Source WiringWiring Power Supply Units Power Supply Capacity Crimp Terminals GroundingTerminal Screws FQM1 Crimp Terminals for Ground Wire Connector Pin Arrangement 2 RS-232C Port WiringWiringSection Connection Methods IBM PC/AT or Compatible Connector 9-pin, Male Peripheral Bus Toolbus Serial Communications ModeApplicable Connectors Coordinator Module Connector Connecting to an IBM PC/AT or Compatible Connection Example to Programmable Terminal PT RS-232C Port SpecificationsSpecification Direct Connection from RS-232C to RS-232C General-purpose I/O 40-pin Connector Wiring Module ConnectorsConnector Pin Arrangement FQM1-CM001 Coordinator Module FQM1-MM@21 Motion Control Modules General-purpose I/O 26-pin ConnectorFQM1-MMP21 Pulse I/O 40-pin Connector Pin No Name FQM1-MMA21 Analog I/O 40-pin Connector Pin Name Are outlined in the following tables External Connection DiagramsInput between 4 and 20 mA Pulse Outputs Example Wiring ExamplesConnecting Pulse Inputs FQM1-MMP21 MMA21 Power supply Encoder Connecting Pulse Outputs FQM1-MMP21 FQM1-MMP21 Connecting Analog Inputs FQM1-MMA21 Wiring MethodsConnecting Analog Outputs FQM1 MMA21 Connectors Recommended Wire Size Wiring Servo Relay UnitsApplicable Connector-Terminal Block Conversion Units Nomenclature and Functions RS-422 ConnectorPin No Signal Upper Terminal Block Pin Arrangement Lower Terminal Block Pin Arrangement Signal Switches Switch Setting details Wiring Method External DimensionsWiring Screw-less Clamp Terminal Blocks Following screwdriver can be used when removing wires Phoenix Contact Inc Recommended ScrewdriverModel Manufacturer Wiring when Using Servo Relay Units Sysmac PLC Lower Terminal Block Arrangement Example Servo Relay Unit WiringUpper Terminal Block Arrangement Specifications Model List of FQM1 Connecting CablesConnecting Cable Models RS-422A Connecting Cables with 9-pin D-sub Connector Reducing Electrical Noise Wiring PrecautionsSignal Wiring Inductive Loads External WiringSurge suppressor specifications Diode specifications OUT COM + Connecting I/O DevicesInput Devices Precautions when Connecting a Two-wire DC Sensor VON ≤ VCC VR Transistor Output Output Wiring PrecautionsOutput Short-circuit Protection Residual Voltage Reduce the surge current Add a control resistor as shown in the following diagramOutput Surge Current Method Operation Memory OutlineUser Program System Setup Flash Memory Coordinator Module Operation Startup Initialization Servicing Contents3 I/O Refreshing and Peripheral Servicing Refreshing Description of Each Area User Program Area Tab Settings Memory System Setup Read/Write DM Area D00000 to D32767System Setup Using CX-Programmer Motion Control Module Operation Scan or at the specified sync cycle time. See note Sync Mode OperationSame time Ules. Refer to 5-4 Synchronous Data Refresh for details Program Operating Modes Following tables list status and operations for each modeMode Cyclic task status Interrupt task status Operating Modes Power OFF Operation Power OFF OperationOperating Mode Changes and I/O Memory Mode Changes Cleared areas Retained areas User-set Power OFF Detection Time Power OFF Timing ChartFixed Power OFF Detection Time Power Holding Time Instruction Execution for Power Interruptions Description of Operation Module Functions and Data Exchange Synchronous Operation between Modules Sync ModeASync Mode Sync and ASync Modes Data Exchange between Modules Method Outline Description Cyclic Refresh Applications Motion Control Module Cyclic Refresh Areas Cyclic Refresh Area DetailsCoordinator Module Cyclic Refresh Area Word Bits Details Address Bits Details Cyclic Refresh Area AllocationsCM Coordinator Module MM Motion Control Module Bit Synchronous Data Synchronous Data RefreshSync Cycle Time Ladder execution results data Input or analog output value in the System SetupSynchronous Data Link Bit Area Transfer time Trol Modules SettingsSystem Setup Coordinator Module Synchronization between Modules Prohibit System System Setup Motion Control ModulesDM Data Transfer Interruption of the Sync Executing DM Data Transfer Settings DetailsMake Auxiliary Area Settings Area Turn on Request Bit Programming Example Cycle Time SettingsConstant Cycle Time Function Constant Cycle Time Exceeded Error Clear Bit Constant Cycle Time Function in Sync ModeSystem Setup Constant Cycle Time Function Enabled for Coordinator Module Cycle Time Too Long Flag Watch Cycle Time FunctionCycle Time Monitoring Function Auxiliary Area Words Normal Operation Clearing Constant Cycle Time Exceeded ErrorsConstant Cycle Time Exceeded Error Clear Function Auxiliary Area Bits Tab Name Details Settings Default Operation Settings at Startup and Maintenance FunctionsSpecifying the Startup Mode Program Protection Flash Memory Automatic Backup to Flash MemoryPassword Protection Auxiliary Area Flags Diagnostic FunctionsError Log Name Address Meaning Failure Alarm Functions Operation of FAL006 Operation of FALS007 Coordinator Module Functions Protocol Connections Description Serial CommunicationsFQM1 supports the following serial communications functions Peripheral 232C 422A Serial Communications FQM1. Select the method that best suits your application ProcedureHost Link Communications Host Link Commands Type Header Name Function Code Fins Commands Type Command Name Function Code No-protocol Communications RS-232C Port Forced SET/RESETForced SET/RESET Cancel CR+LF CR+LF End code setting YesMessage Frame Formats Setting Default Enabled NT Link 1N ModeSystem Setup RS-232C Settings Host Link Port Settings On the TXD236 and RXD235 instructions Ule are shared with the CJ1M master as shown below Serial PLC LinksOverview CIO 0080 to CIO 0089 CJ1M master to FQM1 slave Source Words and Number of Link Words CJ1M Master SettingsFQM1 Slave Settings Settings Function Smartstep Smart Active Parts Communications SettingsSettings Default Enabled RS-422A Settings No-protocol Communications RS-422A Port Motion Control Module Functions 138 FQM1 Modules have the following functions OverviewOverviewSection Main function Sub-functions Applicable Modules Interrupt Priority Interrupt FunctionsOverview Executing Interrupt Programs Disabling All Interrupts DI802 instruction will disable all interruptsDisabling and Enabling All Interrupts Enabling All Interrupts Applicable Models Input Interrupt SpecificationsInput Interrupts Overview of the Input Interrupt Function Input Interrupt Mode Procedure Using Input InterruptsCounter Mode Input Allocated input bit Interrupt task number Counter Mode Procedure Application Example Using Interval Timer Interrupts Interval Timer InterruptsInterval Timer Interrupt Modes Equipped with one interval timer each Stim Interval Timer @STIM Based on the counter PV SpecificationsPulse Inputs Model Functions Pulse Inputs Pulse Input Specifications 151 Applicable Instructions Latch Input SpecificationsInternal Circuit Configurations Pulse Inputs Pulse Input Function Description High-speed Counter Function Description Circular Counter Reset MethodsCounter Operation Numeric Ranges Linear Counter Checking for High-speed Counter Interrupts Phase-Z Signal Reset Input and Software ResetSoftware Reset Target-value Comparison Method Range Comparison Method Tab Function Details Monitoring High-speed Counter Movement ModeWord Bits Function Details System Setup Function Details Word Bit Function Details Pulse Input Function Procedures High-speed Counter Procedure Mode 1 Procedure Target-value comparison interrupt Pulse Input Function Example Application Mode 2 ProcedureProcedure 163 164 165 Example Latching High-speed Counter PV Pulse Outputs 168 All Pulse Outputs Except for One-shot Pulse Outputs One-shot Pulse Outputs Sible is also listed in the following table Instructions Ineffective during Pulse Output Mode Description Pulse Output Function Details 172 Pulse Output Operations SPED88 PULS88 Set by user Precautions when Using Pulse OutputsTarget frequency Dividing ratio Target frequency Hz Actual output frequency One-shot Pulse Output FunctionFormula Word Bits Function Contents One-shot Pulse Output SpecificationsTab Function Setting Time Measurement with the Pulse Counter Pulse Counter Timer Specifications Target-value Comparison Interrupts from Pulse Output PVs Linear Mode Operation END ACC Circular Mode Operation Range Comparison Bit Pattern Outputs from Pulse Output PVs Speed-change Cycle 12 PLS2887 Pulse Output Direction Priority ModeSetting Ms Cycle Pulse Output Direction Priority Mode Pulse Output Function ProceduresSetting the Pulse Output Direction Priority Mode Execute PLS2887 with A628.14 OFF Pulse Outputs with Acceleration/Deceleration Pulse output port Electronic Cam Control Functions Port Pulse output port 187 Pulse Counter Timer Function STIM980 One-shot Pulse Output STIM980 Pulse Output Function Examples @SPED Changing the Frequency in Steps Accelerating the Frequency at a Fixed Rate Number of pulses is 0 or more Speed 192 Using PLS2887 for Trapezoidal Acceleration/Deceleration @PLS2 Pulse Output Starting Conditions Pulse Counter Time Measurement Timer ExampleSupports continuous mode only One-shot Pulse Output Function Example Use this function for positioning CCW PULS886 Absolute Pulse Output in Progress SPED8 PULS8 PULS88 Target position Present position CaseAbsolute linear Cases 6, 8, 9, Cases 7, 11, 12 199 Data Format Serial Data SpecificationData Format of Absolute Encoder Output P is in ASCII. It is 50 hex in hexadecimal Counter Operation Counting Operation Counter Operation Details Absolute Linear Counter Absolute Circular Counter Absolute Number of Rotations PV Counter 1 A604 and A605Absolute Present Value 7FFF Absolute Present Value PresetAbsolute Offset Preset Tab Function Details Time when Setting Related Areas Auxiliary Area Word Bits Function Details Controlled 206 Output Data Overview of Absolute Encoder Output Data AcquireAbsolute Encoder Acquiring Method 208 Sample Programs Connecting an Omron W-series Servo Driver Program Description 210 211 Virtual Pulse Output Function Axis Axis Instruction For Virtual Pulse Outputs Mode Specifier Sets the output modeFirst Word of Setting Table Operands Description Motion Control Module for Analog I/O Positioning or Speed Control Using a Virtual AxisAnalog Input Functions FQM1-MMA21 Analog Input Function Specifications Related Areas and Settings Tab Function Settings Time when setting Becomes effective Word Bits Function Settings Controlled 220 221 With END Refreshing With Immediate Signal Range −10 to 10 Signal Range 0 to 106 A/D Conversion Value High-speed Analog Sampling FQM1-MMA21 Only Signal Range 1 to 5 V and 4 to 20 mASignal Range 0 to 5 Overview CTBL882 Instruction Operation At several measurement points Comparison Table Analog Outputs @CTBL Analog Output Function Specifications Analog Outputs Condition Analog output Overall accuracy is the ratio of accuracy to the full scaleCPU standby status To 10 Specified Output Values and Analog Output SignalsEND Refreshing With Immediate Refreshing To 5 Procedure Outputting a Sloped Analog Output Outputting the Analog Output Value Stored Auxiliary AreaOutputting a Stepped Analog Output 231 232 Connecting the CX-Programmer Cables shown in the following table Make System Setup settings, and monitor or debug operationName Model Specifications CS1W-CIF31 Connecting a Personal Computer Running Support Software Connecting the CX-ProgrammerSystem Configuration Cable Connection Diagram CS1W-CIF31 Connection Methods Using a USB-Serial Conversion Cable CX-Programmer Connecting Cables Cable Port Communic Connecting Ations Connector Model Connecting an RS-232C Cable to the Peripheral Port Connecting an RS-232C Cable to the RS-232C PortWhen connecting the CX-Programmer to the FQM1 Serial Features Communications Mode 240 Error Processing Error Log Structure Error LogErrors Generated by FAL006/FALS007 Instruction FAL numbers Error codes Error Information Error ProcessingError Categories Indicator Status and Error Conditions ERR OFF Error CodesClassification Error code Error name Prphl OFF COMM1 COMM2 Error Processing Flowchart Fatal Errors Error TablesCPU Errors CPU Standby 247 Fatal Errors C2FF Non-fatal ErrorsNon-fatal Errors Lit Flashing Other Errors Power Supply Check Memory Error Check Program Error Check Cycle Time Overrun Error Check System Setup Error Check 11 I/O Setting Error Check 12 I/O Check Error condition Probable cause Remedy Troubleshooting Problems in ModulesCoordinator Module Errors Environmental Conditions Check Motion Control Module Errors Input Errors Output Errors Inspection and Maintenance Inspection Points for Periodic Inspections InspectionsInspection Points Inspection Criteria Action Required Tools Module Replacement PrecautionsTools Required for Inspections Tools Required 262 Type of task Description Programming Programs and TasksTasks What Are Subroutines? Using Normal SubroutinesSubroutines Type of subroutine Description Calling instruction Execution with Subroutine Input Condition Flags Using Subroutines That Pass ParametersExecution without Subroutine Input Condition Flags Overview JSB JSB982 OperationAddress Corresponding subroutines Word Bits RET Appendix aMcro Main Program Basic Information on Instructions Power FlowBasic Information on Programming Instruction Conditions Flags Instruction Description Setting Canceling ConditionOperand types Description Symbol Operands Bit Addresses Instruction Location and Input ConditionsAddressing I/O Memory Areas Word Addresses Specifying Operands Operand Description Notation Application Operand Description Notation Application Examples BCD BCD Data Operand Data form Symbol Range Application exampleLD ,IR0 #FFFFFFFF Abcd AbcdeNUL NUL NUL Decimal Digit Data FormatsData type Complements Two’s Complements Fffe Decimal Hexadecimal BinaryFfff 7FFF Input Conditions Variation Symbol DescriptionInstruction Variations Non-differentiated Instructions 280 Condition Flags Programming PrecautionsUsing Condition Flags Using Execution Results in NC and no Inputs CMP Main Conditions Turning on Condition Flags Using Execution Results from Differentiated InstructionsError Flag Difu Less Than and Greater Than Flags Equals FlagCarry Flag Negative Flag Subroutines Special Program SectionsInstruction Combinations Program section Instructions Instruction condition Status Instructions Not Allowed in Block Program Sections Instructions Not Allowed in SubroutinesInstructions Not Allowed in Step Ladder Program Sections Following instructions cannot be placed in a subroutine YES FQM1 Operation FlowchartComputing the Cycle Time Motion Control Modules Overview of Cycle Time CalculationsCoordinator Module Calculating the Cycle Time of the Coordinator Module Sync Bus Refreshing Peripheral ServiceCalculating the Cycle Time of a Motion Control Module Cyclic Refreshing Cyclic Refresh Time in Motion Control Modules Module I/O Refresh TimesCyclic Refresh Time in the Coordinator Module Model Refresh time Conditions Example of Calculating the Cycle TimeOnline Editing Cycle Time Extension Calculation Example for FQM1-MMP21 Coordinator Module I/O Response Time Response TimeResponse Time Motion Control Module I/O Response Time Minimum I/O Response Time General-purpose I/O 0 to Response Time for Pulse and Analog I/O Interrupt Response TimesMotion Control Module Interrupt Response Times Input Interrupt Tasks Motion Control Module Interrupt Processing Times Scheduled Interrupt Task Minimum Response Time Processing TimeInterrupt Response Time Calculation Example Maximum Response Time 298 Parameter Area Memory Overview of I/O MemoryIntroduction CIO Memory StructureCoordinator Module Motion Control Modules CIO Area Bit Area CIO 0000 and CIO Serial PLC Link Bit Area CIO 0080 to CIO RefreshSynchronous Data Link Bit Area CIO 0200 to END Refresh Auxiliary Area A000 to A649 A000.00 to A649.15 Refreshing Using the IORF097 InstructionWork Area W000 to W255 W000.00 to W255.15, 4,096 Bits Temporary Relay Area TR Timer Area Counter Area Appendix B Binary-mode Addressing @D Data Memory DM AreaCondition Flags BCD-mode Addressing *D Summary of the Condition Flags Using the Condition FlagsName CX-Programmer Function Symbol Clock Pulses Using the Clock PulsesName Label CX-Programmer Operation Symbol System Setup Parameter Area Allow Writing to User Memory System Setup in the Coordinator ModuleProhibit System Interrupt of the Sync Mode Appendix C Startup Mode Setting CX-Programmer Startup TabCycle Time Settings CX-Programmer Timer/Peripheral Service Peripheral Port Settings CX-Programmer Peripheral Port Tab Peripheral Port Settings for Host Link Standard/Customer Setting Peripheral Port Settings for NT LinkPeripheral Port Settings for Peripheral Bus ToolBus Host Link Unit Number RS-232C Port Settings for Host Link Format RS-232C Port Settings for NT Link RS-232C Port Settings for Peripheral Bus ToolBus Data Format RS-232 Port Settings for No-protocol Communications RS-232CSend Delay Number of Received Bytes RS-232C Port Settings for PLC Link PC Link SlaveStart Code and End Code PLC Link Unit No. PC Link Unit Number Send Delay Time Fixed Service Time Enable Setting Set Time to All Events Peripheral Service Time CX-Programmer Module Settings Tab System Setup in Motion Control ModulesSettings Used by All Motion Control Modules CX-Programmer Cycle Time Tab FQM1-MMP21 Motion Control Modules with Pulse I/O CX-Programmer Pulse Input Tab CX-Programmer Pulse Output Tab Function Details Address Bits Function Remarks When setting FQM1-MMA21 Motion Control Modules with Analog I/O Peripheral Port Settings Details on System Setup SettingsStartup Mode RS-232C Port Settings Host Link Port Watch Cycle Time Messages Sent and Received with No-protocol ModeConstant Cycle Time Fixed Peripheral Servicing Time Over 328 FQM1-MMP21 Motion Control Modules with Pulse I/O Auxiliary Area Allocations by FunctionAllocations That Are the Same for All Modules 330 331 332 333 334 335 FQM1-MMA21 Motion Control Modules with Analog I/O 337 338 339 340 341 342 Allocations Related to Built-in Inputs Appendix C Error Log and Error Code Program Error FlagsOther Error Flags and Bits System Flags Errors FAL/FALS ErrorsMemory Errors Module Errors Peripheral Port CommunicationsOther RS-422A Port Allocations Directly Related to InstructionsRS-232C Port Coordinator Module Built-in I/O Allocations Motion Control Module Built-in I/O Allocations Appendix D Appendix D 351 352 353 354 355 356 357 358 Classification Error code Meaning Error flags Error Codes and Error FlagsError Log Area A100 to A199 Detailed Explanations on the Auxiliary Area Memory Configuration FQM1 Memory Addresses Memory Map Sequence Output Instructions FQM1 Instruction Execution Times and Number of StepsSequence Input Instructions Comparison Instructions Timer and Counter InstructionsSequence Control Instructions Data Movement Instructions Data Shift Instructions Increment/Decrement Instructions Symbol Math Instructions Conversion Instructions Logic Instructions Special Math Instructions Floating-point Math Instructions Subroutine Instructions Table Data Processing InstructionsData Control Instructions Interrupt Control Instructions High-speed Counter and Pulse Output Instructions Step Instructions Refresh Instruction Failure Diagnosis Instructions Serial Communications InstructionsDebugging Instructions Other Instructions Iend If notElse 374 Index Index 377 378 379 Page 381 382 383 384 385 386 Original production Revision code Date Revised contentRevision History 388 Omron Corporation Regional Headquarters Terms and Conditions of Sale Omron Electronics LLC