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