Omron FQM1-MMP21, FQM1-CM001, FQM1-MMA21 operation manual Modules, Section

Modules Section 1-3

FQM1-TER01 End Module One End Module is supplied with the Coordinator Module. Always attach the End Module because it acts as a terminator for the system. A fatal error will occur if no End Module is attached.

Other Peripheral Devices Special Servo Relay Units are available for connecting the FQM1 Flexible Motion Control system to OMRON W-series and SMARTSTEP Servo Drivers. Specific cables suitable for the connected Servomotor/Servo Driver models and the FQM1 Motion Control Module models are also available.

1-3	Modules
			The Coordinator Module acts as the interface between the FQM1 system and
			peripheral devices, shares data with each Motion Control Module, and syn-
			chronizes specific data (e.g., virtual axis data) between Modules.
		Item		Details
Functions		Interfaces for	Connection with the CX-Programmer (peripheral port)
		peripheral	Connection with PT for monitoring and parameter settings (RS-232C port)
		devices	Connections with Servo Drivers (RS-422A port)
		Sharing data with	The 10 words are allocated for each Motion Control Module in the Cyclic Refresh Bit Area
		each Motion	of the Coordinator Module (CIO 0100 to CIO 0139), based on the Motion Control Module
		Control Module	slot number. These words correspond to CIO 0100 to CIO 0109 in the Cyclic Refresh Bit
		(each Coordina-	Area of each Motion Control Module.
		tor Module cycle)	• Coordinator Module to Motion Control Module: 5 words (General-purpose output)
			• Motion Control Module to Coordinator Module: 5 words (General-purpose input: 4 words,
			program RUN, fatal errors, non-fatal errors)
			This cyclic refresh data is refreshed every Coordinator Module cycle.
		Synchronized	User-specified synchronous data (see following list) can be allocated to CIO 0200 to CIO
		sharing of special	0219 in the Synchronous Data Link Bit Area of the Coordinator Module and each Motion
		data between	Control Module, 4 words at a time (2 types of data ⋅ 2 words). The allocations are fixed,
		Modules (broad-	starting with the Coordinator Module and followed by Motion Control Modules in order of
		cast at specified	slot number.
		sync cycle)	• Any ladder program data
			• High-speed counter PV
			• Pulse output PV
			• Analog input PV
			• Analog output PV
			• Built-in I/O input values
			The synchronous data is broadcast each specified sync cycle and all other Modules
			receive this data in essentially real-time.
		DM data transfer	DM data (499 words max.) can be transferred in the specified direction between the speci-
		with specific	fied words in the DM Area in the specified Motion Control Module and the specified DM
		Motion Control	Area words in the Coordinator Module when the DM Write Request Bit (A530.00) or DM
		Modules (as	Read Request Bit (A530.01) in the Auxiliary Area of the Coordinator Module turns ON.
		required)
I/O		Serial communi-	• Peripheral port: Peripheral bus (for CX-Programmer)
		cations	• One RS-232C port: NT Link (for OMRON PTs), Host Link (for host computers), or no pro-
			tocol (for PLCs)
			• One RS-422A port (Same connector as general-purpose I/O): 1:N communications with
			Servo Drivers (for transferring parameters to Servo Drivers)
		General-purpose	General-purpose inputs: 16	40-pin connector (including RS-422A)
		I/O	General-purpose outputs: 8
Programs		Program capacity	5 Ksteps (for data exchange with host computer, coordination of Motion Control Modules,
			and other peripheral programming)

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