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Omron FQM1-MMA21 Specifying Operands, Programming, Appendix A, Description, Notation, Application

Models: FQM1-MMP21 FQM1-MMA21 FQM1-CM001

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Programming

Appendix A

0010

Word address

DM Area addresses are given with “D” prefixes, as shown below for the address D00200.

D00200

Word address

Specifying Operands

Operand

Description

Notation

Application

examples

Specifying bit

The word address and bit number are specified

0001 02

0001.02

addresses

directly to specify a bit (input input bits).

@@@@.

Bit number (02)

Bit number

Word address: 0001

(00 to 15)

Word address

Note The same addresses are used to access

timer/counter Completion Flags and

Present Values.

Specifying

The word address is specified directly to

0003

MOV 0003

word

D00200

specify the 16-bit word.

addresses

@@@@

Word address: 0003

D00200

Word address

Word address: 00200

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Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 Specifying Operands, Programming, Appendix A, Description, Notation, Application

Contents

FQM1-CM001 FQM1-MMP21 FQM1-MMA21 FQM1 SeriesOPERATION MANUAL Flexible Motion ControllerProduced November FQM1-CM001 FQM1-MMP21 FQM1-MMA21Flexible Motion Controller Operation Manual FQM1 SeriesPage OMRON, NoticeOMRON Product References Visual AidsPage TABLE OF CONTENTS SECTION TABLE OF CONTENTSAppendices TABLE OF CONTENTSInspection and Maintenance SECTIONTABLE OF CONTENTS About this Manual Page xiii PRECAUTIONSIntended Audience 2 General Precautions3 Safety Precautions 1 Intended AudienceSafety Precautions 3-1Operating Environment PrecautionsSafety Precautions 3-2Application Precautionsxvii Safety Precautions•Changing the operating mode of the FQM1 •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 Safety Precautionsxviii EMC Directives Conformance to EC DirectivesEMC Directive Conformance Conditions Conformance to EC DirectivesCountermeasure Examples 4-5Relay Output Noise Reduction MethodsConformance to EC Directives CountermeasuresCircuit CharacteristicConformance to EC Directives Motion ControllerData Backup 5 Data Backupxxii A404.14 Data BackupBacking Up DM Area Data in Flash Memory xxiiixxiv Data BackupSECTION Features and System Configuration Section 1-1Outline of FQM1 Flexible Motion ControllerFlexible Configurations of Up To 8 Axes Outline of FQM1 Flexible Motion ControllerBuilt-in RS-422APort in Coordinator Module Outline of FQM1 Flexible Motion ControllerSection Built-in RS-232CPort in Coordinator ModulePulse Input Frequency Measurement Function 1-2FQM1 ConfigurationFQM1 Configuration SectionFQM1-CM001Coordinator Module FQM1 ConfigurationCJ1W-PA202/PA205RPower Supply Units SectionModules ModulesSection Section ModulesOutline of Internal Data Exchange and I/O CX-Programmer 1-4 CX-ProgrammerCX-Programmer SectionSection 1-5Expanded System ConfigurationExpanded System Configuration System ConfigurationNT Link System 1:N Mode, Standard Expanded System ConfigurationSection Host Link SystemSection Expanded System ConfigurationNT Link 1:N Mode RS-232C PT NT Link 1:N Mode Serial Gateway Expanded System ConfigurationSystem Configuration Example SectionBasic Operating Procedure 1-6Basic Operating ProcedureSection 3.Initial Hardware Settings Basic Operating ProcedureSection 1-6-1Examples Basic Operating Procedure1. Installation 2.Wiring 3.Initial Hardware Settings6.Writing the Programs Basic Operating Procedure5.System Setup Settings SectionCheck Output Wiring Basic Operating Procedure7.Transferring the Programs 8.Testing Operation 8-aI/O Wiring Checks 8-bTrial Operation9.Save and Print the Programs Basic Operating ProcedureTime Chart Monitoring SectionSync Cycles and Synchronized data Function Tables Arranged by Purpose5-4-4Settings 1-7-15-1Synchronous Operation between Modules Function Tables Arranged by PurposeSection 5-1Synchronous Operation between Modules7-6-12PLS2887 Pulse Output Direction Prior 1-7-2Function Tables Arranged by PurposeSection 7-6-6Pulse Output Function Details7-6-6Pulse Output Function Details Function Tables Arranged by PurposeSection Absolute Encoders7-8Virtual Pulse Output Function Function Tables Arranged by PurposeSection 7-10Analog OutputsSection 7-6-13Pulse Output Function Procedures7-6-13Pulse Output Function Procedures Function Tables Arranged by Purpose7-9Analog Input Functions 1-7-3Function Tables Arranged by Purpose SectionSection 7-9-3Analog Input Function Specifications1-7-4 Function Tables Arranged by Purpose7-6Pulse Outputs Function Tables Arranged by PurposeSection 7-9Analog Input Functions7-4-3Interval Timer Interrupt Modes 7-4Interval Timer Interrupts7-4-3Interval Timer Interrupt Modes 7-4Interval Timer Interrupts7-6-8Time Measurement with the Pulse Function Tables Arranged by PurposeSection 7-5Pulse InputsSection Function Tables Arranged by PurposeSECTION Specifications and Nomenclature List of ModelsSection General SpecificationsList of Models General SpecificationsPower Supply Unit Specifications General SpecificationsSection Section 2-3Coordinator ModuleIndicators Coordinator ModuleSection Function SpecificationsSwitch on Front Panel Coordinator ModuleSection Coordinator ModuleCIO Area Section Motion Control ModulesI/O Specifications Motion Control ModulesNomenclature IndicatorsMotion Control Modules SectionMotion Control Modules Performance SpecificationsSection Section I/O SpecificationsGeneral-purposeI/O Specifications Motion Control ModulesFQM1-MMP21Pulse I/O Pulse I/O SpecificationsMotion Control Modules SectionPulse Inputs and Analog I/O SpecificationsMotion Control Modules SectionFQM1-CM001Coordinator Module 2-5DimensionsDimensions SectionPOWER L1 DimensionsPower Supply Units POWER L1Section 2-6Module Current ConsumptionMaximum Current and Maximum Total Power Module Current ConsumptionSection Example Calculation of Current and PowerCombining Power Supply Units and Motion Control Module Current ConsumptionAreas Backed Up by Super Capacitors 2-7Memory Block DiagramMemory Block Diagram SectionSection Memory Block DiagramSECTION Installation and Wiring Temperature Control 3-1InstallationInstallation Installation in Cabinets or Control PanelsImproving Noise Resistance InstallationPower lines 200 mm min FQM1 200 mm min SectionSection InstallationFQM1 Orientation Wiring Duct Example 3-1-2Installation in a Control PanelInstallation Wiring DuctsSection 3-1-3Assembled Appearance and DimensionsInstallation Routing Wiring DuctsPower Supply Unit width: “a” mm InstallationAssembled Dimensions Installation DimensionsSection 3-1-4Connecting FQM1 ComponentsInstallation Installation HeightSection 3-1-5DIN Track InstallationInstallation Release DIN Track mounting pins2 3. Lock the pins on the backs of the Modules InstallationSection •DIN Track InstallationDIN Track and Accessories SectionPower Supply Capacity 3-2WiringWiring AC Power SourceTerminal Screws and WiringSection GroundingControl panel WiringSection FQM1Terminal Screws and WiringCrimp Terminals for Ground Wire Section1:1 Connections with WiringSectionConnector Pin Arrangement Connection MethodsIBM PC/AT or Compatible Connector 9-pin,Male WiringApplicable Connectors Coordinator Module ConnectorConnection Example to Programmable Terminal PT WiringRS-232CPort Specifications SectionSection 3-3Wiring Module ConnectorsWiring Module Connectors General-purposeI/O 40-pinConnectorSection Wiring Module ConnectorsGeneral-purposeI/O 26-pinConnector FQM1-MMP21Pulse I/O 40-pinConnectorFQM1-MMA21Analog I/O 40-pinConnector Wiring Module ConnectorsSection FQM1-MM@21Motion Control Modules Wiring Module Connectors3-3-2 SectionSection 3-3-3Wiring ExamplesWiring Module Connectors Connecting Pulse Inputs FQM1-MMP21 MMA21FQM1 Shielded twisted-paircable Wiring Module ConnectorsPower supply Encoder SectionExample Wiring Module ConnectorsConnecting Pulse Outputs FQM1-MMP21 SectionConnectors Wiring Module ConnectorsConnecting Analog Outputs FQM1 MMA21 Connecting Analog Inputs FQM1-MMA21Section 3-4Wiring Servo Relay UnitsWiring Servo Relay Units Recommended Wire SizeSection Wiring Servo Relay UnitsNomenclature and Functions Lower Terminal Block Pin Arrangement Wiring Servo Relay UnitsSection Upper Terminal Block Pin Arrangement6. Signal Switches Wiring Servo Relay UnitsSection Wiring Method Wiring Servo Relay UnitsExternal Dimensions Wiring Screw-less Clamp Terminal BlocksModel Wiring Servo Relay UnitsSection Recommended ScrewdriverWiring when Using Servo Relay Units Wiring Servo Relay UnitsSection Upper Terminal Block Arrangement Wiring Servo Relay UnitsExample Servo Relay Unit Wiring SectionSection 3-5List of FQM1 Connecting CablesList of FQM1 Connecting Cables Connecting Cable Models6.Servomotor Connecting Cables List of FQM1 Connecting CablesSection 3-6-1Reducing Electrical Noise 3-6Wiring PrecautionsWiring Precautions I/O Signal WiringDiode specifications Wiring PrecautionsExternal Wiring Surge suppressor specificationsInput Devices 3-6-2Connecting I/O DevicesWiring Precautions Section1,2,3 Wiring PrecautionsPrecautions when Connecting a Two-wireDC Sensor SectionOutput Short-circuitProtection Wiring PrecautionsOutput Wiring Precautions SectionFQM1 Wiring PrecautionsSection FQM1SECTION Operation User Program 4-1Coordinator ModuleCoordinator Module SectionSection System Setup Flash Memory4-1-2Coordinator Module Operation Coordinator ModuleSection 4-1-3I/O Refreshing and Peripheral Servicing4-1-4Startup Initialization Coordinator ModuleMotion Control Modules 4-2Motion Control Modules4-2-1Outline 4-2-2Description of Each AreaSection I/O Memory System SetupSystem Setup Using CX-Programmer Motion Control ModulesSection Motion Control ModulesSync Mode Operation Program Execution Initialization at At power ON Common ProcessingMotion Control Modules SectionOperating Modes 4-3Operating Modes4-3-2 Status and Operations in Each Operating Mode4-3-3Operating Mode Changes and I/O Memory 4-4Power OFF Operation4-4-1Power OFF Operation Power OFF OperationSectionUser-setPower OFF Detection Time Power OFF OperationPower OFF Timing Chart Fixed Power OFF Detection TimeSection Power OFF OperationDescription of Operation SECTION Module Functions and Data Exchange Sync Mode Synchronous Operation between ModulesSynchronous Operation between ModulesSection Sync and ASync ModesData Exchange between Modules 5-2Data Exchange between ModulesSection Cyclic Refresh 5-3Cyclic Refresh5-3-1Outline 5-3-2ApplicationsCoordinator Module Cyclic Refresh Area 5-3-3Cyclic Refresh Area DetailsCyclic Refresh SectionSection Cyclic Refresh Area Allocations5-3-4 Cyclic Refresh5-4-2 Synchronous Data Refresh5-4-1 OutlineSection Synchronous Data Link Bit Area5-4-3 Synchronous Data RefreshSynchronization between Modules System Setup Coordinator ModuleSynchronous Data Refresh SectionSection 5-5DM Data TransferSystem Setup Motion Control Modules DM Data Transfer5-5-2 Settings DetailsStep 1: Make Auxiliary Area Settings 5-5-3Executing DM Data TransferSection 5-6Cycle Time SettingsCycle Time Settings 5-6-1Constant Cycle Time FunctionSection Cycle Time SettingsSystem Setup Constant Cycle Time Exceeded Error Clear BitCycle Time Too Long Flag Cycle Time SettingsSystem Setup SectionNormal Operation Cycle Time SettingsConstant Cycle Time Exceeded Error Clear Function Section5-7-2Program Protection Read Protection Using PasswordsSystem Setup 5-7-1Specifying the Startup ModeSection Automatic Backup to Flash MemoryPassword Protection 5-7-3Flash MemorySection 5-8Diagnostic FunctionsDiagnostic Functions Refer to SECTION 9 Error Processing for detailsOperation of FAL006 5-8-2Failure Alarm FunctionsDiagnostic Functions SectionFALS Diagnostic FunctionsSection Operation of FALS007SECTION Coordinator Module Functions Serial CommunicationsSection Serial CommunicationsSection Serial CommunicationsSerial CommunicationsSection ProcedureHost Link Communications 6-1-1Link Units System Manual W143 for details Host Link CommandsSection Serial CommunicationsSerial Communications FINS CommandsSection Serial Communications 6-1-2 No-protocolCommunications RS-232CPortSection Section ProcedureEnd code setting Serial CommunicationsSerial Communications System SetupRS-232CSettings Host Link Port Settings System SetupOverview System Configuration6-1-4Serial PLC Links Serial CommunicationsSectionSerial Communications ProcedureCJ1M Master Settings FQM1 Slave SettingsSystem Configuration SettingsCJ1M Master PLC Setup FQM1 Slave System SetupSection System SetupSmart Active Parts Communications Settings Serial CommunicationsSection RS-422ASettings6-1-6 No-protocolCommunications RS-422APort Serial CommunicationsSECTION Motion Control Module Functions 7-6-10 OverviewSection OverviewSection 7-2Interrupt FunctionsInterval Timer Interrupts Interrupt FunctionsDisabling All Interrupts 7-2-3Disabling and Enabling All InterruptsInterrupt Functions SectionClearing Recorded Interrupts Input InterruptsInput Interrupts SectionSection 7-3-5Using Input InterruptsInput Interrupt Mode Procedure Input Interrupts1,2,3 Counter Mode ProcedureInput Interrupts SectionInput Interrupts 7-3-6Application ExampleSection Interval Timer Interrupts 7-4Interval Timer InterruptsInterval Timer Interrupt Modes 7-4-4Using Interval Timer Interrupts7-4-5Application Example Interval Timer InterruptsSection Applicable Models Pulse InputsSpecifications 7-5-1Section Pulse InputsPulse InputsSection 7-5-4Pulse Input SpecificationsAt 50 kHz Pulse InputsSection Minimum response pulse7-5-7 Phases A and BPhase Z 7-5-6Pulse Inputs Input Signal Type and Count ModePhase Differential Inputs Phase Differential Input OperationCounter Operation Numeric Ranges Reset MethodsPulse Inputs SectionSection Phase-ZSignal Reset Input and Software ResetSoftware Reset Pulse InputsSection Pulse InputsRange Comparison Method Section Pulse InputsMonitoring High-speedCounter Movement Mode Monitoring a High-speedCounter’s Frequency Mode High-speedCounter Movement Mode 1 SpecificationsPulse Inputs SectionLatching a High-speedCounter’s PV Frequency Measurement Mode 2 SpecificationsPulse Inputs SectionSection 7-5-9Pulse Input Function ProceduresHigh-speedCounter Procedure Pulse InputsPulse Inputs Mode 1 ProcedureSection Pulse Inputs Mode 2 ProcedureProcedure ProcedureHigh-speed Counter PV Pulse InputsSection ExampleBit Pattern Output Pulse InputsSection Example High-speedCounter Range ComparisonSection Pulse InputsP_On Section Pulse InputsExample Latching High-speed Counter PV Pulse OutputsSection Pulse Outputs7-6-1 7-6-2Pulse OutputsSection 7-6-3Acceleration/ decelera Section Pulse Output Specifications7-6-4 Pulse OutputsInstructions Ineffective during Pulse Output 7-6-5Applicable Instructions Pulse OutputsSectionOverview 7-6-6Pulse Output Function Details Pulse OutputsSectionDescription Pulse OutputsSection Pulse outputSection ProcedureSettings Pulse OutputsSection Pulse OutputsIndepen Target frequency Precautions when Using Pulse OutputsPulse Outputs SectionFormula 7-6-7 One-shotPulse Output FunctionPulse Outputs SectionPulse Outputs One-shotPulse Output SpecificationsSection Pulse Outputs 7-6-8Time Measurement with the Pulse CounterSection Pulse Outputs Pulse Counter Timer SpecificationsSection Frequency speed Target value Target value Pulse OutputsSection Linear Mode OperationSection Pulse Outputs3.00 High-speedregion Low-speed 0region SectionCircular Mode Operation Single-rotationspeed control patternSpeed-changeCycle Setting thePulse Outputs SectionPulse Output Direction Priority Mode Setting the Pulse Output Direction Priority ModePulse Outputs SectionSection Pulse OutputsPulse Outputs with Acceleration/Deceleration Electronic Cam Control Functions ProcedurePulse Outputs SectionSection Pulse OutputsOne-shotPulse Output STIM980 Pulse Counter Timer Function STIM980Pulse Outputs SectionPulse Outputs 7-6-14Pulse Output Function ExamplesSection Accelerating the Frequency at a Fixed Rate Pulse OutputsSection Changing the Frequency in StepsSpeed reaches 0 while the remaining Pulse OutputsSection Specified number of pulsesSection Pulse OutputsP_On Always ON Flag P_On Always ON Flag Section Pulse OutputsSection Pulse Counter Time Measurement Timer Example7-6-15Pulse Output Starting Conditions Pulse OutputsSection Pulse OutputsPulse Output Operation Pulse OutputsSection PULS886 Absolute Pulse Output in ProgressCases 1, 2, and Pulse OutputsSection PLS2887Cases 7, 11, 12, Pulse OutputsSection Cases 6, 8, 9, and7-7-2Overview 7-7-1Applicable ModelsSection Data Format Serial Data Specification7-7-3Data Format of Absolute Encoder Output SectionAbsolute Linear CW− 7-7-4Counter OperationSection Counting Operation Counter Operation DetailsSection 7-7-6Absolute Present ValueAbsolute Linear Counter Absolute Circular Counter 7-7-8Absolute Offset Preset 7-7-7Absolute Present Value PresetSection Related Areas System Setup7-7-9 Auxiliary Area SectionA606 SectionNote Refer to 7-7-6Absolute Present Value Setting the Counter Operation Step 1 Required: SettingSetting the Pulse Input Method Setting the Input Pulse Counting SpeedStep 3 as Needed: Origin Compensation Absolute Offset PresetStep 4 Required Absolute Present Value Preset SectionProgram Description Section0.00 Section000005 SectionVirtual Pulse Output FunctionSection 7-8Virtual Pulse Output Function7-8-1 7-8-2Operands T First Word of Setting TableVirtual Pulse Output FunctionSection OverviewSection Virtual Pulse Output FunctionDescription 7-9-2 7-9Analog Input FunctionsPositioning or Speed Control Using a Virtual Axis 7-9-1Analog Input Functions Sensor pressure, displacement, etcSection 7-9-3 Analog Input Function SpecificationsAnalog Input FunctionsSection Time when setting Related Areas and SettingsSystem Setup SettingsA550 Analog Input FunctionsSection Auxiliary AreaSection Analog Input FunctionsA562 Section Analog Input FunctionsA570 Analog Input Functions Signal Range: −10 to 10 Signal Range: 0 to 107-9-5Applicable Instructions 7-9-6A/D Conversion ValueSection Signal Range: 1 to 5 V and 4 to 20 mASignal Range: 0 to 5 Analog Input FunctionsApplication Example Analog Input FunctionsSection Example7-10-2 7-10Analog Outputs 7-10-1put Tab Page − Output 7-10-3Analog Output Function SpecificationsAnalog OutputsSection Analog OutputsSection Analog OutputsCPU standby status END Refreshing With Immediate Refreshing Specified Output Values and Analog Output SignalsAnalog Outputs SectionAnalog Outputs 7-10-5ProcedureSection in the Auxiliary Area Analog OutputsSection Outputting the Analog Output Value StoredSection Analog OutputsSection Analog OutputsSECTION Connecting the CX-Programmer CX-ProgrammerSection CX-ProgrammerConnecting to the RS-232CPort 8-2Connecting the CX-ProgrammerConnecting the CX-Programmer Connecting to the Peripheral PortSection Connecting the CX-ProgrammerConnecting to the Peripheral Port Connection DiagramSection Connecting the CX-ProgrammerConnecting to the RS-232CPort Using an RS-232CCableConnecting the CX-Programmer 8-2-2 CX-ProgrammerConnecting CablesSection Connecting an RS-232CCable to the RS-232CPort Connecting the CX-ProgrammerSection Section Connecting the CX-ProgrammerSECTION Error Processing Error Log Structure 9-1Error LogError Log Errors Generated by FAL006/FALS007Error ProcessingSection Error ProcessingError Categories 9-2-2Error InformationSection Error CodesError Processing 9-2-3Error Processing 9-2-4Error Processing FlowchartSection Section Error ProcessingCPU Errors Fatal Errorsmessage and related Auxiliary Area flags/words and correct the cause of the error Error ProcessingSection Error Error ProcessingFatal Errors ErrorSection Error ProcessingNon-fatalErrors Non-fatalErrorsOther Errors Error ProcessingSection Error Processing 9-2-6Power Supply CheckSection Section 9-2-7Memory Error Check9-2-8Program Error Check Error ProcessingSection 9-2-9Cycle Time Overrun Error Check9-2-10System Setup Error Check Error ProcessingSection 9-2-11I/O Setting Error CheckError Processing I/O Setting Error occurred9-2-12I/O Check Error ProcessingSection 9-2-13Environmental Conditions Check Troubleshooting Problems in ModulesTroubleshooting Problems in Modules Coordinator Module ErrorsSection Troubleshooting Problems in ModulesMotion Control Module Errors Input ErrorsOutput Errors Troubleshooting Problems in ModulesSection 10-1Inspections Inspection and MaintenanceSECTION Module Replacement PrecautionsInspection Points for Periodic Inspections 10-1Inspections10-1-1Inspection Points InspectionsSectionRequired Tools InspectionsSection Tools Required for InspectionsSection InspectionsProgramming Programs and Tasks Appendix AProgramming SubroutinesUsing Normal Subroutines What Are Subroutines?Execution with Subroutine Input Condition Flags Using Subroutines That Pass ParametersProgramming Appendix AAddress ProgrammingAppendix A JSB982 OperationWithout Macro Function ProgrammingAppendix A Application ExamplesMain Program ProgrammingAppendix A Execution with Subroutine Input Condition FlagsAppendix A Basic Information on ProgrammingPower Flow ProgrammingOperands ProgrammingAppendix A FlagsAppendix A Instruction Location and Input ConditionsAddressing I/O Memory Areas ProgrammingOperand Specifying OperandsProgramming Appendix ADescription ProgrammingAppendix A OperandAppendix A ProgrammingOperand Lower 4 bits ProgrammingAppendix A Upper 4 bitsNote Signed Binary Data Data FormatsProgramming Appendix ATwo’s Complements ProgrammingAppendix A ComplementsNote Signed BCD Data ProgrammingAppendix AAppendix A Instruction VariationsInput Conditions ProgrammingAppendix A ProgrammingUpwardly differentiated input instruction Programming Programming PrecautionsUsing Condition Flags Condition FlagsInstruction A 1.Using Execution Results in NC and NO InputsProgramming Appendix AMOV 1 0200 D00200 Reflects MOV execution results ProgrammingAppendix A CMP 0010 D00100 Reflects CMP execution resultsMain Conditions Turning ON Condition Flags Error FlagProgramming Appendix ACarry Flag ProgrammingAppendix A Equals FlagInstruction Combinations Special Program SectionsProgramming Appendix ANote Block Program Sections ProgrammingAppendix A Instructions Not Allowed in SubroutinesAppendix A Computing the Cycle TimeFQM1 Operation Flowchart ProgrammingCoordinator Module Overview of Cycle Time CalculationsProgramming Appendix AAppendix A ProgrammingCyclic Refresh Time in the Coordinator Module Module I/O Refresh TimesProgramming Appendix AAppendix A Example of Calculating the Cycle TimeOnline Editing Cycle Time Extension ProgrammingCoordinator Module I/O Response Time Response TimeProgramming Appendix AMinimum I/O Response Time General-purposeI/O 0 to ProgrammingAppendix A Motion Control Module I/O Response TimeCalculation Example ProgrammingAppendix A Motion Control Module Interrupt Response TimesScheduled Interrupt Task ProgrammingAppendix A Motion Control Module Interrupt Processing TimesInterrupt Response Time Calculation Example ProgrammingAppendix A Processing TimeProgramming 2When using interrupt tasks frequently, be sure to consider the time required for interrupt processing and its affect on the overall systemAppendix A Parameter Area Appendix BI/O Memory Overview of I/O Memory I/O MemoryAppendix B I/O Memory StructureCoordinator Module I/O MemoryI/O Memory Motion Control ModulesAppendix B I/O Bit Area: CIO 0000 and CIO CIO AreaI/O Memory Appendix BSerial PLC Link Bit Area CIO 0080 to CIO I/O MemoryAppendix B Synchronous Data Link Bit Area: CIO 0200 toI/O Memory Auxiliary Area: A000 to A649 A000.00 to A649.15Temporary Relay Area TR Refreshing Using the IORF097 InstructionI/O Memory Timer AreaAppendix B I/O Memory Counter AreaAppendix B BCD-modeAddressing *D Data Memory DM AreaCondition Flags Binary-modeAddressing @DAppendix B Using the Condition Flagssymbol I/O MemoryAppendix B Clock PulsesUsing the Clock Pulses I/O MemoryAppendix B Parameter AreaSystem Setup I/O MemoryAppendix C System Setup, Auxiliary Area AllocationsOverview of System Setups System Setup in the Coordinator ModuleAppendix C Appendix C Peripheral Port Settings for Host LinkCommunications Settings Standard/Custom SettingHost Link Unit Number Peripheral Port Settings for NT LinkStandard/Customer Setting Appendix CSerial Communications Mode RS-232CPort Settings for Host LinkAppendix C Baud RateAppendix C RS-232CPort Settings for NT LinkRS-232CPort Settings for Peripheral Bus ToolBus Standard/Custom SettingSerial Communications Mode Send DelayAppendix C Baud RateNumber of Received Bytes RS-232CPort Settings for PLC Link PC Link SlaveAppendix C Start Code and End CodeSend Delay Time RS-422APort Settings CX-Programmer:Drive Tab PageRS-422APort Settings for Serial Gateway Standard/Custom SettingNumber of Received Bytes Peripheral Service TimeAppendix C Start Code and End CodeCX-Programmer:Cycle Time Tab Page System Setup in Motion Control ModulesCX-Programmer:Module Settings Tab Page Appendix CCX-Programmer:Pulse Input Tab Page FQM1-MMP21Motion Control Modules with Pulse I/OFunction Details Appendix CCX-Programmer:Pulse Output Tab Page Pulse OutputCX-Programmer:Pulse Input Tab Page When settingFQM1-MMA21Motion Control Modules with Analog I/O Appendix CAppendix C Details on System Setup SettingsPeripheral Port Settings RS-232CPort Settings Host Link PortMessages Sent and Received with No-protocolMode Appendix CConstant Cycle Time Watch Cycle TimeFixed Peripheral Servicing Time Appendix CAppendix 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 cyclesFQM1-MMP21Motion Control Modules with Pulse I/O Auxiliary Area Allocations by FunctionAppendix C Allocations That Are the Same for All ModulesA608 Appendix CName Appendix CAddress BitsA610 Appendix CA611 Appendix CA620 to Appendix CA626 Appendix CBits Appendix CFQM1-MMA21Motion Control Modules with Analog I/O AddressA562 Appendix CA564 Appendix Cchange in the PV of the high-speedcounter over flows/underflows are checked when the PV is readAppendix C Note For a Linear Counter, high-speedcounter overName Appendix CAddress BitsName Appendix CAddress BitsA610 Appendix CAppendix C Allocations Related to Built-inInputsInput Interrupts Appendix C Program Error FlagsOther Error Flags and Bits Error Log and Error CodeI/O Errors FAL/FALS ErrorsMemory Errors System SetupPeripheral Port Appendix CCommunications OtherRS-232CPort Built-inI/O AllocationsAllocations Directly Related to Instructions Appendix COutputs 26-pin General-purposeI/O Connector Inputs 40-pin General-purposeI/O ConnectorOutputs 40-pin General-purposeI/O Connector Inputs 26-pin General-purposeI/O ConnectorAuxiliary Area Allocations Appendix DAuxiliary Area Allocations in Order of Address Appendix D Auxiliary Area AllocationsAppendix D Auxiliary Area AllocationsA414 Appendix D Auxiliary Area AllocationsA520 Appendix D Auxiliary Area AllocationsA559 Appendix D Auxiliary Area AllocationsA570 Appendix D Auxiliary Area AllocationsA606 to Appendix D Auxiliary Area AllocationsA610 Appendix D Auxiliary Area AllocationsA612 Appendix D Auxiliary Area AllocationsA626 Auxiliary Area Allocations Error Codes and Error FlagsError Log Area: A100 to A199 Detailed Explanations on the Auxiliary AreaAppendix D Memory ConfigurationFQM1 Memory Addresses Auxiliary Area AllocationsAuxiliary Area AllocationsAppendix D Memory MapSequence Output Instructions Auxiliary Area AllocationsAppendix D Sequence Input InstructionsSequence Control Instructions Timer and Counter InstructionsAuxiliary Area Allocations Appendix DAppendix D Auxiliary Area AllocationsData Movement Instructions Increment/Decrement Instructions Auxiliary Area AllocationsAppendix D Data Shift InstructionsAuxiliary Area Allocations Symbol Math InstructionsAppendix D Logic Instructions Auxiliary Area AllocationsAppendix D Conversion InstructionsFloating-pointMath Instructions Auxiliary Area AllocationsAppendix D Special Math InstructionsData Control Instructions Auxiliary Area AllocationsAppendix D Table Data Processing InstructionsHigh-speedCounter and Pulse Output Instructions Auxiliary Area AllocationsAppendix D Interrupt Control InstructionsI/O Refresh Instruction Auxiliary Area AllocationsAppendix D Step InstructionsDebugging Instructions Auxiliary Area AllocationsAppendix D Serial Communications InstructionsAppendix D Auxiliary Area AllocationsBranching Appendix D Auxiliary Area AllocationsIndex Index Index Index Index Page Index Peripheral Devices, 6 peripheral port IndexIndex Servo Drivers IndexIndex Index Cat. No. O010-E1-01 Revision HistoryPage Tel: 8155-977-9181/Fax: OMRON CORPORATIONFA Systems Division H.Q 66 Matsumoto Mishima-city,Shizuoka JapanTerms and Conditions of Sale Certain Precautions on Specifications and Use885 Milner Avenue Toronto, Ontario M1B OMRON ELECTRONICS LLC1 Commerce Drive Schaumburg, IL OMRON CANADA, INC