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Omron FQM1-MMP21, FQM1-CM001, FQM1-MMA21 Module I/O Refresh Times, Programming, Appendix A

Models: FQM1-MMP21 FQM1-MMA21 FQM1-CM001

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Page 314

Programming						Appendix A
4.	I/O Refreshing

		Details				Processing time and fluctuation cause

	The built-in I/O and special inputs (pulse/analog) on the					MMP21: 48 ∝s
	Motion Control Module are refreshed.					MMA21: 135 ∝s
						Motion Control Module I/O refresh time

5.	Cyclic Refreshing

		Details				Processing time and fluctuation cause

	Cyclic refresh with the Coordinator Module					21 ∝s

6.	Sync Bus Refreshing

		Details				Processing time and fluctuation cause

	The sync bus between the Coordinator Module and					60 ∝s
	Motion Control Modules is refreshed.

7.	Peripheral Service

	Details				Processing time and fluctuation cause

	Event servicing with Motion Con-			40 ∝s + Event service time
	trol Modules			Event service time includes event servicing for DM area transfers requested by

				the Coordinator Module, event processing for requests from the CX-Program-
				mer, etc.
Module I/O Refresh Times
Cyclic Refresh Time in the Coordinator Module

	Model		I/O refresh time

FQM1-MMP21/MMA21			40 ∝s per Module

Cyclic Refresh Time in Motion Control Modules

	Model		I/O refresh time

FQM1-MMP21/MMA21			21 ∝s

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Omron FQM1-MMP21 Module I/O Refresh Times, Programming, Appendix A, Cyclic Refresh Time in the Coordinator Module

Contents

Flexible Motion Controller FQM1 SeriesOPERATION MANUAL FQM1-CM001 FQM1-MMP21 FQM1-MMA21FQM1 Series FQM1-CM001 FQM1-MMP21 FQM1-MMA21Flexible Motion Controller Operation Manual Produced NovemberPage Visual Aids NoticeOMRON Product References OMRON,Page TABLE OF CONTENTS TABLE OF CONTENTS SECTIONSECTION TABLE OF CONTENTSInspection and Maintenance AppendicesTABLE OF CONTENTS About this Manual Page PRECAUTIONS xiii1 Intended Audience 2 General Precautions3 Safety Precautions Intended Audience3-1Operating Environment Precautions Safety Precautions3-2Application Precautions Safety Precautions•Changing the operating mode of the FQM1 Safety Precautionsxvii 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 Conformance to EC Directives Conformance to EC DirectivesEMC Directive Conformance Conditions EMC DirectivesCountermeasures 4-5Relay Output Noise Reduction MethodsConformance to EC Directives Countermeasure ExamplesMotion Controller CharacteristicConformance to EC Directives Circuitxxii 5 Data BackupData Backup xxiii Data BackupBacking Up DM Area Data in Flash Memory A404.14Data Backup xxivSECTION Features and System Configuration Outline of FQM1 Flexible Motion Controller 1-1Outline of FQM1 Flexible Motion ControllerFlexible Configurations of Up To 8 Axes SectionBuilt-in RS-232CPort in Coordinator Module Outline of FQM1 Flexible Motion ControllerSection Built-in RS-422APort in Coordinator ModuleSection 1-2FQM1 ConfigurationFQM1 Configuration Pulse Input Frequency Measurement FunctionSection FQM1 ConfigurationCJ1W-PA202/PA205RPower Supply Units FQM1-CM001Coordinator ModuleSection ModulesModules Outline of Internal Data Exchange and I/O ModulesSection Section 1-4 CX-ProgrammerCX-Programmer CX-ProgrammerSystem Configuration 1-5Expanded System ConfigurationExpanded System Configuration SectionHost Link System Expanded System ConfigurationSection NT Link System 1:N Mode, StandardNT Link 1:N Mode RS-232C PT NT Link 1:N Mode Expanded System ConfigurationSection Section Expanded System ConfigurationSystem Configuration Example Serial GatewaySection 1-6Basic Operating ProcedureBasic Operating Procedure Section Basic Operating Procedure3.Initial Hardware Settings 2.Wiring 3.Initial Hardware Settings Basic Operating Procedure1. Installation 1-6-1ExamplesSection Basic Operating Procedure5.System Setup Settings 6.Writing the Programs8-aI/O Wiring Checks 8-bTrial Operation Basic Operating Procedure7.Transferring the Programs 8.Testing Operation Check Output WiringSection Basic Operating ProcedureTime Chart Monitoring 9.Save and Print the Programs1-7-1 Function Tables Arranged by Purpose5-4-4Settings Sync Cycles and Synchronized data5-1Synchronous Operation between Modules Function Tables Arranged by PurposeSection 5-1Synchronous Operation between Modules7-6-6Pulse Output Function Details 1-7-2Function Tables Arranged by PurposeSection 7-6-12PLS2887 Pulse Output Direction PriorAbsolute Encoders Function Tables Arranged by PurposeSection 7-6-6Pulse Output Function Details7-10Analog Outputs Function Tables Arranged by PurposeSection 7-8Virtual Pulse Output FunctionFunction Tables Arranged by Purpose 7-6-13Pulse Output Function Procedures7-6-13Pulse Output Function Procedures SectionSection 1-7-3Function Tables Arranged by Purpose 7-9Analog Input FunctionsFunction Tables Arranged by Purpose 7-9-3Analog Input Function Specifications1-7-4 Section7-9Analog Input Functions Function Tables Arranged by PurposeSection 7-6Pulse Outputs7-4Interval Timer Interrupts 7-4Interval Timer Interrupts7-4-3Interval Timer Interrupt Modes 7-4-3Interval Timer Interrupt Modes7-5Pulse Inputs Function Tables Arranged by PurposeSection 7-6-8Time Measurement with the PulseFunction Tables Arranged by Purpose SectionSECTION Specifications and Nomenclature General Specifications General SpecificationsList of Models List of ModelsSectionSection General SpecificationsPower Supply Unit Specifications Coordinator Module 2-3Coordinator ModuleIndicators SectionCoordinator Module Function SpecificationsSwitch on Front Panel SectionCIO Area Coordinator ModuleSection Motion Control Modules Motion Control ModulesI/O Specifications SectionSection IndicatorsMotion Control Modules NomenclatureSection Performance SpecificationsMotion Control Modules Motion Control Modules I/O SpecificationsGeneral-purposeI/O Specifications SectionSection Pulse I/O SpecificationsMotion Control Modules FQM1-MMP21Pulse I/OSection I/O SpecificationsMotion Control Modules Pulse Inputs and AnalogSection 2-5DimensionsDimensions FQM1-CM001Coordinator ModulePOWER L1 DimensionsPower Supply Units POWER L1Module Current Consumption 2-6Module Current ConsumptionMaximum Current and Maximum Total Power SectionModule Current Consumption Example Calculation of Current and PowerCombining Power Supply Units and Motion Control SectionSection 2-7Memory Block DiagramMemory Block Diagram Areas Backed Up by Super CapacitorsMemory Block Diagram SectionSECTION Installation and Wiring Installation in Cabinets or Control Panels 3-1InstallationInstallation Temperature ControlSection InstallationPower lines 200 mm min FQM1 200 mm min Improving Noise ResistanceFQM1 Orientation InstallationSection Wiring Ducts 3-1-2Installation in a Control PanelInstallation Wiring Duct ExampleRouting Wiring Ducts 3-1-3Assembled Appearance and DimensionsInstallation SectionInstallation Dimensions InstallationAssembled Dimensions Power Supply Unit width: “a” mmInstallation Height 3-1-4Connecting FQM1 ComponentsInstallation SectionRelease DIN Track mounting pins 3-1-5DIN Track InstallationInstallation SectionSection Installation2 3. Lock the pins on the backs of the Modules Section InstallationDIN Track and Accessories •DIN TrackAC Power Source 3-2WiringWiring Power Supply CapacityGrounding WiringSection Terminal Screws andFQM1 WiringSection Control panelSection WiringCrimp Terminals for Ground Wire Terminal Screws andConnection Methods WiringSectionConnector Pin Arrangement 1:1 Connections withCoordinator Module Connector WiringApplicable Connectors IBM PC/AT or Compatible Connector 9-pin,MaleSection WiringRS-232CPort Specifications Connection Example to Programmable Terminal PTGeneral-purposeI/O 40-pinConnector 3-3Wiring Module ConnectorsWiring Module Connectors SectionFQM1-MMP21Pulse I/O 40-pinConnector Wiring Module ConnectorsGeneral-purposeI/O 26-pinConnector SectionSection Wiring Module ConnectorsFQM1-MMA21Analog I/O 40-pinConnector Section Wiring Module Connectors3-3-2 FQM1-MM@21Motion Control ModulesConnecting Pulse Inputs FQM1-MMP21 MMA21 3-3-3Wiring ExamplesWiring Module Connectors SectionSection Wiring Module ConnectorsPower supply Encoder FQM1 Shielded twisted-paircableSection Wiring Module ConnectorsConnecting Pulse Outputs FQM1-MMP21 ExampleConnecting Analog Inputs FQM1-MMA21 Wiring Module ConnectorsConnecting Analog Outputs FQM1 MMA21 ConnectorsRecommended Wire Size 3-4Wiring Servo Relay UnitsWiring Servo Relay Units SectionNomenclature and Functions Wiring Servo Relay UnitsSection Upper Terminal Block Pin Arrangement Wiring Servo Relay UnitsSection Lower Terminal Block Pin ArrangementSection Wiring Servo Relay Units6. Signal Switches Wiring Screw-less Clamp Terminal Blocks Wiring Servo Relay UnitsExternal Dimensions Wiring MethodRecommended Screwdriver Wiring Servo Relay UnitsSection ModelSection Wiring Servo Relay UnitsWiring when Using Servo Relay Units Section Wiring Servo Relay UnitsExample Servo Relay Unit Wiring Upper Terminal Block ArrangementConnecting Cable Models 3-5List of FQM1 Connecting CablesList of FQM1 Connecting Cables SectionSection List of FQM1 Connecting Cables6.Servomotor Connecting Cables I/O Signal Wiring 3-6Wiring PrecautionsWiring Precautions 3-6-1Reducing Electrical NoiseSurge suppressor specifications Wiring PrecautionsExternal Wiring Diode specificationsSection 3-6-2Connecting I/O DevicesWiring Precautions Input DevicesSection Wiring PrecautionsPrecautions when Connecting a Two-wireDC Sensor 1,2,3Section Wiring PrecautionsOutput Wiring Precautions Output Short-circuitProtectionFQM1 Wiring PrecautionsSection FQM1SECTION Operation Section 4-1Coordinator ModuleCoordinator Module User ProgramCoordinator Module System Setup Flash Memory4-1-2Coordinator Module Operation SectionCoordinator Module 4-1-3I/O Refreshing and Peripheral Servicing4-1-4Startup Initialization Section4-2-2Description of Each Area 4-2Motion Control Modules4-2-1Outline Motion Control ModulesMotion Control Modules I/O Memory System SetupSystem Setup Using CX-Programmer SectionSync Mode Operation Motion Control ModulesSection Section Initialization at At power ON Common ProcessingMotion Control Modules Program ExecutionStatus and Operations in Each Operating Mode 4-3Operating Modes4-3-2 Operating ModesPower OFF OperationSection 4-4Power OFF Operation4-4-1Power OFF Operation 4-3-3Operating Mode Changes and I/O MemoryFixed Power OFF Detection Time Power OFF OperationPower OFF Timing Chart User-setPower OFF Detection TimeDescription of Operation Power OFF OperationSection SECTION Module Functions and Data Exchange Sync and ASync Modes Synchronous Operation between ModulesSynchronous Operation between ModulesSection Sync ModeSection 5-2Data Exchange between ModulesData Exchange between Modules 5-3-2Applications 5-3Cyclic Refresh5-3-1Outline Cyclic RefreshSection 5-3-3Cyclic Refresh Area DetailsCyclic Refresh Coordinator Module Cyclic Refresh AreaCyclic Refresh Cyclic Refresh Area Allocations5-3-4 SectionOutline Synchronous Data Refresh5-4-1 5-4-2Synchronous Data Refresh Synchronous Data Link Bit Area5-4-3 SectionSection System Setup Coordinator ModuleSynchronous Data Refresh Synchronization between ModulesDM Data Transfer 5-5DM Data TransferSystem Setup Motion Control Modules Section5-5-3Executing DM Data Transfer Settings DetailsStep 1: Make Auxiliary Area Settings 5-5-25-6-1Constant Cycle Time Function 5-6Cycle Time SettingsCycle Time Settings SectionConstant Cycle Time Exceeded Error Clear Bit Cycle Time SettingsSystem Setup SectionSection Cycle Time SettingsSystem Setup Cycle Time Too Long FlagSection Cycle Time SettingsConstant Cycle Time Exceeded Error Clear Function Normal Operation5-7-1Specifying the Startup Mode Read Protection Using PasswordsSystem Setup 5-7-2Program Protection5-7-3Flash Memory Automatic Backup to Flash MemoryPassword Protection SectionRefer to SECTION 9 Error Processing for details 5-8Diagnostic FunctionsDiagnostic Functions SectionSection 5-8-2Failure Alarm FunctionsDiagnostic Functions Operation of FAL006Operation of FALS007 Diagnostic FunctionsSection FALSSECTION Coordinator Module Functions Serial Communications Serial CommunicationsSectionSerial Communications Section6-1-1 ProcedureHost Link Communications Serial CommunicationsSectionSerial Communications Host Link CommandsSection Link Units System Manual W143 for detailsSection FINS CommandsSerial Communications Section 6-1-2 No-protocolCommunications RS-232CPortSerial Communications Serial Communications ProcedureEnd code setting SectionSystem Setup System SetupRS-232CSettings Host Link Port Settings Serial CommunicationsSerial CommunicationsSection System Configuration6-1-4Serial PLC Links OverviewFQM1 Slave Settings ProcedureCJ1M Master Settings Serial CommunicationsFQM1 Slave System Setup SettingsCJ1M Master PLC Setup System ConfigurationSerial Communications System SetupSmart Active Parts Communications Settings SectionSerial Communications RS-422ASettings6-1-6 No-protocolCommunications RS-422APort SectionSECTION Motion Control Module Functions 7-6-10 Overview OverviewSectionInterrupt Functions 7-2Interrupt FunctionsInterval Timer Interrupts SectionSection 7-2-3Disabling and Enabling All InterruptsInterrupt Functions Disabling All InterruptsSection Input InterruptsInput Interrupts Clearing Recorded InterruptsInput Interrupts 7-3-5Using Input InterruptsInput Interrupt Mode Procedure SectionSection Counter Mode ProcedureInput Interrupts 1,2,3Section 7-3-6Application ExampleInput Interrupts 7-4-4Using Interval Timer Interrupts 7-4Interval Timer InterruptsInterval Timer Interrupt Modes Interval Timer InterruptsSection Interval Timer Interrupts7-4-5Application Example 7-5-1 Pulse InputsSpecifications Applicable ModelsPulse Inputs Section7-5-4Pulse Input Specifications Pulse InputsSectionMinimum response pulse Pulse InputsSection At 50 kHz7-5-6 Phases A and BPhase Z 7-5-7Phase Differential Input Operation Input Signal Type and Count ModePhase Differential Inputs Pulse InputsSection Reset MethodsPulse Inputs Counter Operation Numeric RangesPulse Inputs Phase-ZSignal Reset Input and Software ResetSoftware Reset SectionRange Comparison Method Pulse InputsSection Monitoring High-speedCounter Movement Mode Pulse InputsSection Section High-speedCounter Movement Mode 1 SpecificationsPulse Inputs Monitoring a High-speedCounter’s Frequency ModeSection Frequency Measurement Mode 2 SpecificationsPulse Inputs Latching a High-speedCounter’s PVPulse Inputs 7-5-9Pulse Input Function ProceduresHigh-speedCounter Procedure SectionSection Mode 1 ProcedurePulse Inputs Procedure Mode 2 ProcedureProcedure Pulse InputsExample Pulse InputsSection High-speed Counter PVExample High-speedCounter Range Comparison Pulse InputsSection Bit Pattern OutputP_On Pulse InputsSection Example Latching High-speed Counter PV Pulse InputsSection 7-6-2 Pulse Outputs7-6-1 Pulse OutputsSectionAcceleration/ decelera 7-6-3Pulse OutputsSection Pulse Outputs Pulse Output Specifications7-6-4 SectionPulse OutputsSection 7-6-5Applicable Instructions Instructions Ineffective during Pulse OutputPulse OutputsSection 7-6-6Pulse Output Function Details OverviewPulse output Pulse OutputsSection DescriptionPulse Outputs ProcedureSettings SectionIndepen Pulse OutputsSection Section Precautions when Using Pulse OutputsPulse Outputs Target frequencySection 7-6-7 One-shotPulse Output FunctionPulse Outputs FormulaSection One-shotPulse Output SpecificationsPulse Outputs Section 7-6-8Time Measurement with the Pulse CounterPulse Outputs Section Pulse Counter Timer SpecificationsPulse Outputs Linear Mode Operation Pulse OutputsSection Frequency speed Target value Target value3.00 Pulse OutputsSection Single-rotationspeed control pattern SectionCircular Mode Operation High-speedregion Low-speed 0regionSection Setting thePulse Outputs Speed-changeCycleSection Setting the Pulse Output Direction Priority ModePulse Outputs Pulse Output Direction Priority ModePulse Outputs with Acceleration/Deceleration Pulse OutputsSection Section ProcedurePulse Outputs Electronic Cam Control FunctionsPulse Outputs SectionSection Pulse Counter Timer Function STIM980Pulse Outputs One-shotPulse Output STIM980Section 7-6-14Pulse Output Function ExamplesPulse Outputs Changing the Frequency in Steps Pulse OutputsSection Accelerating the Frequency at a Fixed RateSpecified number of pulses Pulse OutputsSection Speed reaches 0 while the remainingP_On Always ON Flag P_On Always ON Flag Pulse OutputsSection Pulse Outputs SectionPulse Outputs Pulse Counter Time Measurement Timer Example7-6-15Pulse Output Starting Conditions SectionPulse Outputs SectionPULS886 Absolute Pulse Output in Progress Pulse OutputsSection Pulse Output OperationPLS2887 Pulse OutputsSection Cases 1, 2, andCases 6, 8, 9, and Pulse OutputsSection Cases 7, 11, 12,Section 7-7-1Applicable Models7-7-2Overview Section Serial Data Specification7-7-3Data Format of Absolute Encoder Output Data FormatCounting Operation Counter Operation Details 7-7-4Counter OperationSection Absolute Linear CW−Absolute Linear Counter Absolute Circular Counter 7-7-6Absolute Present ValueSection Section 7-7-7Absolute Present Value Preset7-7-8Absolute Offset Preset 7-7-9 System SetupRelated Areas Section Auxiliary AreaNote Refer to 7-7-6Absolute Present Value SectionA606 Setting the Input Pulse Counting Speed Step 1 Required: SettingSetting the Pulse Input Method Setting the Counter OperationSection Offset PresetStep 4 Required Absolute Present Value Preset Step 3 as Needed: Origin Compensation AbsoluteSection Program DescriptionSection 0.00Section 0000057-8-2 7-8Virtual Pulse Output Function7-8-1 Virtual Pulse Output FunctionSectionOverview T First Word of Setting TableVirtual Pulse Output FunctionSection OperandsDescription Virtual Pulse Output FunctionSection 7-9-1 7-9Analog Input FunctionsPositioning or Speed Control Using a Virtual Axis 7-9-2Section Sensor pressure, displacement, etcAnalog Input Functions Analog Input FunctionsSection Analog Input Function Specifications7-9-3 Settings Related Areas and SettingsSystem Setup Time when settingAuxiliary Area Analog Input FunctionsSection A550A562 Analog Input FunctionsSection A570 Analog Input FunctionsSection 7-9-6A/D Conversion Value Signal Range: −10 to 10 Signal Range: 0 to 107-9-5Applicable Instructions Analog Input FunctionsAnalog Input Functions Signal Range: 1 to 5 V and 4 to 20 mASignal Range: 0 to 5 SectionExample Analog Input FunctionsSection Application Example7-10-1 7-10Analog Outputs 7-10-2Analog Outputs 7-10-3Analog Output Function SpecificationsAnalog OutputsSection put Tab Page − OutputCPU standby status Analog OutputsSection Section Specified Output Values and Analog Output SignalsAnalog Outputs END Refreshing With Immediate RefreshingSection 7-10-5ProcedureAnalog Outputs Outputting the Analog Output Value Stored Analog OutputsSection in the Auxiliary AreaAnalog Outputs SectionAnalog Outputs SectionSECTION Connecting the CX-Programmer CX-Programmer CX-ProgrammerSectionConnecting to the Peripheral Port 8-2Connecting the CX-ProgrammerConnecting the CX-Programmer Connecting to the RS-232CPortConnection Diagram Connecting the CX-ProgrammerConnecting to the Peripheral Port SectionUsing an RS-232CCable Connecting the CX-ProgrammerConnecting to the RS-232CPort SectionSection 8-2-2 CX-ProgrammerConnecting CablesConnecting the CX-Programmer Section Connecting the CX-ProgrammerConnecting an RS-232CCable to the RS-232CPort Connecting the CX-Programmer SectionSECTION Error Processing Errors Generated by FAL006/FALS007 9-1Error LogError Log Error Log Structure9-2-2Error Information Error ProcessingError Categories Error ProcessingSection9-2-3 Error CodesError Processing SectionSection 9-2-4Error Processing FlowchartError Processing Fatal Errors Error ProcessingCPU Errors SectionSection Error Processingmessage and related Auxiliary Area flags/words and correct the cause of the error Error Error ProcessingFatal Errors ErrorNon-fatalErrors Error ProcessingNon-fatalErrors SectionSection Error ProcessingOther Errors Section 9-2-6Power Supply CheckError Processing Error Processing 9-2-7Memory Error Check9-2-8Program Error Check SectionError Processing 9-2-9Cycle Time Overrun Error Check9-2-10System Setup Error Check SectionI/O Setting Error occurred 9-2-11I/O Setting Error CheckError Processing SectionSection Error Processing9-2-12I/O Check Coordinator Module Errors Troubleshooting Problems in ModulesTroubleshooting Problems in Modules 9-2-13Environmental Conditions CheckInput Errors Troubleshooting Problems in ModulesMotion Control Module Errors SectionSection Troubleshooting Problems in ModulesOutput Errors Module Replacement Precautions Inspection and MaintenanceSECTION 10-1InspectionsInspectionsSection 10-1Inspections10-1-1Inspection Points Inspection Points for Periodic InspectionsTools Required for Inspections InspectionsSection Required ToolsInspections SectionAppendix A Programming Programs and TasksWhat Are Subroutines? SubroutinesUsing Normal Subroutines ProgrammingAppendix A Using Subroutines That Pass ParametersProgramming Execution with Subroutine Input Condition FlagsJSB982 Operation ProgrammingAppendix A AddressApplication Examples ProgrammingAppendix A Without Macro FunctionExecution with Subroutine Input Condition Flags ProgrammingAppendix A Main ProgramProgramming Basic Information on ProgrammingPower Flow Appendix AFlags ProgrammingAppendix A OperandsProgramming Instruction Location and Input ConditionsAddressing I/O Memory Areas Appendix AAppendix A Specifying OperandsProgramming OperandOperand ProgrammingAppendix A DescriptionOperand ProgrammingAppendix A Upper 4 bits ProgrammingAppendix A Lower 4 bitsAppendix A Data FormatsProgramming Note Signed Binary DataComplements ProgrammingAppendix A Two’s ComplementsProgrammingAppendix A Note Signed BCD DataProgramming Instruction VariationsInput Conditions Appendix AUpwardly differentiated input instruction ProgrammingAppendix A Condition Flags Programming PrecautionsUsing Condition Flags ProgrammingAppendix A 1.Using Execution Results in NC and NO InputsProgramming Instruction ACMP 0010 D00100 Reflects CMP execution results ProgrammingAppendix A MOV 1 0200 D00200 Reflects MOV execution resultsAppendix A Error FlagProgramming Main Conditions Turning ON Condition FlagsEquals Flag ProgrammingAppendix A Carry FlagAppendix A Special Program SectionsProgramming Instruction CombinationsInstructions Not Allowed in Subroutines ProgrammingAppendix A Note Block Program SectionsProgramming Computing the Cycle TimeFQM1 Operation Flowchart Appendix AAppendix A Overview of Cycle Time CalculationsProgramming Coordinator ModuleProgramming Appendix AAppendix A Module I/O Refresh TimesProgramming Cyclic Refresh Time in the Coordinator ModuleProgramming Example of Calculating the Cycle TimeOnline Editing Cycle Time Extension Appendix AAppendix A Response TimeProgramming Coordinator Module I/O Response TimeMotion Control Module I/O Response Time ProgrammingAppendix A Minimum I/O Response Time General-purposeI/O 0 toMotion Control Module Interrupt Response Times ProgrammingAppendix A Calculation ExampleMotion Control Module Interrupt Processing Times ProgrammingAppendix A Scheduled Interrupt TaskProcessing Time ProgrammingAppendix A Interrupt Response Time Calculation ExampleAppendix A 2When using interrupt tasks frequently, be sure to consider the time required for interrupt processing and its affect on the overall systemProgramming I/O Memory Appendix BI/O Memory Overview of I/O Memory Parameter AreaI/O Memory I/O Memory StructureCoordinator Module Appendix BAppendix B Motion Control ModulesI/O Memory Appendix B CIO AreaI/O Memory I/O Bit Area: CIO 0000 and CIOSynchronous Data Link Bit Area: CIO 0200 to I/O MemoryAppendix B Serial PLC Link Bit Area CIO 0080 to CIORefreshing Using the IORF097 Instruction Auxiliary Area: A000 to A649 A000.00 to A649.15Temporary Relay Area TR I/O MemoryAppendix B Timer AreaI/O Memory Appendix B Counter AreaI/O Memory Binary-modeAddressing @D Data Memory DM AreaCondition Flags BCD-modeAddressing *DI/O Memory Using the Condition Flagssymbol Appendix BI/O Memory Clock PulsesUsing the Clock Pulses Appendix BI/O Memory Parameter AreaSystem Setup Appendix BSystem Setup in the Coordinator Module System Setup, Auxiliary Area AllocationsOverview of System Setups Appendix CAppendix C Standard/Custom Setting Peripheral Port Settings for Host LinkCommunications Settings Appendix CAppendix C Peripheral Port Settings for NT LinkStandard/Customer Setting Host Link Unit NumberBaud Rate RS-232CPort Settings for Host LinkAppendix C Serial Communications ModeStandard/Custom Setting RS-232CPort Settings for NT LinkRS-232CPort Settings for Peripheral Bus ToolBus Appendix CBaud Rate Send DelayAppendix C Serial Communications ModeStart Code and End Code RS-232CPort Settings for PLC Link PC Link SlaveAppendix C Number of Received BytesStandard/Custom Setting RS-422APort Settings CX-Programmer:Drive Tab PageRS-422APort Settings for Serial Gateway Send Delay TimeStart Code and End Code Peripheral Service TimeAppendix C Number of Received BytesAppendix C System Setup in Motion Control ModulesCX-Programmer:Module Settings Tab Page CX-Programmer:Cycle Time Tab PageFQM1-MMP21Motion Control Modules with Pulse I/O CX-Programmer:Pulse Input Tab PagePulse Output Appendix CCX-Programmer:Pulse Output Tab Page Function DetailsAppendix C When settingFQM1-MMA21Motion Control Modules with Analog I/O CX-Programmer:Pulse Input Tab PageRS-232CPort Settings Host Link Port Details on System Setup SettingsPeripheral Port Settings Appendix CWatch Cycle Time Appendix CConstant Cycle Time Messages Sent and Received with No-protocolModeAppendix C Fixed Peripheral Servicing TimeThe 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 CAllocations That Are the Same for All Modules Auxiliary Area Allocations by FunctionAppendix C FQM1-MMP21Motion Control Modules with Pulse I/OAppendix C A608Bits Appendix CAddress NameAppendix C A610Appendix C A611Appendix C A620 toAppendix C A626Address Appendix CFQM1-MMA21Motion Control Modules with Analog I/O BitsAppendix C A562Appendix C A564Note For a Linear Counter, high-speedcounter over flows/underflows are checked when the PV is readAppendix C change in the PV of the high-speedcounter overBits Appendix CAddress NameBits Appendix CAddress NameAppendix C A610Input Interrupts Allocations Related to Built-inInputsAppendix C Error Log and Error Code Program Error FlagsOther Error Flags and Bits Appendix CSystem Setup FAL/FALS ErrorsMemory Errors I/O ErrorsOther Appendix CCommunications Peripheral PortAppendix C Built-inI/O AllocationsAllocations Directly Related to Instructions RS-232CPortInputs 26-pin General-purposeI/O Connector Inputs 40-pin General-purposeI/O ConnectorOutputs 40-pin General-purposeI/O Connector Outputs 26-pin General-purposeI/O ConnectorAuxiliary Area Allocations in Order of Address Appendix DAuxiliary Area Allocations Auxiliary Area Allocations Appendix DA414 Auxiliary Area AllocationsAppendix D A520 Auxiliary Area AllocationsAppendix D A559 Auxiliary Area AllocationsAppendix D A570 Auxiliary Area AllocationsAppendix D A606 to Auxiliary Area AllocationsAppendix D A610 Auxiliary Area AllocationsAppendix D A612 Auxiliary Area AllocationsAppendix D A626 Auxiliary Area AllocationsAppendix D Detailed Explanations on the Auxiliary Area Error Codes and Error FlagsError Log Area: A100 to A199 Auxiliary Area AllocationsAuxiliary Area Allocations Memory ConfigurationFQM1 Memory Addresses Appendix DMemory Map Auxiliary Area AllocationsAppendix DSequence Input Instructions Auxiliary Area AllocationsAppendix D Sequence Output InstructionsAppendix D Timer and Counter InstructionsAuxiliary Area Allocations Sequence Control InstructionsData Movement Instructions Auxiliary Area AllocationsAppendix D Data Shift Instructions Auxiliary Area AllocationsAppendix D Increment/Decrement InstructionsAppendix D Symbol Math InstructionsAuxiliary Area Allocations Conversion Instructions Auxiliary Area AllocationsAppendix D Logic InstructionsSpecial Math Instructions Auxiliary Area AllocationsAppendix D Floating-pointMath InstructionsTable Data Processing Instructions Auxiliary Area AllocationsAppendix D Data Control InstructionsInterrupt Control Instructions Auxiliary Area AllocationsAppendix D High-speedCounter and Pulse Output InstructionsStep Instructions Auxiliary Area AllocationsAppendix D I/O Refresh InstructionSerial Communications Instructions Auxiliary Area AllocationsAppendix D Debugging InstructionsBranching Auxiliary Area AllocationsAppendix D Auxiliary Area Allocations Appendix DIndex Index Index Index Index Page Index Index Peripheral Devices, 6 peripheral portIndex Index Servo DriversIndex Index Revision History Cat. No. O010-E1-01Page Mishima-city,Shizuoka Japan OMRON CORPORATIONFA Systems Division H.Q 66 Matsumoto Tel: 8155-977-9181/Fax:Certain Precautions on Specifications and Use Terms and Conditions of SaleOMRON CANADA, INC OMRON ELECTRONICS LLC1 Commerce Drive Schaumburg, IL 885 Milner Avenue Toronto, Ontario M1B

Module I/O Refresh Times

Cyclic Refresh Time in the Coordinator Module

Cyclic Refresh Time in Motion Control Modules