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Omron FQM1-MMP21, FQM1-CM001 Programming, Appendix A, Motion Control Module I/O Response Time

Models: FQM1-MMP21 FQM1-MMA21 FQM1-CM001

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Programming

Appendix A

Motion Control Module I/O Response Time

Minimum I/O Response Time (General-purpose I/O 0 to 3)

The I/O response time is shortest when the input refresh is executed immediately after a Motion Control Mod- ule detects an input, as shown in the figure below.

The minimum I/O response time is the total of the Input ON delay, the Cycle time, and the Output ON delay.

Input contact

Input bit

Input ON delay

I/O refresh

Overseeing processing

Cycle time

Internal processing

Instruction execution

Cyclic output refresh

Output ON delay

Output contact

•Cyclic Output Refresh Time

Minimum I/O response time = 0.03 + 0.194 + 0.1 = 0.324 (ms)

Note Input interrupts and the IORF(097) instruction can be used to obtain a faster response (100 ∝s typical).

Maximum I/O Response Time

The I/O response time is longest when a Motion Control Module detects an input immediately after input refresh has been executed, as shown in the figure below. The response time will be one cycle longer than for the minimum I/O response time.

The maximum I/O response time is the total of the Input ON delay, (the Cycle time ⋅ 2), and the Output ON delay.

Input contact

Input ON delay

Input bit

I/O refresh

Overseeing processing

			Cycle time
Internal processing	Instruction execution	Instruction execution	Instruction execution

Cyclic output refresh

Output ON delay

Output contact

•Cyclic Output Refresh Time

Maximum I/O response time = 0.03 + 0.388 + 0.1 = 0.518 (ms)

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Omron FQM1-MMP21, FQM1-CM001 Programming, Appendix A, Motion Control Module I/O Response Time, Maximum I/O Response Time

Contents

OPERATION MANUAL FQM1 SeriesFlexible Motion Controller FQM1-CM001 FQM1-MMP21 FQM1-MMA21Flexible Motion Controller Operation Manual FQM1-CM001 FQM1-MMP21 FQM1-MMA21FQM1 Series Produced NovemberPage OMRON Product References NoticeVisual Aids OMRON,Page TABLE OF CONTENTS SECTION TABLE OF CONTENTSInspection and Maintenance TABLE OF CONTENTSSECTION AppendicesTABLE OF CONTENTS About this Manual Page xiii PRECAUTIONS3 Safety Precautions 2 General Precautions1 Intended Audience Intended AudienceSafety Precautions 3-1Operating Environment PrecautionsSafety Precautions 3-2Application 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 EMC Directive Conformance Conditions Conformance to EC DirectivesConformance to EC Directives EMC DirectivesConformance to EC Directives 4-5Relay Output Noise Reduction MethodsCountermeasures Countermeasure ExamplesConformance to EC Directives CharacteristicMotion Controller Circuitxxii 5 Data BackupData Backup Backing Up DM Area Data in Flash Memory Data Backupxxiii A404.14xxiv Data BackupSECTION Features and System Configuration Flexible Configurations of Up To 8 Axes 1-1Outline of FQM1 Flexible Motion ControllerOutline of FQM1 Flexible Motion Controller SectionSection Outline of FQM1 Flexible Motion ControllerBuilt-in RS-232CPort in Coordinator Module Built-in RS-422APort in Coordinator ModuleFQM1 Configuration 1-2FQM1 ConfigurationSection Pulse Input Frequency Measurement FunctionCJ1W-PA202/PA205RPower Supply Units FQM1 ConfigurationSection FQM1-CM001Coordinator ModuleSection ModulesModules Outline of Internal Data Exchange and I/O ModulesSection CX-Programmer 1-4 CX-ProgrammerSection CX-ProgrammerExpanded System Configuration 1-5Expanded System ConfigurationSystem Configuration SectionSection Expanded System ConfigurationHost Link System NT Link System 1:N Mode, StandardNT Link 1:N Mode RS-232C PT NT Link 1:N Mode Expanded System ConfigurationSection System Configuration Example Expanded System ConfigurationSection Serial GatewaySection 1-6Basic Operating ProcedureBasic Operating Procedure Section Basic Operating Procedure3.Initial Hardware Settings 1. Installation Basic Operating Procedure2.Wiring 3.Initial Hardware Settings 1-6-1Examples5.System Setup Settings Basic Operating ProcedureSection 6.Writing the Programs7.Transferring the Programs 8.Testing Operation Basic Operating Procedure8-aI/O Wiring Checks 8-bTrial Operation Check Output WiringTime Chart Monitoring Basic Operating ProcedureSection 9.Save and Print the Programs5-4-4Settings Function Tables Arranged by Purpose1-7-1 Sync Cycles and Synchronized dataSection Function Tables Arranged by Purpose5-1Synchronous Operation between Modules 5-1Synchronous Operation between ModulesFunction Tables Arranged by PurposeSection 1-7-27-6-6Pulse Output Function Details 7-6-12PLS2887 Pulse Output Direction PriorSection Function Tables Arranged by PurposeAbsolute Encoders 7-6-6Pulse Output Function DetailsSection Function Tables Arranged by Purpose7-10Analog Outputs 7-8Virtual Pulse Output Function7-6-13Pulse Output Function Procedures 7-6-13Pulse Output Function ProceduresFunction Tables Arranged by Purpose SectionFunction Tables Arranged by Purpose 1-7-3Section 7-9Analog Input Functions1-7-4 7-9-3Analog Input Function SpecificationsFunction Tables Arranged by Purpose SectionSection Function Tables Arranged by Purpose7-9Analog Input Functions 7-6Pulse Outputs7-4-3Interval Timer Interrupt Modes 7-4Interval Timer Interrupts7-4Interval Timer Interrupts 7-4-3Interval Timer Interrupt ModesSection Function Tables Arranged by Purpose7-5Pulse Inputs 7-6-8Time Measurement with the PulseSection Function Tables Arranged by PurposeSECTION Specifications and Nomenclature List of Models General SpecificationsGeneral Specifications List of ModelsSectionSection General SpecificationsPower Supply Unit Specifications Indicators 2-3Coordinator ModuleCoordinator Module SectionSwitch on Front Panel Function SpecificationsCoordinator Module SectionCIO Area Coordinator ModuleSection I/O Specifications Motion Control ModulesMotion Control Modules SectionMotion Control Modules IndicatorsSection NomenclatureSection Performance SpecificationsMotion Control Modules General-purposeI/O Specifications I/O SpecificationsMotion Control Modules SectionMotion Control Modules Pulse I/O SpecificationsSection FQM1-MMP21Pulse I/OMotion Control Modules I/O SpecificationsSection Pulse Inputs and AnalogDimensions 2-5DimensionsSection FQM1-CM001Coordinator ModulePower Supply Units DimensionsPOWER L1 POWER L1Maximum Current and Maximum Total Power 2-6Module Current ConsumptionModule Current Consumption SectionCombining Power Supply Units and Motion Control Example Calculation of Current and PowerModule Current Consumption SectionMemory Block Diagram 2-7Memory Block DiagramSection Areas Backed Up by Super CapacitorsSection Memory Block DiagramSECTION Installation and Wiring Installation 3-1InstallationInstallation in Cabinets or Control Panels Temperature ControlPower lines 200 mm min FQM1 200 mm min InstallationSection Improving Noise ResistanceFQM1 Orientation InstallationSection Installation 3-1-2Installation in a Control PanelWiring Ducts Wiring Duct ExampleInstallation 3-1-3Assembled Appearance and DimensionsRouting Wiring Ducts SectionAssembled Dimensions InstallationInstallation Dimensions Power Supply Unit width: “a” mmInstallation 3-1-4Connecting FQM1 ComponentsInstallation Height SectionInstallation 3-1-5DIN Track InstallationRelease DIN Track mounting pins SectionSection Installation2 3. Lock the pins on the backs of the Modules DIN Track and Accessories InstallationSection •DIN TrackWiring 3-2WiringAC Power Source Power Supply CapacitySection WiringGrounding Terminal Screws andSection WiringFQM1 Control panelCrimp Terminals for Ground Wire WiringSection Terminal Screws andConnector Pin Arrangement WiringSectionConnection Methods 1:1 Connections withApplicable Connectors WiringCoordinator Module Connector IBM PC/AT or Compatible Connector 9-pin,MaleRS-232CPort Specifications WiringSection Connection Example to Programmable Terminal PTWiring Module Connectors 3-3Wiring Module ConnectorsGeneral-purposeI/O 40-pinConnector SectionGeneral-purposeI/O 26-pinConnector Wiring Module ConnectorsFQM1-MMP21Pulse I/O 40-pinConnector SectionSection Wiring Module ConnectorsFQM1-MMA21Analog I/O 40-pinConnector 3-3-2 Wiring Module ConnectorsSection FQM1-MM@21Motion Control ModulesWiring Module Connectors 3-3-3Wiring ExamplesConnecting Pulse Inputs FQM1-MMP21 MMA21 SectionPower supply Encoder Wiring Module ConnectorsSection FQM1 Shielded twisted-paircableConnecting Pulse Outputs FQM1-MMP21 Wiring Module ConnectorsSection ExampleConnecting Analog Outputs FQM1 MMA21 Wiring Module ConnectorsConnecting Analog Inputs FQM1-MMA21 ConnectorsWiring Servo Relay Units 3-4Wiring Servo Relay UnitsRecommended Wire Size SectionNomenclature and Functions Wiring Servo Relay UnitsSection Section Wiring Servo Relay UnitsUpper Terminal Block Pin Arrangement Lower Terminal Block Pin ArrangementSection Wiring Servo Relay Units6. Signal Switches External Dimensions Wiring Servo Relay UnitsWiring Screw-less Clamp Terminal Blocks Wiring MethodSection Wiring Servo Relay UnitsRecommended Screwdriver ModelSection Wiring Servo Relay UnitsWiring when Using Servo Relay Units Example Servo Relay Unit Wiring Wiring Servo Relay UnitsSection Upper Terminal Block ArrangementList of FQM1 Connecting Cables 3-5List of FQM1 Connecting CablesConnecting Cable Models SectionSection List of FQM1 Connecting Cables6.Servomotor Connecting Cables Wiring Precautions 3-6Wiring PrecautionsI/O Signal Wiring 3-6-1Reducing Electrical NoiseExternal Wiring Wiring PrecautionsSurge suppressor specifications Diode specificationsWiring Precautions 3-6-2Connecting I/O DevicesSection Input DevicesPrecautions when Connecting a Two-wireDC Sensor Wiring PrecautionsSection 1,2,3Output Wiring Precautions Wiring PrecautionsSection Output Short-circuitProtectionSection Wiring PrecautionsFQM1 FQM1SECTION Operation Coordinator Module 4-1Coordinator ModuleSection User Program4-1-2Coordinator Module Operation System Setup Flash MemoryCoordinator Module Section4-1-4Startup Initialization 4-1-3I/O Refreshing and Peripheral ServicingCoordinator Module Section4-2-1Outline 4-2Motion Control Modules4-2-2Description of Each Area Motion Control ModulesSystem Setup Using CX-Programmer I/O Memory System SetupMotion Control Modules SectionSync Mode Operation Motion Control ModulesSection Motion Control Modules Initialization at At power ON Common ProcessingSection Program Execution4-3-2 4-3Operating ModesStatus and Operations in Each Operating Mode Operating Modes4-4-1Power OFF Operation 4-4Power OFF OperationPower OFF OperationSection 4-3-3Operating Mode Changes and I/O MemoryPower OFF Timing Chart Power OFF OperationFixed Power OFF Detection Time User-setPower OFF Detection TimeDescription of Operation Power OFF OperationSection SECTION Module Functions and Data Exchange Synchronous Operation between ModulesSection Synchronous Operation between ModulesSync and ASync Modes Sync ModeSection 5-2Data Exchange between ModulesData Exchange between Modules 5-3-1Outline 5-3Cyclic Refresh5-3-2Applications Cyclic RefreshCyclic Refresh 5-3-3Cyclic Refresh Area DetailsSection Coordinator Module Cyclic Refresh Area5-3-4 Cyclic Refresh Area AllocationsCyclic Refresh Section5-4-1 Synchronous Data RefreshOutline 5-4-25-4-3 Synchronous Data Link Bit AreaSynchronous Data Refresh SectionSynchronous Data Refresh System Setup Coordinator ModuleSection Synchronization between ModulesSystem Setup Motion Control Modules 5-5DM Data TransferDM Data Transfer SectionStep 1: Make Auxiliary Area Settings Settings Details5-5-3Executing DM Data Transfer 5-5-2Cycle Time Settings 5-6Cycle Time Settings5-6-1Constant Cycle Time Function SectionSystem Setup Cycle Time SettingsConstant Cycle Time Exceeded Error Clear Bit SectionSystem Setup Cycle Time SettingsSection Cycle Time Too Long FlagConstant Cycle Time Exceeded Error Clear Function Cycle Time SettingsSection Normal OperationSystem Setup Read Protection Using Passwords5-7-1Specifying the Startup Mode 5-7-2Program ProtectionPassword Protection Automatic Backup to Flash Memory5-7-3Flash Memory SectionDiagnostic Functions 5-8Diagnostic FunctionsRefer to SECTION 9 Error Processing for details SectionDiagnostic Functions 5-8-2Failure Alarm FunctionsSection Operation of FAL006Section Diagnostic FunctionsOperation of FALS007 FALSSECTION Coordinator Module Functions Serial CommunicationsSection Serial CommunicationsSection Serial CommunicationsHost Link Communications Procedure6-1-1 Serial CommunicationsSectionSection Host Link CommandsSerial Communications Link Units System Manual W143 for detailsSection FINS CommandsSerial Communications Section 6-1-2 No-protocolCommunications RS-232CPortSerial Communications End code setting ProcedureSerial Communications SectionRS-232CSettings Host Link Port Settings System SetupSystem Setup Serial Communications6-1-4Serial PLC Links System ConfigurationSerial CommunicationsSection OverviewCJ1M Master Settings ProcedureFQM1 Slave Settings Serial CommunicationsCJ1M Master PLC Setup SettingsFQM1 Slave System Setup System ConfigurationSmart Active Parts Communications Settings System SetupSerial Communications Section6-1-6 No-protocolCommunications RS-422APort RS-422ASettingsSerial Communications SectionSECTION Motion Control Module Functions 7-6-10 OverviewSection OverviewInterval Timer Interrupts 7-2Interrupt FunctionsInterrupt Functions SectionInterrupt Functions 7-2-3Disabling and Enabling All InterruptsSection Disabling All InterruptsInput Interrupts Input InterruptsSection Clearing Recorded InterruptsInput Interrupt Mode Procedure 7-3-5Using Input InterruptsInput Interrupts SectionInput Interrupts Counter Mode ProcedureSection 1,2,3Section 7-3-6Application ExampleInput Interrupts Interval Timer Interrupt Modes 7-4Interval Timer Interrupts7-4-4Using Interval Timer Interrupts Interval Timer InterruptsSection Interval Timer Interrupts7-4-5Application Example Specifications Pulse Inputs7-5-1 Applicable ModelsSection Pulse InputsPulse InputsSection 7-5-4Pulse Input SpecificationsSection Pulse InputsMinimum response pulse At 50 kHzPhase Z Phases A and B7-5-6 7-5-7Phase Differential Inputs Input Signal Type and Count ModePhase Differential Input Operation Pulse InputsPulse Inputs Reset MethodsSection Counter Operation Numeric RangesSoftware Reset Phase-ZSignal Reset Input and Software ResetPulse Inputs SectionRange Comparison Method Pulse InputsSection Monitoring High-speedCounter Movement Mode Pulse InputsSection Pulse Inputs High-speedCounter Movement Mode 1 SpecificationsSection Monitoring a High-speedCounter’s Frequency ModePulse Inputs Frequency Measurement Mode 2 SpecificationsSection Latching a High-speedCounter’s PVHigh-speedCounter Procedure 7-5-9Pulse Input Function ProceduresPulse Inputs SectionSection Mode 1 ProcedurePulse Inputs Procedure Mode 2 ProcedureProcedure Pulse InputsSection Pulse InputsExample High-speed Counter PVSection Pulse InputsExample High-speedCounter Range Comparison Bit Pattern OutputP_On Pulse InputsSection Example Latching High-speed Counter PV Pulse InputsSection 7-6-1 Pulse Outputs7-6-2 Pulse OutputsSectionAcceleration/ decelera 7-6-3Pulse OutputsSection 7-6-4 Pulse Output SpecificationsPulse Outputs SectionApplicable Instructions 7-6-5Pulse OutputsSection Instructions Ineffective during Pulse OutputPulse Output Function Details 7-6-6Pulse OutputsSection OverviewSection Pulse OutputsPulse output DescriptionSettings ProcedurePulse Outputs SectionIndepen Pulse OutputsSection Pulse Outputs Precautions when Using Pulse OutputsSection Target frequencyPulse Outputs 7-6-7 One-shotPulse Output FunctionSection FormulaSection One-shotPulse Output SpecificationsPulse Outputs Section 7-6-8Time Measurement with the Pulse CounterPulse Outputs Section Pulse Counter Timer SpecificationsPulse Outputs Section Pulse OutputsLinear Mode Operation Frequency speed Target value Target value3.00 Pulse OutputsSection Circular Mode Operation SectionSingle-rotationspeed control pattern High-speedregion Low-speed 0regionPulse Outputs Setting theSection Speed-changeCyclePulse Outputs Setting the Pulse Output Direction Priority ModeSection Pulse Output Direction Priority ModePulse Outputs with Acceleration/Deceleration Pulse OutputsSection Pulse Outputs ProcedureSection Electronic Cam Control FunctionsSection Pulse OutputsPulse Outputs Pulse Counter Timer Function STIM980Section One-shotPulse Output STIM980Section 7-6-14Pulse Output Function ExamplesPulse Outputs Section Pulse OutputsChanging the Frequency in Steps Accelerating the Frequency at a Fixed RateSection Pulse OutputsSpecified number of pulses Speed reaches 0 while the remainingP_On Always ON Flag P_On Always ON Flag Pulse OutputsSection Section Pulse Outputs7-6-15Pulse Output Starting Conditions Pulse Counter Time Measurement Timer ExamplePulse Outputs SectionSection Pulse OutputsSection Pulse OutputsPULS886 Absolute Pulse Output in Progress Pulse Output OperationSection Pulse OutputsPLS2887 Cases 1, 2, andSection Pulse OutputsCases 6, 8, 9, and Cases 7, 11, 12,Section 7-7-1Applicable Models7-7-2Overview 7-7-3Data Format of Absolute Encoder Output Serial Data SpecificationSection Data FormatSection 7-7-4Counter OperationCounting Operation Counter Operation Details 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 Auxiliary Area SectionNote Refer to 7-7-6Absolute Present Value SectionA606 Setting the Pulse Input Method Step 1 Required: SettingSetting the Input Pulse Counting Speed Setting the Counter OperationStep 4 Required Absolute Present Value Preset Offset PresetSection Step 3 as Needed: Origin Compensation AbsoluteProgram Description Section0.00 Section000005 Section7-8-1 7-8Virtual Pulse Output Function7-8-2 Virtual Pulse Output FunctionSectionVirtual Pulse Output FunctionSection T First Word of Setting TableOverview OperandsDescription Virtual Pulse Output FunctionSection Positioning or Speed Control Using a Virtual Axis 7-9Analog Input Functions7-9-1 7-9-2Section Sensor pressure, displacement, etcAnalog Input Functions Analog Input FunctionsSection Analog Input Function Specifications7-9-3 System Setup Related Areas and SettingsSettings Time when settingSection Analog Input FunctionsAuxiliary Area A550A562 Analog Input FunctionsSection A570 Analog Input FunctionsSection 7-9-5Applicable Instructions Signal Range: −10 to 10 Signal Range: 0 to 107-9-6A/D Conversion Value Analog Input FunctionsSignal Range: 0 to 5 Signal Range: 1 to 5 V and 4 to 20 mAAnalog Input Functions SectionSection Analog Input FunctionsExample Application ExampleAnalog Outputs 7-107-10-1 7-10-2Analog OutputsSection 7-10-3Analog Output Function SpecificationsAnalog Outputs put Tab Page − OutputCPU standby status Analog OutputsSection Analog Outputs Specified Output Values and Analog Output SignalsSection END Refreshing With Immediate RefreshingSection 7-10-5ProcedureAnalog Outputs Section Analog OutputsOutputting the Analog Output Value Stored in the Auxiliary AreaSection Analog OutputsSection Analog OutputsSECTION Connecting the CX-Programmer CX-ProgrammerSection CX-ProgrammerConnecting the CX-Programmer 8-2Connecting the CX-ProgrammerConnecting to the Peripheral Port Connecting to the RS-232CPortConnecting to the Peripheral Port Connecting the CX-ProgrammerConnection Diagram SectionConnecting to the RS-232CPort Connecting the CX-ProgrammerUsing an RS-232CCable SectionSection 8-2-2 CX-ProgrammerConnecting CablesConnecting the CX-Programmer Section Connecting the CX-ProgrammerConnecting an RS-232CCable to the RS-232CPort Section Connecting the CX-ProgrammerSECTION Error Processing Error Log 9-1Error LogErrors Generated by FAL006/FALS007 Error Log StructureError Categories Error Processing9-2-2Error Information Error ProcessingSectionError Processing Error Codes9-2-3 SectionSection 9-2-4Error Processing FlowchartError Processing CPU Errors Error ProcessingFatal Errors SectionSection Error Processingmessage and related Auxiliary Area flags/words and correct the cause of the error Fatal Errors Error ProcessingError ErrorNon-fatalErrors Error ProcessingNon-fatalErrors SectionSection Error ProcessingOther Errors Section 9-2-6Power Supply CheckError Processing 9-2-8Program Error Check 9-2-7Memory Error CheckError Processing Section9-2-10System Setup Error Check 9-2-9Cycle Time Overrun Error CheckError Processing SectionError Processing 9-2-11I/O Setting Error CheckI/O Setting Error occurred SectionSection Error Processing9-2-12I/O Check Troubleshooting Problems in Modules Troubleshooting Problems in ModulesCoordinator Module Errors 9-2-13Environmental Conditions CheckMotion Control Module Errors Troubleshooting Problems in ModulesInput Errors SectionSection Troubleshooting Problems in ModulesOutput Errors SECTION Inspection and MaintenanceModule Replacement Precautions 10-1Inspections10-1-1Inspection Points 10-1InspectionsInspectionsSection Inspection Points for Periodic InspectionsSection InspectionsTools Required for Inspections Required ToolsSection InspectionsProgramming Programs and Tasks Appendix AUsing Normal Subroutines SubroutinesWhat Are Subroutines? ProgrammingProgramming Using Subroutines That Pass ParametersAppendix A Execution with Subroutine Input Condition FlagsAppendix A ProgrammingJSB982 Operation AddressAppendix A ProgrammingApplication Examples Without Macro FunctionAppendix A ProgrammingExecution with Subroutine Input Condition Flags Main ProgramPower Flow Basic Information on ProgrammingProgramming Appendix AAppendix A ProgrammingFlags OperandsAddressing I/O Memory Areas Instruction Location and Input ConditionsProgramming Appendix AProgramming Specifying OperandsAppendix A OperandAppendix A ProgrammingOperand DescriptionOperand ProgrammingAppendix A Appendix A ProgrammingUpper 4 bits Lower 4 bitsProgramming Data FormatsAppendix A Note Signed Binary DataAppendix A ProgrammingComplements Two’s ComplementsNote Signed BCD Data ProgrammingAppendix AInput Conditions Instruction VariationsProgramming Appendix AUpwardly differentiated input instruction ProgrammingAppendix A Using Condition Flags Programming PrecautionsCondition Flags ProgrammingProgramming 1.Using Execution Results in NC and NO InputsAppendix A Instruction AAppendix A ProgrammingCMP 0010 D00100 Reflects CMP execution results MOV 1 0200 D00200 Reflects MOV execution resultsProgramming Error FlagAppendix A Main Conditions Turning ON Condition FlagsAppendix A ProgrammingEquals Flag Carry FlagProgramming Special Program SectionsAppendix A Instruction CombinationsAppendix A ProgrammingInstructions Not Allowed in Subroutines Note Block Program SectionsFQM1 Operation Flowchart Computing the Cycle TimeProgramming Appendix AProgramming Overview of Cycle Time CalculationsAppendix A Coordinator ModuleAppendix A ProgrammingProgramming Module I/O Refresh TimesAppendix A Cyclic Refresh Time in the Coordinator ModuleOnline Editing Cycle Time Extension Example of Calculating the Cycle TimeProgramming Appendix AProgramming Response TimeAppendix A Coordinator Module I/O Response TimeAppendix A ProgrammingMotion Control Module I/O Response Time Minimum I/O Response Time General-purposeI/O 0 toAppendix A ProgrammingMotion Control Module Interrupt Response Times Calculation ExampleAppendix A ProgrammingMotion Control Module Interrupt Processing Times Scheduled Interrupt TaskAppendix A ProgrammingProcessing Time 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 Overview of I/O Memory Appendix BI/O Memory Parameter AreaCoordinator Module I/O Memory StructureI/O Memory Appendix BAppendix B Motion Control ModulesI/O Memory I/O Memory CIO AreaAppendix B I/O Bit Area: CIO 0000 and CIOAppendix B I/O MemorySynchronous Data Link Bit Area: CIO 0200 to Serial PLC Link Bit Area CIO 0080 to CIOTemporary Relay Area TR Auxiliary Area: A000 to A649 A000.00 to A649.15Refreshing Using the IORF097 Instruction I/O MemoryAppendix B Timer AreaI/O Memory Appendix B Counter AreaI/O Memory Condition Flags Data Memory DM AreaBinary-modeAddressing @D BCD-modeAddressing *Dsymbol Using the Condition FlagsI/O Memory Appendix BUsing the Clock Pulses Clock PulsesI/O Memory Appendix BSystem Setup Parameter AreaI/O Memory Appendix BOverview of System Setups System Setup, Auxiliary Area AllocationsSystem Setup in the Coordinator Module Appendix CAppendix C Communications Settings Peripheral Port Settings for Host LinkStandard/Custom Setting Appendix CStandard/Customer Setting Peripheral Port Settings for NT LinkAppendix C Host Link Unit NumberAppendix C RS-232CPort Settings for Host LinkBaud Rate Serial Communications ModeRS-232CPort Settings for Peripheral Bus ToolBus RS-232CPort Settings for NT LinkStandard/Custom Setting Appendix CAppendix C Send DelayBaud Rate Serial Communications ModeAppendix C RS-232CPort Settings for PLC Link PC Link SlaveStart Code and End Code Number of Received BytesRS-422APort Settings for Serial Gateway RS-422APort Settings CX-Programmer:Drive Tab PageStandard/Custom Setting Send Delay TimeAppendix C Peripheral Service TimeStart Code and End Code Number of Received BytesCX-Programmer:Module Settings Tab Page System Setup in Motion Control ModulesAppendix C CX-Programmer:Cycle Time Tab PageCX-Programmer:Pulse Input Tab Page FQM1-MMP21Motion Control Modules with Pulse I/OCX-Programmer:Pulse Output Tab Page Appendix CPulse Output Function DetailsFQM1-MMA21Motion Control Modules with Analog I/O When settingAppendix C CX-Programmer:Pulse Input Tab PagePeripheral Port Settings Details on System Setup SettingsRS-232CPort Settings Host Link Port Appendix CConstant Cycle Time Appendix CWatch Cycle Time Messages Sent and Received with No-protocolModeFixed 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 cyclesAppendix C Auxiliary Area Allocations by FunctionAllocations That Are the Same for All Modules FQM1-MMP21Motion Control Modules with Pulse I/OA608 Appendix CAddress Appendix CBits NameA610 Appendix CA611 Appendix CA620 to Appendix CA626 Appendix CFQM1-MMA21Motion Control Modules with Analog I/O Appendix CAddress BitsA562 Appendix CA564 Appendix CAppendix C flows/underflows are checked when the PV is readNote For a Linear Counter, high-speedcounter over change in the PV of the high-speedcounter overAddress Appendix CBits NameAddress Appendix CBits NameA610 Appendix CInput Interrupts Allocations Related to Built-inInputsAppendix C Other Error Flags and Bits Program Error FlagsError Log and Error Code Appendix CMemory Errors FAL/FALS ErrorsSystem Setup I/O ErrorsCommunications Appendix COther Peripheral PortAllocations Directly Related to Instructions Built-inI/O AllocationsAppendix C RS-232CPortOutputs 40-pin General-purposeI/O Connector Inputs 40-pin General-purposeI/O ConnectorInputs 26-pin General-purposeI/O Connector Outputs 26-pin General-purposeI/O ConnectorAuxiliary Area Allocations in Order of Address Appendix DAuxiliary Area Allocations Appendix D Auxiliary Area AllocationsA414 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 Error Log Area: A100 to A199 Error Codes and Error FlagsDetailed Explanations on the Auxiliary Area Auxiliary Area AllocationsFQM1 Memory Addresses Memory ConfigurationAuxiliary Area Allocations Appendix DAuxiliary Area AllocationsAppendix D Memory MapAppendix D Auxiliary Area AllocationsSequence Input Instructions Sequence Output InstructionsAuxiliary Area Allocations Timer and Counter InstructionsAppendix D Sequence Control InstructionsData Movement Instructions Auxiliary Area AllocationsAppendix D Appendix D Auxiliary Area AllocationsData Shift Instructions Increment/Decrement InstructionsAppendix D Symbol Math InstructionsAuxiliary Area Allocations Appendix D Auxiliary Area AllocationsConversion Instructions Logic InstructionsAppendix D Auxiliary Area AllocationsSpecial Math Instructions Floating-pointMath InstructionsAppendix D Auxiliary Area AllocationsTable Data Processing Instructions Data Control InstructionsAppendix D Auxiliary Area AllocationsInterrupt Control Instructions High-speedCounter and Pulse Output InstructionsAppendix D Auxiliary Area AllocationsStep Instructions I/O Refresh InstructionAppendix D Auxiliary Area AllocationsSerial Communications Instructions Debugging InstructionsBranching Auxiliary Area AllocationsAppendix D 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 FA Systems Division H.Q 66 Matsumoto OMRON CORPORATIONMishima-city,Shizuoka Japan Tel: 8155-977-9181/Fax:Terms and Conditions of Sale Certain Precautions on Specifications and Use1 Commerce Drive Schaumburg, IL OMRON ELECTRONICS LLCOMRON CANADA, INC 885 Milner Avenue Toronto, Ontario M1B