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Omron FQM1-CM001, FQM1-MMA21, FQM1-MMP21 Motion Control Modules, I/O Memory, Appendix B

Models: FQM1-MMP21 FQM1-MMA21 FQM1-CM001

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I/O Memory

Appendix B

Motion Control Modules

The following table shows the basic structure of the I/O Memory Area for the Motion Control Modules.

Area

Size

Range

Task

External

Bit

Word

Access

Change

Status

Status

Forc-

usage

I/O allo-

access

access

from

at

at

ing

Read

Write

cation

CX-Pro-

power

mode

bit

gram-

ON

change

sta-

mer

tus

CIO

I/O Area

20 bits

CIO 0000

Shared

OK

OK

OK

OK

OK

OK

Cleared

Cleared

OK

Area

(2

to

by all

Motion

words)

CIO 0001

tasks

Control

Module

Cyclic

160 bits

CIO 0100

---

OK

OK

OK

OK

OK

OK

Refresh Bit

(10

to

Area

words)

CIO 0109

Synchro-

320 bits

CIO 0200

---

OK

OK

OK

OK

OK

OK

nous Data

(20

to

Link Bit

words)

CIO 0219

Area

Internal I/O

3,584

CIO 0002

---

OK

OK

OK

OK

OK

OK

Areas

bits

to

(224

CIO 0099

words)

CIO 0110

to

CIO 0199

CIO 0220

to

CIO 0255

Work Area

4,096

W000 to

---

OK

OK

OK

OK

OK

Cleared

Cleared

OK

bits (256

W255

words)

Auxiliary Area

10,400

A000 to

---

OK

OK

OK

OK

OK

Cleared

Main-

No

bits (650

A649

tained

words)

TR Area

16 bits

TR0 to

---

OK

---

OK

OK

No

Cleared

Cleared

No

TR15

DM Area

30,000

D00000

---

No

OK

OK

OK

OK

Cleared

Main-

No

words

to

tained

D29999

2,768

D30000

---

No

OK

OK

OK

OK

Main-

Main-

No

words

to

tained

tained

D32767

(See

note.)

Timer Area

256

T0000 to

---

OK

---

OK

OK

OK

Cleared

Cleared

OK

words

T0255

Counter Area

256

C0000 to

---

OK

---

OK

OK

OK

Cleared

Main-

OK

words

C0255

tained

Note These DM Area words are backed up by a super capacitor. If the Memory Not Held Flag (A404.14) is ON, these words are cleared to all zeros.

301

Image 324

Omron FQM1-CM001, FQM1-MMA21, FQM1-MMP21 operation manual Motion Control Modules, I/O Memory, Appendix B

Contents

FQM1 Series OPERATION MANUALFlexible Motion Controller FQM1-CM001 FQM1-MMP21 FQM1-MMA21FQM1-CM001 FQM1-MMP21 FQM1-MMA21 Flexible Motion Controller Operation ManualFQM1 Series Produced NovemberPage Notice OMRON Product ReferencesVisual Aids OMRON,Page TABLE OF CONTENTS TABLE OF CONTENTS SECTIONTABLE OF CONTENTS Inspection and MaintenanceSECTION AppendicesTABLE OF CONTENTS About this Manual Page PRECAUTIONS xiii2 General Precautions 3 Safety Precautions1 Intended Audience Intended Audience3-1Operating Environment Precautions Safety Precautions3-2Application Precautions Safety PrecautionsSafety Precautions xvii•Changing the operating mode of the FQM1 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 burningxviii Conformance to EC Directives EMC Directive Conformance ConditionsConformance to EC Directives EMC Directives4-5Relay Output Noise Reduction Methods Conformance to EC DirectivesCountermeasures Countermeasure ExamplesCharacteristic Conformance to EC DirectivesMotion Controller Circuit5 Data Backup Data Backupxxii Data Backup Backing Up DM Area Data in Flash Memoryxxiii A404.14Data Backup xxivSECTION Features and System Configuration 1-1Outline of FQM1 Flexible Motion Controller Flexible Configurations of Up To 8 AxesOutline of FQM1 Flexible Motion Controller SectionOutline of FQM1 Flexible Motion Controller SectionBuilt-in RS-232CPort in Coordinator Module Built-in RS-422APort in Coordinator Module1-2FQM1 Configuration FQM1 ConfigurationSection Pulse Input Frequency Measurement FunctionFQM1 Configuration CJ1W-PA202/PA205RPower Supply UnitsSection FQM1-CM001Coordinator ModuleModules ModulesSection Modules SectionOutline of Internal Data Exchange and I/O 1-4 CX-Programmer CX-ProgrammerSection CX-Programmer1-5Expanded System Configuration Expanded System ConfigurationSystem Configuration SectionExpanded System Configuration SectionHost Link System NT Link System 1:N Mode, StandardExpanded System Configuration SectionNT Link 1:N Mode RS-232C PT NT Link 1:N Mode Expanded System Configuration System Configuration ExampleSection Serial Gateway1-6Basic Operating Procedure Basic Operating ProcedureSection Basic Operating Procedure 3.Initial Hardware SettingsSection Basic Operating Procedure 1. Installation2.Wiring 3.Initial Hardware Settings 1-6-1ExamplesBasic Operating Procedure 5.System Setup SettingsSection 6.Writing the ProgramsBasic Operating Procedure 7.Transferring the Programs 8.Testing Operation8-aI/O Wiring Checks 8-bTrial Operation Check Output WiringBasic Operating Procedure Time Chart MonitoringSection 9.Save and Print the ProgramsFunction Tables Arranged by Purpose 5-4-4Settings1-7-1 Sync Cycles and Synchronized dataFunction Tables Arranged by Purpose Section5-1Synchronous Operation between Modules 5-1Synchronous Operation between Modules1-7-2 Function Tables Arranged by PurposeSection7-6-6Pulse Output Function Details 7-6-12PLS2887 Pulse Output Direction PriorFunction Tables Arranged by Purpose SectionAbsolute Encoders 7-6-6Pulse Output Function DetailsFunction Tables Arranged by Purpose Section7-10Analog Outputs 7-8Virtual Pulse Output Function7-6-13Pulse Output Function Procedures 7-6-13Pulse Output Function ProceduresFunction Tables Arranged by Purpose Section1-7-3 Function Tables Arranged by PurposeSection 7-9Analog Input Functions7-9-3Analog Input Function Specifications 1-7-4Function Tables Arranged by Purpose SectionFunction Tables Arranged by Purpose Section7-9Analog Input Functions 7-6Pulse Outputs7-4Interval Timer Interrupts 7-4-3Interval Timer Interrupt Modes7-4Interval Timer Interrupts 7-4-3Interval Timer Interrupt ModesFunction Tables Arranged by Purpose Section7-5Pulse Inputs 7-6-8Time Measurement with the PulseFunction Tables Arranged by Purpose SectionSECTION Specifications and Nomenclature General Specifications List of ModelsGeneral Specifications List of ModelsSectionGeneral Specifications Power Supply Unit SpecificationsSection 2-3Coordinator Module IndicatorsCoordinator Module SectionFunction Specifications Switch on Front PanelCoordinator Module SectionCoordinator Module SectionCIO Area Motion Control Modules I/O SpecificationsMotion Control Modules SectionIndicators Motion Control ModulesSection NomenclaturePerformance Specifications Motion Control ModulesSection I/O Specifications General-purposeI/O SpecificationsMotion Control Modules SectionPulse I/O Specifications Motion Control ModulesSection FQM1-MMP21Pulse I/OI/O Specifications Motion Control ModulesSection Pulse Inputs and Analog2-5Dimensions DimensionsSection FQM1-CM001Coordinator ModuleDimensions Power Supply UnitsPOWER L1 POWER L12-6Module Current Consumption Maximum Current and Maximum Total PowerModule Current Consumption SectionExample Calculation of Current and Power Combining Power Supply Units and Motion ControlModule Current Consumption Section2-7Memory Block Diagram Memory Block DiagramSection Areas Backed Up by Super CapacitorsMemory Block Diagram SectionSECTION Installation and Wiring 3-1Installation InstallationInstallation in Cabinets or Control Panels Temperature ControlInstallation Power lines 200 mm min FQM1 200 mm minSection Improving Noise ResistanceInstallation SectionFQM1 Orientation 3-1-2Installation in a Control Panel InstallationWiring Ducts Wiring Duct Example3-1-3Assembled Appearance and Dimensions InstallationRouting Wiring Ducts SectionInstallation Assembled DimensionsInstallation Dimensions Power Supply Unit width: “a” mm3-1-4Connecting FQM1 Components InstallationInstallation Height Section3-1-5DIN Track Installation InstallationRelease DIN Track mounting pins SectionInstallation 2 3. Lock the pins on the backs of the ModulesSection Installation DIN Track and AccessoriesSection •DIN Track3-2Wiring WiringAC Power Source Power Supply CapacityWiring SectionGrounding Terminal Screws andWiring SectionFQM1 Control panelWiring Crimp Terminals for Ground WireSection Terminal Screws andWiringSection Connector Pin ArrangementConnection Methods 1:1 Connections withWiring Applicable ConnectorsCoordinator Module Connector IBM PC/AT or Compatible Connector 9-pin,MaleWiring RS-232CPort SpecificationsSection Connection Example to Programmable Terminal PT3-3Wiring Module Connectors Wiring Module ConnectorsGeneral-purposeI/O 40-pinConnector SectionWiring Module Connectors General-purposeI/O 26-pinConnectorFQM1-MMP21Pulse I/O 40-pinConnector SectionWiring Module Connectors FQM1-MMA21Analog I/O 40-pinConnectorSection Wiring Module Connectors 3-3-2Section FQM1-MM@21Motion Control Modules3-3-3Wiring Examples Wiring Module ConnectorsConnecting Pulse Inputs FQM1-MMP21 MMA21 SectionWiring Module Connectors Power supply EncoderSection FQM1 Shielded twisted-paircableWiring Module Connectors Connecting Pulse Outputs FQM1-MMP21Section ExampleWiring Module Connectors Connecting Analog Outputs FQM1 MMA21Connecting Analog Inputs FQM1-MMA21 Connectors3-4Wiring Servo Relay Units Wiring Servo Relay UnitsRecommended Wire Size SectionWiring Servo Relay Units SectionNomenclature and Functions Wiring Servo Relay Units SectionUpper Terminal Block Pin Arrangement Lower Terminal Block Pin ArrangementWiring Servo Relay Units 6. Signal SwitchesSection Wiring Servo Relay Units External DimensionsWiring Screw-less Clamp Terminal Blocks Wiring MethodWiring Servo Relay Units SectionRecommended Screwdriver ModelWiring Servo Relay Units Wiring when Using Servo Relay UnitsSection Wiring Servo Relay Units Example Servo Relay Unit WiringSection Upper Terminal Block Arrangement3-5List of FQM1 Connecting Cables List of FQM1 Connecting CablesConnecting Cable Models SectionList of FQM1 Connecting Cables 6.Servomotor Connecting CablesSection 3-6Wiring Precautions Wiring PrecautionsI/O Signal Wiring 3-6-1Reducing Electrical NoiseWiring Precautions External WiringSurge suppressor specifications Diode specifications3-6-2Connecting I/O Devices Wiring PrecautionsSection Input DevicesWiring Precautions Precautions when Connecting a Two-wireDC SensorSection 1,2,3Wiring Precautions Output Wiring PrecautionsSection Output Short-circuitProtectionWiring Precautions SectionFQM1 FQM1SECTION Operation 4-1Coordinator Module Coordinator ModuleSection User ProgramSystem Setup Flash Memory 4-1-2Coordinator Module OperationCoordinator Module Section4-1-3I/O Refreshing and Peripheral Servicing 4-1-4Startup InitializationCoordinator Module Section4-2Motion Control Modules 4-2-1Outline4-2-2Description of Each Area Motion Control ModulesI/O Memory System Setup System Setup Using CX-ProgrammerMotion Control Modules SectionMotion Control Modules SectionSync Mode Operation Initialization at At power ON Common Processing Motion Control ModulesSection Program Execution4-3Operating Modes 4-3-2Status and Operations in Each Operating Mode Operating Modes4-4Power OFF Operation 4-4-1Power OFF OperationPower OFF OperationSection 4-3-3Operating Mode Changes and I/O MemoryPower OFF Operation Power OFF Timing ChartFixed Power OFF Detection Time User-setPower OFF Detection TimePower OFF Operation SectionDescription of Operation SECTION Module Functions and Data Exchange Synchronous Operation between Modules Synchronous Operation between ModulesSectionSync and ASync Modes Sync Mode5-2Data Exchange between Modules Data Exchange between ModulesSection 5-3Cyclic Refresh 5-3-1Outline5-3-2Applications Cyclic Refresh5-3-3Cyclic Refresh Area Details Cyclic RefreshSection Coordinator Module Cyclic Refresh AreaCyclic Refresh Area Allocations 5-3-4Cyclic Refresh SectionSynchronous Data Refresh 5-4-1Outline 5-4-2Synchronous Data Link Bit Area 5-4-3Synchronous Data Refresh SectionSystem Setup Coordinator Module Synchronous Data RefreshSection Synchronization between Modules5-5DM Data Transfer System Setup Motion Control ModulesDM Data Transfer SectionSettings Details Step 1: Make Auxiliary Area Settings5-5-3Executing DM Data Transfer 5-5-25-6Cycle Time Settings Cycle Time Settings5-6-1Constant Cycle Time Function SectionCycle Time Settings System SetupConstant Cycle Time Exceeded Error Clear Bit SectionCycle Time Settings System SetupSection Cycle Time Too Long FlagCycle Time Settings Constant Cycle Time Exceeded Error Clear FunctionSection Normal OperationRead Protection Using Passwords System Setup5-7-1Specifying the Startup Mode 5-7-2Program ProtectionAutomatic Backup to Flash Memory Password Protection5-7-3Flash Memory Section5-8Diagnostic Functions Diagnostic FunctionsRefer to SECTION 9 Error Processing for details Section5-8-2Failure Alarm Functions Diagnostic FunctionsSection Operation of FAL006Diagnostic Functions SectionOperation of FALS007 FALSSECTION Coordinator Module Functions Serial Communications Serial CommunicationsSectionSerial Communications SectionProcedure Host Link Communications6-1-1 Serial CommunicationsSectionHost Link Commands SectionSerial Communications Link Units System Manual W143 for detailsFINS Commands Serial CommunicationsSection 6-1-2 No-protocolCommunications RS-232CPort Serial CommunicationsSection Procedure End code settingSerial Communications SectionSystem Setup RS-232CSettings Host Link Port SettingsSystem Setup Serial CommunicationsSystem Configuration 6-1-4Serial PLC LinksSerial CommunicationsSection OverviewProcedure CJ1M Master SettingsFQM1 Slave Settings Serial CommunicationsSettings CJ1M Master PLC SetupFQM1 Slave System Setup System ConfigurationSystem Setup Smart Active Parts Communications SettingsSerial Communications SectionRS-422ASettings 6-1-6 No-protocolCommunications RS-422APortSerial Communications SectionSECTION Motion Control Module Functions 7-6-10 Overview OverviewSection7-2Interrupt Functions Interval Timer InterruptsInterrupt Functions Section7-2-3Disabling and Enabling All Interrupts Interrupt FunctionsSection Disabling All InterruptsInput Interrupts Input InterruptsSection Clearing Recorded Interrupts7-3-5Using Input Interrupts Input Interrupt Mode ProcedureInput Interrupts SectionCounter Mode Procedure Input InterruptsSection 1,2,37-3-6Application Example Input InterruptsSection 7-4Interval Timer Interrupts Interval Timer Interrupt Modes7-4-4Using Interval Timer Interrupts Interval Timer InterruptsInterval Timer Interrupts 7-4-5Application ExampleSection Pulse Inputs Specifications7-5-1 Applicable ModelsPulse Inputs Section7-5-4Pulse Input Specifications Pulse InputsSectionPulse Inputs SectionMinimum response pulse At 50 kHzPhases A and B Phase Z7-5-6 7-5-7Input Signal Type and Count Mode Phase Differential InputsPhase Differential Input Operation Pulse InputsReset Methods Pulse InputsSection Counter Operation Numeric RangesPhase-ZSignal Reset Input and Software Reset Software ResetPulse Inputs SectionPulse Inputs SectionRange Comparison Method Pulse Inputs SectionMonitoring High-speedCounter Movement Mode High-speedCounter Movement Mode 1 Specifications Pulse InputsSection Monitoring a High-speedCounter’s Frequency ModeFrequency Measurement Mode 2 Specifications Pulse InputsSection Latching a High-speedCounter’s PV7-5-9Pulse Input Function Procedures High-speedCounter ProcedurePulse Inputs SectionMode 1 Procedure Pulse InputsSection Mode 2 Procedure ProcedureProcedure Pulse InputsPulse Inputs SectionExample High-speed Counter PVPulse Inputs SectionExample High-speedCounter Range Comparison Bit Pattern OutputPulse Inputs SectionP_On Pulse Inputs SectionExample Latching High-speed Counter PV Pulse Outputs 7-6-17-6-2 Pulse OutputsSection7-6-3 Pulse OutputsSectionAcceleration/ decelera Pulse Output Specifications 7-6-4Pulse Outputs Section7-6-5 Applicable InstructionsPulse OutputsSection Instructions Ineffective during Pulse Output7-6-6 Pulse Output Function DetailsPulse OutputsSection OverviewPulse Outputs SectionPulse output DescriptionProcedure SettingsPulse Outputs SectionPulse Outputs SectionIndepen Precautions when Using Pulse Outputs Pulse OutputsSection Target frequency7-6-7 One-shotPulse Output Function Pulse OutputsSection FormulaOne-shotPulse Output Specifications Pulse OutputsSection 7-6-8Time Measurement with the Pulse Counter Pulse OutputsSection Pulse Counter Timer Specifications Pulse OutputsSection Pulse Outputs SectionLinear Mode Operation Frequency speed Target value Target valuePulse Outputs Section3.00 Section Circular Mode OperationSingle-rotationspeed control pattern High-speedregion Low-speed 0regionSetting the Pulse OutputsSection Speed-changeCycleSetting the Pulse Output Direction Priority Mode Pulse OutputsSection Pulse Output Direction Priority ModePulse Outputs SectionPulse Outputs with Acceleration/Deceleration Procedure Pulse OutputsSection Electronic Cam Control FunctionsPulse Outputs SectionPulse Counter Timer Function STIM980 Pulse OutputsSection One-shotPulse Output STIM9807-6-14Pulse Output Function Examples Pulse OutputsSection Pulse Outputs SectionChanging the Frequency in Steps Accelerating the Frequency at a Fixed RatePulse Outputs SectionSpecified number of pulses Speed reaches 0 while the remainingPulse Outputs SectionP_On Always ON Flag P_On Always ON Flag Pulse Outputs SectionPulse Counter Time Measurement Timer Example 7-6-15Pulse Output Starting ConditionsPulse Outputs SectionPulse Outputs SectionPulse Outputs SectionPULS886 Absolute Pulse Output in Progress Pulse Output OperationPulse Outputs SectionPLS2887 Cases 1, 2, andPulse Outputs SectionCases 6, 8, 9, and Cases 7, 11, 12,7-7-1Applicable Models 7-7-2OverviewSection Serial Data Specification 7-7-3Data Format of Absolute Encoder OutputSection Data Format7-7-4Counter Operation SectionCounting Operation Counter Operation Details Absolute Linear CW−7-7-6Absolute Present Value SectionAbsolute Linear Counter Absolute Circular Counter 7-7-7Absolute Present Value Preset 7-7-8Absolute Offset PresetSection System Setup Related Areas7-7-9 Section Auxiliary AreaSection A606Note Refer to 7-7-6Absolute Present Value Step 1 Required: Setting Setting the Pulse Input MethodSetting the Input Pulse Counting Speed Setting the Counter OperationOffset Preset Step 4 Required Absolute Present Value PresetSection Step 3 as Needed: Origin Compensation AbsoluteSection Program DescriptionSection 0.00Section 0000057-8Virtual Pulse Output Function 7-8-17-8-2 Virtual Pulse Output FunctionSectionT First Word of Setting Table Virtual Pulse Output FunctionSectionOverview OperandsVirtual Pulse Output Function SectionDescription 7-9Analog Input Functions Positioning or Speed Control Using a Virtual Axis7-9-1 7-9-2Sensor pressure, displacement, etc Analog Input FunctionsSection Analog Input Function Specifications 7-9-3Analog Input FunctionsSection Related Areas and Settings System SetupSettings Time when settingAnalog Input Functions SectionAuxiliary Area A550Analog Input Functions SectionA562 Analog Input Functions SectionA570 Signal Range: −10 to 10 Signal Range: 0 to 10 7-9-5Applicable Instructions7-9-6A/D Conversion Value Analog Input FunctionsSignal Range: 1 to 5 V and 4 to 20 mA Signal Range: 0 to 5Analog Input Functions SectionAnalog Input Functions SectionExample Application Example7-10 Analog Outputs7-10-1 7-10-27-10-3Analog Output Function Specifications Analog OutputsSectionAnalog Outputs put Tab Page − OutputAnalog Outputs SectionCPU standby status Specified Output Values and Analog Output Signals Analog OutputsSection END Refreshing With Immediate Refreshing7-10-5Procedure Analog OutputsSection Analog Outputs SectionOutputting the Analog Output Value Stored in the Auxiliary AreaAnalog Outputs SectionAnalog Outputs SectionSECTION Connecting the CX-Programmer CX-Programmer CX-ProgrammerSection8-2Connecting the CX-Programmer Connecting the CX-ProgrammerConnecting to the Peripheral Port Connecting to the RS-232CPortConnecting the CX-Programmer Connecting to the Peripheral PortConnection Diagram SectionConnecting the CX-Programmer Connecting to the RS-232CPortUsing an RS-232CCable Section8-2-2 CX-ProgrammerConnecting Cables Connecting the CX-ProgrammerSection Connecting the CX-Programmer Connecting an RS-232CCable to the RS-232CPortSection Connecting the CX-Programmer SectionSECTION Error Processing 9-1Error Log Error LogErrors Generated by FAL006/FALS007 Error Log StructureError Processing Error Categories9-2-2Error Information Error ProcessingSectionError Codes Error Processing9-2-3 Section9-2-4Error Processing Flowchart Error ProcessingSection Error Processing CPU ErrorsFatal Errors SectionError Processing message and related Auxiliary Area flags/words and correct the cause of the errorSection Error Processing Fatal ErrorsError ErrorError Processing Non-fatalErrorsNon-fatalErrors SectionError Processing Other ErrorsSection 9-2-6Power Supply Check Error ProcessingSection 9-2-7Memory Error Check 9-2-8Program Error CheckError Processing Section9-2-9Cycle Time Overrun Error Check 9-2-10System Setup Error CheckError Processing Section9-2-11I/O Setting Error Check Error ProcessingI/O Setting Error occurred SectionError Processing 9-2-12I/O CheckSection Troubleshooting Problems in Modules Troubleshooting Problems in ModulesCoordinator Module Errors 9-2-13Environmental Conditions CheckTroubleshooting Problems in Modules Motion Control Module ErrorsInput Errors SectionTroubleshooting Problems in Modules Output ErrorsSection Inspection and Maintenance SECTIONModule Replacement Precautions 10-1Inspections10-1Inspections 10-1-1Inspection PointsInspectionsSection Inspection Points for Periodic InspectionsInspections SectionTools Required for Inspections Required ToolsInspections SectionAppendix A Programming Programs and TasksSubroutines Using Normal SubroutinesWhat Are Subroutines? ProgrammingUsing Subroutines That Pass Parameters ProgrammingAppendix A Execution with Subroutine Input Condition FlagsProgramming Appendix AJSB982 Operation AddressProgramming Appendix AApplication Examples Without Macro FunctionProgramming Appendix AExecution with Subroutine Input Condition Flags Main ProgramBasic Information on Programming Power FlowProgramming Appendix AProgramming Appendix AFlags OperandsInstruction Location and Input Conditions Addressing I/O Memory AreasProgramming Appendix ASpecifying Operands ProgrammingAppendix A OperandProgramming Appendix AOperand DescriptionProgramming Appendix AOperand Programming Appendix AUpper 4 bits Lower 4 bitsData Formats ProgrammingAppendix A Note Signed Binary DataProgramming Appendix AComplements Two’s ComplementsProgrammingAppendix A Note Signed BCD DataInstruction Variations Input ConditionsProgramming Appendix AProgramming Appendix AUpwardly differentiated input instruction Programming Precautions Using Condition FlagsCondition Flags Programming1.Using Execution Results in NC and NO Inputs ProgrammingAppendix A Instruction AProgramming Appendix ACMP 0010 D00100 Reflects CMP execution results MOV 1 0200 D00200 Reflects MOV execution resultsError Flag ProgrammingAppendix A Main Conditions Turning ON Condition FlagsProgramming Appendix AEquals Flag Carry FlagSpecial Program Sections ProgrammingAppendix A Instruction CombinationsProgramming Appendix AInstructions Not Allowed in Subroutines Note Block Program SectionsComputing the Cycle Time FQM1 Operation FlowchartProgramming Appendix AOverview of Cycle Time Calculations ProgrammingAppendix A Coordinator ModuleProgramming Appendix AModule I/O Refresh Times ProgrammingAppendix A Cyclic Refresh Time in the Coordinator ModuleExample of Calculating the Cycle Time Online Editing Cycle Time ExtensionProgramming Appendix AResponse Time ProgrammingAppendix A Coordinator Module I/O Response TimeProgramming Appendix AMotion Control Module I/O Response Time Minimum I/O Response Time General-purposeI/O 0 toProgramming Appendix AMotion Control Module Interrupt Response Times Calculation ExampleProgramming Appendix AMotion Control Module Interrupt Processing Times Scheduled Interrupt TaskProgramming Appendix AProcessing Time Interrupt Response Time Calculation Example2When using interrupt tasks frequently, be sure to consider the time required for interrupt processing and its affect on the overall system ProgrammingAppendix A Appendix B I/O Memory Overview of I/O MemoryI/O Memory Parameter AreaI/O Memory Structure Coordinator ModuleI/O Memory Appendix BMotion Control Modules I/O MemoryAppendix B CIO Area I/O MemoryAppendix B I/O Bit Area: CIO 0000 and CIOI/O Memory Appendix BSynchronous Data Link Bit Area: CIO 0200 to Serial PLC Link Bit Area CIO 0080 to CIOAuxiliary Area: A000 to A649 A000.00 to A649.15 Temporary Relay Area TRRefreshing Using the IORF097 Instruction I/O MemoryTimer Area I/O MemoryAppendix B Counter Area I/O MemoryAppendix B Data Memory DM Area Condition FlagsBinary-modeAddressing @D BCD-modeAddressing *DUsing the Condition Flags symbolI/O Memory Appendix BClock Pulses Using the Clock PulsesI/O Memory Appendix BParameter Area System SetupI/O Memory Appendix BSystem Setup, Auxiliary Area Allocations Overview of System SetupsSystem Setup in the Coordinator Module Appendix CAppendix C Peripheral Port Settings for Host Link Communications SettingsStandard/Custom Setting Appendix CPeripheral Port Settings for NT Link Standard/Customer SettingAppendix C Host Link Unit NumberRS-232CPort Settings for Host Link Appendix CBaud Rate Serial Communications ModeRS-232CPort Settings for NT Link RS-232CPort Settings for Peripheral Bus ToolBusStandard/Custom Setting Appendix CSend Delay Appendix CBaud Rate Serial Communications ModeRS-232CPort Settings for PLC Link PC Link Slave Appendix CStart Code and End Code Number of Received BytesRS-422APort Settings CX-Programmer:Drive Tab Page RS-422APort Settings for Serial GatewayStandard/Custom Setting Send Delay TimePeripheral Service Time Appendix CStart Code and End Code Number of Received BytesSystem Setup in Motion Control Modules CX-Programmer:Module Settings Tab PageAppendix C CX-Programmer:Cycle Time Tab PageFQM1-MMP21Motion Control Modules with Pulse I/O CX-Programmer:Pulse Input Tab PageAppendix C CX-Programmer:Pulse Output Tab PagePulse Output Function DetailsWhen setting FQM1-MMA21Motion Control Modules with Analog I/OAppendix C CX-Programmer:Pulse Input Tab PageDetails on System Setup Settings Peripheral Port SettingsRS-232CPort Settings Host Link Port Appendix CAppendix C Constant Cycle TimeWatch 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 CAuxiliary Area Allocations by Function Appendix CAllocations That Are the Same for All Modules FQM1-MMP21Motion Control Modules with Pulse I/OAppendix C A608Appendix C AddressBits NameAppendix C A610Appendix C A611Appendix C A620 toAppendix C A626Appendix C FQM1-MMA21Motion Control Modules with Analog I/OAddress BitsAppendix C A562Appendix C A564flows/underflows are checked when the PV is read Appendix CNote For a Linear Counter, high-speedcounter over change in the PV of the high-speedcounter overAppendix C AddressBits NameAppendix C AddressBits NameAppendix C A610Allocations Related to Built-inInputs Appendix CInput Interrupts Program Error Flags Other Error Flags and BitsError Log and Error Code Appendix CFAL/FALS Errors Memory ErrorsSystem Setup I/O ErrorsAppendix C CommunicationsOther Peripheral PortBuilt-inI/O Allocations Allocations Directly Related to InstructionsAppendix C RS-232CPortInputs 40-pin General-purposeI/O Connector Outputs 40-pin General-purposeI/O ConnectorInputs 26-pin General-purposeI/O Connector Outputs 26-pin General-purposeI/O ConnectorAppendix D Auxiliary Area AllocationsAuxiliary Area Allocations in Order of Address Auxiliary Area Allocations Appendix DAuxiliary Area Allocations Appendix DA414 Auxiliary Area Allocations Appendix DA520 Auxiliary Area Allocations Appendix DA559 Auxiliary Area Allocations Appendix DA570 Auxiliary Area Allocations Appendix DA606 to Auxiliary Area Allocations Appendix DA610 Auxiliary Area Allocations Appendix DA612 Auxiliary Area Allocations Appendix DA626 Error Codes and Error Flags Error Log Area: A100 to A199Detailed Explanations on the Auxiliary Area Auxiliary Area AllocationsMemory Configuration FQM1 Memory AddressesAuxiliary Area Allocations Appendix DMemory Map Auxiliary Area AllocationsAppendix DAuxiliary Area Allocations Appendix DSequence Input Instructions Sequence Output InstructionsTimer and Counter Instructions Auxiliary Area AllocationsAppendix D Sequence Control InstructionsAuxiliary Area Allocations Appendix DData Movement Instructions Auxiliary Area Allocations Appendix DData Shift Instructions Increment/Decrement InstructionsSymbol Math Instructions Auxiliary Area AllocationsAppendix D Auxiliary Area Allocations Appendix DConversion Instructions Logic InstructionsAuxiliary Area Allocations Appendix DSpecial Math Instructions Floating-pointMath InstructionsAuxiliary Area Allocations Appendix DTable Data Processing Instructions Data Control InstructionsAuxiliary Area Allocations Appendix DInterrupt Control Instructions High-speedCounter and Pulse Output InstructionsAuxiliary Area Allocations Appendix DStep Instructions I/O Refresh InstructionAuxiliary Area Allocations Appendix DSerial Communications Instructions Debugging InstructionsAuxiliary Area Allocations Appendix DBranching 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 OMRON CORPORATION FA Systems Division H.Q 66 MatsumotoMishima-city,Shizuoka Japan Tel: 8155-977-9181/Fax:Certain Precautions on Specifications and Use Terms and Conditions of SaleOMRON ELECTRONICS LLC 1 Commerce Drive Schaumburg, ILOMRON CANADA, INC 885 Milner Avenue Toronto, Ontario M1B