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Omron FQM1-MMP21, FQM1-CM001, FQM1-MMA21 Expanded System Configuration, Section, Serial Gateway

Models: FQM1-MMP21 FQM1-MMA21 FQM1-CM001

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1:N Connection between CJ1M and FQM1 Controllers

Expanded System Configuration

Section 1-5

1:N Connection between CJ1M and FQM1 Controllers

Data sharing

FQM1

(slave)

CJ1M CPU Unit (master)

CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapter connected to RS-232C port

RS-422A/485

Coordinator Module
FQM1	FQM1
(slave)	(slave)

CJ1W-CIF11 RS-232C to RS-422A/485

Conversion Adapters connected to RS-232C ports

8 nodes max.

1:1 Connection between CJ1M and FQM1 Controller

CJ1M CPU Unit (master)

RS-232C

Data sharing

FQM1

(slave)

Coordinator Module

Serial Gateway

Reading/writing Servo Parameters and other data in Servo Drivers connected via RS-422A can be performed through the FQM1 Coordinator Module from an NS-series PT or computer application running on CX-Server. The serial communications mode for the RS-422A port on the FQM1 Coordinator Mod- ule is set to Serial Gateway to achieve this.

Servo Drivers Connectable to RS-422A

System Configuration Example

OMRON’s W-series or SMARTSTEP Servo Drivers can be connected.

Smart Active Parts on an NS-series PT connected via an NT Link can be used to access W-series or SMARTSTEP Servo Drivers.

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Omron FQM1-MMP21 Expanded System Configuration, Section, Serial Gateway, 1:N Connection between CJ1M and FQM1 Controllers

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 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 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 Controllerxxii 5 Data BackupData Backup 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 SectionSection ModulesModules Outline of Internal Data Exchange and I/O ModulesSection 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 SystemNT Link 1:N Mode RS-232C PT NT Link 1:N Mode Expanded System ConfigurationSection Serial Gateway Expanded System ConfigurationSystem Configuration Example SectionSection 1-6Basic Operating ProcedureBasic Operating Procedure Section Basic Operating Procedure3.Initial Hardware Settings 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 SpecificationsSection General SpecificationsPower Supply Unit Specifications Section 2-3Coordinator ModuleIndicators Coordinator ModuleSection Function SpecificationsSwitch on Front Panel Coordinator ModuleCIO Area Coordinator ModuleSection Section Motion Control ModulesI/O Specifications Motion Control ModulesNomenclature IndicatorsMotion Control Modules SectionSection Performance SpecificationsMotion Control Modules 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 SectionFQM1 Orientation InstallationSection 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 pinsSection Installation2 3. Lock the pins on the backs of the Modules •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-pinConnectorSection Wiring Module ConnectorsFQM1-MMA21Analog I/O 40-pinConnector 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 SizeNomenclature and Functions Wiring Servo Relay UnitsSection Lower Terminal Block Pin Arrangement Wiring Servo Relay UnitsSection Upper Terminal Block Pin ArrangementSection Wiring Servo Relay Units6. Signal Switches Wiring Method Wiring Servo Relay UnitsExternal Dimensions Wiring Screw-less Clamp Terminal BlocksModel Wiring Servo Relay UnitsSection Recommended ScrewdriverSection Wiring Servo Relay UnitsWiring when Using Servo Relay Units 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 ModelsSection List of FQM1 Connecting Cables6.Servomotor Connecting Cables 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 ModulesSync Mode Operation Motion Control ModulesSection 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 TimeDescription of Operation Power OFF OperationSection SECTION Module Functions and Data Exchange Sync Mode Synchronous Operation between ModulesSynchronous Operation between ModulesSection Sync and ASync ModesSection 5-2Data Exchange between ModulesData Exchange between Modules 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 CommunicationsSection FINS CommandsSerial Communications Section 6-1-2 No-protocolCommunications RS-232CPortSerial Communications 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 SectionSection 7-3-6Application ExampleInput Interrupts Interval Timer Interrupts 7-4Interval Timer InterruptsInterval Timer Interrupt Modes 7-4-4Using Interval Timer InterruptsSection Interval Timer Interrupts7-4-5Application Example 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 InputsRange Comparison Method Pulse InputsSection Monitoring High-speedCounter Movement Mode Pulse InputsSection 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 InputsSection Mode 1 ProcedurePulse Inputs Pulse Inputs Mode 2 ProcedureProcedure ProcedureHigh-speed Counter PV Pulse InputsSection ExampleBit Pattern Output Pulse InputsSection Example High-speedCounter Range ComparisonP_On Pulse InputsSection Example Latching High-speed Counter PV Pulse InputsSection Pulse OutputsSection Pulse Outputs7-6-1 7-6-2Acceleration/ decelera 7-6-3Pulse OutputsSection 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 OutputsIndepen Pulse OutputsSection Target frequency Precautions when Using Pulse OutputsPulse Outputs SectionFormula 7-6-7 One-shotPulse Output FunctionPulse Outputs SectionSection One-shotPulse Output SpecificationsPulse Outputs Section 7-6-8Time Measurement with the Pulse CounterPulse Outputs Section Pulse Counter Timer SpecificationsPulse Outputs Frequency speed Target value Target value Pulse OutputsSection Linear Mode Operation3.00 Pulse OutputsSection 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 SectionPulse Outputs with Acceleration/Deceleration Pulse OutputsSection Electronic Cam Control Functions ProcedurePulse Outputs SectionSection Pulse OutputsOne-shotPulse Output STIM980 Pulse Counter Timer Function STIM980Pulse Outputs SectionSection 7-6-14Pulse Output Function ExamplesPulse Outputs Accelerating the Frequency at a Fixed Rate Pulse OutputsSection Changing the Frequency in StepsSpeed reaches 0 while the remaining Pulse OutputsSection Specified number of pulsesP_On Always ON Flag P_On Always ON Flag Pulse OutputsSection 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, andSection 7-7-1Applicable Models7-7-2Overview Data Format Serial Data Specification7-7-3Data Format of Absolute Encoder Output SectionAbsolute Linear CW− 7-7-4Counter OperationSection Counting Operation Counter Operation DetailsAbsolute 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 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 OverviewDescription Virtual Pulse Output FunctionSection 7-9-2 7-9Analog Input FunctionsPositioning or Speed Control Using a Virtual Axis 7-9-1Section Sensor pressure, displacement, etcAnalog Input Functions Analog Input FunctionsSection Analog Input Function Specifications7-9-3 Time when setting Related Areas and SettingsSystem Setup SettingsA550 Analog Input FunctionsSection Auxiliary AreaA562 Analog Input FunctionsSection A570 Analog Input FunctionsSection 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 OutputsCPU standby status Analog OutputsSection END Refreshing With Immediate Refreshing Specified Output Values and Analog Output SignalsAnalog Outputs SectionSection 7-10-5ProcedureAnalog Outputs 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-232CCableSection 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 Structure 9-1Error LogError Log Errors Generated by FAL006/FALS007Error ProcessingSection Error ProcessingError Categories 9-2-2Error InformationSection Error CodesError Processing 9-2-3Section 9-2-4Error Processing FlowchartError Processing Section Error ProcessingCPU Errors Fatal ErrorsSection Error Processingmessage and related Auxiliary Area flags/words and correct the cause of the error Error Error ProcessingFatal Errors ErrorSection Error ProcessingNon-fatalErrors Non-fatalErrorsSection Error ProcessingOther Errors Section 9-2-6Power Supply CheckError Processing 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 occurredSection Error Processing9-2-12I/O Check 9-2-13Environmental Conditions Check Troubleshooting Problems in ModulesTroubleshooting Problems in Modules Coordinator Module ErrorsSection Troubleshooting Problems in ModulesMotion Control Module Errors Input ErrorsSection Troubleshooting Problems in ModulesOutput Errors 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 OperandOperand ProgrammingAppendix A 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 ProgrammingUpwardly differentiated input instruction ProgrammingAppendix A 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 TimeAppendix A 2When using interrupt tasks frequently, be sure to consider the time required for interrupt processing and its affect on the overall systemProgramming Parameter Area Appendix BI/O Memory Overview of I/O Memory I/O MemoryAppendix B I/O Memory StructureCoordinator Module I/O MemoryAppendix B Motion Control ModulesI/O Memory 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 InstructionAppendix B Timer AreaI/O Memory Appendix B Counter AreaI/O Memory 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 CInput Interrupts Allocations Related to Built-inInputsAppendix C 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 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 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 DData Movement Instructions Auxiliary Area AllocationsAppendix D Increment/Decrement Instructions Auxiliary Area AllocationsAppendix D Data Shift InstructionsAppendix D Symbol Math InstructionsAuxiliary Area Allocations 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 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 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