Omron Corporation, Regional Headquarters | Omron FQM1-MMA21 specification

OMRON CORPORATION

FA Systems Division H.Q.

66 Matsumoto

Mishima-city, Shizuoka 411-8511

Japan

Tel: (81)55-977-9181/Fax: (81)55-977-9045

Regional Headquarters

OMRON EUROPE B.V.

Wegalaan 67-69, NL-2132 JD Hoofddorp

The Netherlands

Tel: (31)2356-81-300/Fax: (31)2356-81-388

OMRON ELECTRONICS LLC

1 East Commerce Drive, Schaumburg, IL 60173

U.S.A.

Tel: (1)847-843-7900/Fax: (1)847-843-8568

OMRON ASIA PACIFIC PTE. LTD.

83 Clemenceau Avenue,

#11-01, UE Square,

Singapore 239920

Tel: (65)6835-3011/Fax: (65)6835-2711

Image 412

Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 operation manual Omron Corporation, Regional Headquarters

Contents

Flexible Motion Controller FQM1 Series Page Omron Product References  OmronPage Table of Contents Coordinator Module Functions 123 Inspection and Maintenance 259 Table of Contents Name Cat. No Contents About this Manual Xii Precautions Safety Precautions General PrecautionsIntended Audience Operating Environment Precautions Safety Precautions Application Precautions Xvii Xviii Conformance to EC Directives Applicable DirectivesConcepts Conformance to EC Directives Current Characteristic Required element Relay Output Noise Reduction MethodsCountermeasures Countermeasure Examples Circuit Current Characteristic Required element Name Model Cable length Data Backup Module Data Data backupTemperature Initial After 5 years After 10 years Charge the capacitor Backing Up DM Area Data in Flash Memory Xxiv Section Outline of FQM1 Flexible Motion Controller Section Special I/O Servo Driver Pulse or Analog I/O Basic I/O FQM1 Configuration FQM1-MMA21 FQM1-MMP21CJ1W-PA205R Modules Details Outline of Internal Data Exchange and I/O PLC CX-Programmer CX-Programmer Expanded System Configuration System ConfigurationSerial Communications Systems Host Link System Yes See note Serial Gateway 1N Connection between CJ1M and FQM1 ControllersConnection between CJ1M and FQM1 Controller FQM1 Basic Operating Procedure No-protocol Custom Communications System via RS-422A Port Output wiring Input wiring Wiring Initial Hardware Settings InstallationExamples Writing the Programs Transferring the Programs Testing Operation Time Chart Monitoring Save and Print the ProgramsData Tracing Online Editing Function Tables Arranged by Purpose Purpose Operation Function used Details Function Tables Arranged by Purpose Position and Speed Control Purpose Operation Main functions Details Used Absolute Encoders Analog Outputs Pulse Output Function Procedures Measuring Input Pulses Analog Input Function Specifications High-speed Analog I/O Control Pulse Outputs Input Interrupt Mode Controlling Timing Time Measurement with the Pulse Section Specifications and Nomenclature General Specifications General SpecificationsMust be installed Name Type Model Specifications Power Supply Unit Specifications VA max Inrush current At 100 to 120 V AC See note Indicators Indicator Color Name Status MeaningCoordinator Module Nomenclature Switch on Front Panel Function SpecificationsPeripheral Port Baud Rate Detection/System Setup Switch Bits TR0 to TR15 Specifications Motion Control ModulesMotion Control Module Built-in General-purpose I/O OUT7 FQM1-MMA21 Analog I/OMMP21 MMP21 Performance SpecificationsMMA21 Specifications Pulse I/O Specifications FQM1-MMP21 Pulse I/O CW/CCW Pulse Inputs and Analog FQM1-MMA21 Analog I/O Specifications FQM1-CM001 Coordinator Module DimensionsFQM1-TER01 End Module Power Supply Units CJ1W-PA202 Maximum Current Maximum Total Power Consumption Module Current ConsumptionCurrent Consumption for Each Module XW2B-80J7-1A Servo Relay Unit Example Calculation Current and Power Consumption Combining Power Supply Units Motion Control ModulesMotion Control Modules Current Consumption for 24-V Systems Memory Block Diagram Motion Control ModulesAreas Backed Up by Super Capacitors Areas Backed Up to Flash Memory Section Installation and Wiring Installation Installation and Wiring PrecautionsTemperature Control Accessibility for Operation and Maintenance Improving Noise Resistance FQM1 Orientation Do not install the FQM1 in any of the following positionsIng Installation in a Control Panel Wiring DuctsFQM1 must be mounted inside a control panel on DIN Track Terminal Screws M4 1.2 N·m M3 0.5 N·m Routing Wiring Ducts Assembled Appearance and DimensionsPLC FQM1 Assembled Dimensions Installation DimensionsCoordinator Module width 49 mm Motion Control Module width 49 mm Connecting FQM1 Components Installation Height DIN Track Installation Lock the pins on the backs of the Modules DIN Track and Accessories DIN TrackPFP-100N2 DIN Track PFP-100N/50N DIN Track Wiring Wiring Power Supply UnitsAC Power Source Power Supply Capacity Terminal Screws GroundingCrimp Terminals FQM1 Crimp Terminals for Ground Wire 2 RS-232C Port Wiring WiringSectionConnector Pin Arrangement Connection Methods Peripheral Bus Toolbus Serial Communications Mode Applicable Connectors Coordinator Module ConnectorIBM PC/AT or Compatible Connector 9-pin, Male Connecting to an IBM PC/AT or Compatible RS-232C Port Specifications SpecificationConnection Example to Programmable Terminal PT Direct Connection from RS-232C to RS-232C Wiring Module Connectors Connector Pin ArrangementGeneral-purpose I/O 40-pin Connector FQM1-CM001 Coordinator Module General-purpose I/O 26-pin Connector FQM1-MMP21 Pulse I/O 40-pin ConnectorFQM1-MM@21 Motion Control Modules Pin No Name FQM1-MMA21 Analog I/O 40-pin Connector Pin Name External Connection Diagrams Input between 4 and 20 mAAre outlined in the following tables Pulse Outputs Connecting Pulse Inputs FQM1-MMP21 MMA21 Wiring ExamplesExample Power supply Encoder Connecting Pulse Outputs FQM1-MMP21 FQM1-MMP21 Wiring Methods Connecting Analog Outputs FQM1 MMA21Connecting Analog Inputs FQM1-MMA21 Connectors Applicable Connector-Terminal Block Conversion Units Wiring Servo Relay UnitsRecommended Wire Size Pin No Signal RS-422 ConnectorNomenclature and Functions Upper Terminal Block Pin Arrangement Lower Terminal Block Pin Arrangement Signal Switches Switch Setting details External Dimensions Wiring Screw-less Clamp Terminal BlocksWiring Method Following screwdriver can be used when removing wires Model Manufacturer Recommended ScrewdriverPhoenix Contact Inc Wiring when Using Servo Relay Units Sysmac PLC Upper Terminal Block Arrangement Example Servo Relay Unit WiringLower Terminal Block Arrangement Connecting Cable Models List of FQM1 Connecting CablesSpecifications Model RS-422A Connecting Cables with 9-pin D-sub Connector Signal Wiring Wiring PrecautionsReducing Electrical Noise External Wiring Surge suppressor specifications Diode specificationsInductive Loads OUT Input Devices Connecting I/O DevicesCOM + Precautions when Connecting a Two-wire DC Sensor VON ≤ VCC VR Output Wiring Precautions Output Short-circuit ProtectionTransistor Output Residual Voltage Add a control resistor as shown in the following diagram Output Surge CurrentReduce the surge current Method Operation User Program OutlineMemory System Setup Flash Memory Coordinator Module Operation Servicing Contents 3 I/O Refreshing and Peripheral ServicingStartup Initialization Refreshing Description of Each Area User Program Area Memory System Setup Read/Write DM Area D00000 to D32767 System Setup Using CX-ProgrammerTab Settings Motion Control Module Operation Sync Mode Operation Same timeScan or at the specified sync cycle time. See note Ules. Refer to 5-4 Synchronous Data Refresh for details Program Following tables list status and operations for each mode Mode Cyclic task status Interrupt task statusOperating Modes Operating Modes Power OFF Operation Operating Mode Changes and I/O MemoryPower OFF Operation Mode Changes Cleared areas Retained areas Power OFF Timing Chart Fixed Power OFF Detection TimeUser-set Power OFF Detection Time Power Holding Time Instruction Execution for Power Interruptions Description of Operation Module Functions and Data Exchange Sync Mode ASync ModeSynchronous Operation between Modules Sync and ASync Modes Data Exchange between Modules Method Outline Description Cyclic Refresh Applications Cyclic Refresh Area Details Coordinator Module Cyclic Refresh AreaMotion Control Module Cyclic Refresh Areas Word Bits Details Address Cyclic Refresh Area Allocations CM Coordinator Module MM Motion Control ModuleBits Details Bit Sync Cycle Time Synchronous Data RefreshSynchronous Data Input or analog output value in the System Setup Synchronous Data Link Bit AreaLadder execution results data Transfer time Settings System Setup Coordinator ModuleTrol Modules Synchronization between Modules System Setup Motion Control Modules DM Data TransferProhibit System Interruption of the Sync Settings Details Make Auxiliary Area SettingsExecuting DM Data Transfer Area Constant Cycle Time Function Cycle Time SettingsTurn on Request Bit Programming Example Constant Cycle Time Function in Sync Mode System SetupConstant Cycle Time Exceeded Error Clear Bit Constant Cycle Time Function Enabled for Coordinator Module Watch Cycle Time Function Cycle Time Monitoring FunctionCycle Time Too Long Flag Auxiliary Area Words Clearing Constant Cycle Time Exceeded Errors Constant Cycle Time Exceeded Error Clear FunctionNormal Operation Auxiliary Area Bits Operation Settings at Startup and Maintenance Functions Specifying the Startup ModeTab Name Details Settings Default Program Protection Password Protection Automatic Backup to Flash MemoryFlash Memory Diagnostic Functions Error LogAuxiliary Area Flags Name Address Meaning Failure Alarm Functions Operation of FAL006 Operation of FALS007 Coordinator Module Functions Serial Communications FQM1 supports the following serial communications functionsProtocol Connections Description Peripheral 232C 422A Serial Communications Host Link Communications ProcedureFQM1. Select the method that best suits your application Host Link Commands Type Header Name Function Code Fins Commands Type Command Name Function Code Forced SET/RESET Forced SET/RESET CancelNo-protocol Communications RS-232C Port CR+LF Message Frame Formats End code setting YesCR+LF NT Link 1N Mode System Setup RS-232C Settings Host Link Port SettingsSetting Default Enabled On the TXD236 and RXD235 instructions Serial PLC Links OverviewUle are shared with the CJ1M master as shown below CIO 0080 to CIO 0089 CJ1M master to FQM1 slave FQM1 Slave Settings CJ1M Master SettingsSource Words and Number of Link Words Settings Function Settings Default Enabled Smart Active Parts Communications SettingsSmartstep RS-422A Settings No-protocol Communications RS-422A Port Motion Control Module Functions 138 Overview OverviewSectionFQM1 Modules have the following functions Main function Sub-functions Applicable Modules Interrupt Functions OverviewInterrupt Priority Executing Interrupt Programs DI802 instruction will disable all interrupts Disabling and Enabling All InterruptsDisabling All Interrupts Enabling All Interrupts Input Interrupt Specifications Input InterruptsApplicable Models Overview of the Input Interrupt Function Using Input Interrupts Counter ModeInput Interrupt Mode Procedure Input Allocated input bit Interrupt task number Counter Mode Procedure Application Example Interval Timer Interrupts Interval Timer Interrupt ModesUsing Interval Timer Interrupts Equipped with one interval timer each Stim Interval Timer @STIM Specifications Pulse InputsBased on the counter PV Model Functions Pulse Inputs Pulse Input Specifications 151 Latch Input Specifications Internal Circuit ConfigurationsApplicable Instructions Pulse Inputs Pulse Input Function Description High-speed Counter Function Description Reset Methods Counter Operation Numeric RangesCircular Counter Linear Counter Phase-Z Signal Reset Input and Software Reset Software ResetChecking for High-speed Counter Interrupts Target-value Comparison Method Range Comparison Method Word Bits Function Details Monitoring High-speed Counter Movement ModeTab Function Details System Setup Function Details Word Bit Function Details Pulse Input Function Procedures High-speed Counter Procedure Mode 1 Procedure Target-value comparison interrupt Procedure Mode 2 ProcedurePulse Input Function Example Application 163 164 165 Example Latching High-speed Counter PV Pulse Outputs 168 All Pulse Outputs Except for One-shot Pulse Outputs One-shot Pulse Outputs Sible is also listed in the following table Instructions Ineffective during Pulse Output Mode Description Pulse Output Function Details 172 Pulse Output Operations SPED88 PULS88 Precautions when Using Pulse Outputs Target frequencySet by user Dividing ratio Formula One-shot Pulse Output FunctionTarget frequency Hz Actual output frequency Tab Function Setting One-shot Pulse Output SpecificationsWord Bits Function Contents Time Measurement with the Pulse Counter Pulse Counter Timer Specifications Target-value Comparison Interrupts from Pulse Output PVs Linear Mode Operation END ACC Circular Mode Operation Range Comparison Bit Pattern Outputs from Pulse Output PVs 12 PLS2887 Pulse Output Direction Priority Mode SettingSpeed-change Cycle Ms Cycle Pulse Output Function Procedures Setting the Pulse Output Direction Priority ModePulse Output Direction Priority Mode Execute PLS2887 with A628.14 OFF Pulse Outputs with Acceleration/Deceleration Pulse output port Electronic Cam Control Functions Port Pulse output port 187 Pulse Counter Timer Function STIM980 One-shot Pulse Output STIM980 Pulse Output Function Examples @SPED Changing the Frequency in Steps Accelerating the Frequency at a Fixed Rate Number of pulses is 0 or more Speed 192 Using PLS2887 for Trapezoidal Acceleration/Deceleration @PLS2 Pulse Counter Time Measurement Timer Example Supports continuous mode onlyPulse Output Starting Conditions One-shot Pulse Output Function Example Use this function for positioning CCW PULS886 Absolute Pulse Output in Progress SPED8 PULS8 PULS88 Absolute linear CaseTarget position Present position Cases 6, 8, 9, Cases 7, 11, 12 199 Serial Data Specification Data Format of Absolute Encoder OutputData Format P is in ASCII. It is 50 hex in hexadecimal Counter Operation Counting Operation Counter Operation Details Absolute Present Value Absolute Number of Rotations PV Counter 1 A604 and A605Absolute Linear Counter Absolute Circular Counter Absolute Offset Preset Absolute Present Value Preset7FFF Tab Function Details Time when Setting Related Areas Auxiliary Area Word Bits Function Details Controlled 206 Overview of Absolute Encoder Output Data Acquire Absolute EncoderOutput Data Acquiring Method 208 Sample Programs Connecting an Omron W-series Servo Driver Program Description 210 211 Virtual Pulse Output Function Axis Mode Specifier Sets the output mode First Word of Setting TableAxis Instruction For Virtual Pulse Outputs Operands Description Analog Input Functions Positioning or Speed Control Using a Virtual AxisMotion Control Module for Analog I/O FQM1-MMA21 Analog Input Function Specifications Related Areas and Settings Tab Function Settings Time when setting Becomes effective Word Bits Function Settings Controlled 220 221 6 A/D Conversion Value Signal Range −10 to 10 Signal Range 0 to 10With END Refreshing With Immediate Signal Range 1 to 5 V and 4 to 20 mA Signal Range 0 to 5High-speed Analog Sampling FQM1-MMA21 Only Overview CTBL882 Instruction Operation At several measurement points Comparison Table Analog Outputs @CTBL Analog Output Function Specifications Analog Outputs CPU standby status Overall accuracy is the ratio of accuracy to the full scaleCondition Analog output Specified Output Values and Analog Output Signals END Refreshing With Immediate RefreshingTo 10 To 5 Procedure Outputting a Stepped Analog Output Outputting the Analog Output Value Stored Auxiliary AreaOutputting a Sloped Analog Output 231 232 Connecting the CX-Programmer Make System Setup settings, and monitor or debug operation Name Model SpecificationsCables shown in the following table CS1W-CIF31 System Configuration Connecting the CX-ProgrammerConnecting a Personal Computer Running Support Software Cable Connection Diagram CS1W-CIF31 Connection Methods Using a USB-Serial Conversion Cable CX-Programmer Connecting Cables Cable Port Communic Connecting Ations Connector Model Connecting an RS-232C Cable to the RS-232C Port When connecting the CX-Programmer to the FQM1Connecting an RS-232C Cable to the Peripheral Port Serial Features Communications Mode 240 Error Processing Error Log Errors Generated by FAL006/FALS007Error Log Structure Instruction FAL numbers Error codes Error Processing Error CategoriesError Information Indicator Status and Error Conditions Error Codes Classification Error code Error nameERR OFF Prphl OFF COMM1 COMM2 Error Processing Flowchart Error Tables CPU ErrorsFatal Errors CPU Standby 247 Fatal Errors Non-fatal Errors Non-fatal ErrorsC2FF Lit Flashing Other Errors Power Supply Check Memory Error Check Program Error Check Cycle Time Overrun Error Check System Setup Error Check 11 I/O Setting Error Check 12 I/O Check Troubleshooting Problems in Modules Coordinator Module ErrorsError condition Probable cause Remedy Environmental Conditions Check Motion Control Module Errors Input Errors Output Errors Inspection and Maintenance Inspections Inspection PointsInspection Points for Periodic Inspections Inspection Criteria Action Module Replacement Precautions Tools Required for InspectionsRequired Tools Tools Required 262 Tasks Programming Programs and TasksType of task Description Using Normal Subroutines SubroutinesWhat Are Subroutines? Type of subroutine Description Calling instruction Using Subroutines That Pass Parameters Execution without Subroutine Input Condition FlagsExecution with Subroutine Input Condition Flags Overview Address Corresponding subroutines Word Bits JSB982 OperationJSB Mcro Appendix aRET Main Program Power Flow Basic Information on ProgrammingBasic Information on Instructions Instruction Conditions Instruction Description Setting Canceling Condition Operand types Description SymbolFlags Operands Instruction Location and Input Conditions Addressing I/O Memory AreasBit Addresses Word Addresses Specifying Operands Operand Description Notation Application Operand Description Notation Application Examples BCD Data Operand Data form Symbol Range Application example LD ,IR0BCD #FFFFFFFF Abcde NULAbcd NUL NUL Data type Data FormatsDecimal Digit Complements Two’s Complements Decimal Hexadecimal Binary FfffFffe 7FFF Variation Symbol Description Instruction VariationsInput Conditions Non-differentiated Instructions 280 Using Condition Flags Programming PrecautionsCondition Flags Using Execution Results in NC and no Inputs CMP Using Execution Results from Differentiated Instructions Error FlagMain Conditions Turning on Condition Flags Difu Equals Flag Carry FlagLess Than and Greater Than Flags Negative Flag Special Program Sections Instruction CombinationsSubroutines Program section Instructions Instruction condition Status Instructions Not Allowed in Subroutines Instructions Not Allowed in Step Ladder Program SectionsInstructions Not Allowed in Block Program Sections Following instructions cannot be placed in a subroutine Computing the Cycle Time FQM1 Operation FlowchartYES Overview of Cycle Time Calculations Coordinator ModuleMotion Control Modules Calculating the Cycle Time of the Coordinator Module Peripheral Service Calculating the Cycle Time of a Motion Control ModuleSync Bus Refreshing Cyclic Refreshing Module I/O Refresh Times Cyclic Refresh Time in the Coordinator ModuleCyclic Refresh Time in Motion Control Modules Model Refresh time Example of Calculating the Cycle Time Online Editing Cycle Time ExtensionConditions Calculation Example for FQM1-MMP21 Response Time Response TimeCoordinator Module I/O Response Time Motion Control Module I/O Response Time Minimum I/O Response Time General-purpose I/O 0 to Interrupt Response Times Motion Control Module Interrupt Response TimesResponse Time for Pulse and Analog I/O Input Interrupt Tasks Motion Control Module Interrupt Processing Times Scheduled Interrupt Task Processing Time Interrupt Response Time Calculation ExampleMinimum Response Time Maximum Response Time 298 Introduction Memory Overview of I/O MemoryParameter Area Coordinator Module Memory StructureCIO Motion Control Modules CIO Area Bit Area CIO 0000 and CIO Refresh Synchronous Data Link Bit Area CIO 0200 toSerial PLC Link Bit Area CIO 0080 to CIO END Refresh Refreshing Using the IORF097 Instruction Work Area W000 to W255 W000.00 to W255.15, 4,096 BitsAuxiliary Area A000 to A649 A000.00 to A649.15 Temporary Relay Area TR Timer Area Counter Area Appendix B Data Memory DM Area Condition FlagsBinary-mode Addressing @D BCD-mode Addressing *D Name CX-Programmer Function Symbol Using the Condition FlagsSummary of the Condition Flags Name Label CX-Programmer Operation Symbol Using the Clock PulsesClock Pulses System Setup Parameter Area Prohibit System Interrupt of the Sync Mode System Setup in the Coordinator ModuleAllow Writing to User Memory Cycle Time Settings CX-Programmer Timer/Peripheral Service Startup Mode Setting CX-Programmer Startup TabAppendix C Peripheral Port Settings CX-Programmer Peripheral Port Tab Peripheral Port Settings for Host Link Peripheral Port Settings for NT Link Peripheral Port Settings for Peripheral Bus ToolBusStandard/Customer Setting Host Link Unit Number RS-232C Port Settings for Host Link Format RS-232C Port Settings for NT Link RS-232C Port Settings for Peripheral Bus ToolBus Send Delay RS-232 Port Settings for No-protocol Communications RS-232CData Format RS-232C Port Settings for PLC Link PC Link Slave Start Code and End CodeNumber of Received Bytes PLC Link Unit No. PC Link Unit Number Send Delay Time Fixed Service Time Enable Setting Set Time to All Events Peripheral Service Time System Setup in Motion Control Modules Settings Used by All Motion Control ModulesCX-Programmer Module Settings Tab CX-Programmer Cycle Time Tab FQM1-MMP21 Motion Control Modules with Pulse I/O CX-Programmer Pulse Input Tab CX-Programmer Pulse Output Tab Function Details Address Bits Function Remarks When setting FQM1-MMA21 Motion Control Modules with Analog I/O Details on System Setup Settings Startup ModePeripheral Port Settings RS-232C Port Settings Host Link Port Constant Cycle Time Messages Sent and Received with No-protocol ModeWatch Cycle Time Fixed Peripheral Servicing Time Over 328 Allocations That Are the Same for All Modules Auxiliary Area Allocations by FunctionFQM1-MMP21 Motion Control Modules with Pulse I/O 330 331 332 333 334 335 FQM1-MMA21 Motion Control Modules with Analog I/O 337 338 339 340 341 342 Allocations Related to Built-in Inputs Appendix C Program Error Flags Other Error Flags and BitsError Log and Error Code System Flags FAL/FALS Errors Memory ErrorsErrors Module Errors Other CommunicationsPeripheral Port RS-232C Port Allocations Directly Related to InstructionsRS-422A Port Coordinator Module Built-in I/O Allocations Motion Control Module Built-in I/O Allocations Appendix D Appendix D 351 352 353 354 355 356 357 358 Error Codes and Error Flags Error Log Area A100 to A199Classification Error code Meaning Error flags Detailed Explanations on the Auxiliary Area Memory Configuration FQM1 Memory Addresses Memory Map Sequence Input Instructions FQM1 Instruction Execution Times and Number of StepsSequence Output Instructions Sequence Control Instructions Timer and Counter InstructionsComparison Instructions Data Movement Instructions Data Shift Instructions Increment/Decrement Instructions Symbol Math Instructions Conversion Instructions Logic Instructions Special Math Instructions Floating-point Math Instructions Data Control Instructions Table Data Processing InstructionsSubroutine Instructions Interrupt Control Instructions High-speed Counter and Pulse Output Instructions Step Instructions Refresh Instruction Serial Communications Instructions Debugging InstructionsFailure Diagnosis Instructions Other Instructions Else If notIend 374 Index Index 377 378 379 Page 381 382 383 384 385 386 Revision History Revision code Date Revised contentOriginal production 388 Omron Corporation Regional Headquarters Terms and Conditions of Sale Omron Electronics LLC