Omron FQM1-CM001, FQM1-MMA21 Function Tables Arranged by Purpose, Section, Absolute Encoders

Function Tables Arranged by Purpose				Section 1-7
Purpose		Operation	Main functions	Details
			used
PTP positioning	Using Servo	Reading PV	• Absolute	7-7 Functions for Servo Drivers Compatible with
using pulse I/O	Drivers compati-	from Servo	counter opera-	Absolute Encoders
	ble with an	Driver	tion (absolute	Set counter operation to Absolute Linear (CW−),
	Absolute		linear/circular)	Absolute Circular, or Absolute Linear (CW+).
	Encoder		• High-speed
				Uses OMRON W-series Servo Drivers and
			counter abso-
				reads the absolute position from the Servo
			lute encoder
				Driver before operation starts.
			read
				Once the origin has been set, it is easier to find
				the origin by reading the absolute position
				before operation starts.
		Presetting the	Pulse output	7-6-6 Pulse Output Function Details
		absolute posi-	counter PV con-	Reflects in the pulse output instruction the abso-
		tion to the pulse	vert (INI(880)	lute value read using the absolute encoder read
		output counter.	instruction)
				instruction outlined above.
PTP positioning	Using Servo	Position control	• Virtual axis	7-8 Virtual Pulse Output Function
using analog I/O	Driver compati-	in semi-closed	(AXIS instruc-	Uses virtual axis (AXIS instruction) in relative
	ble with an	loop using vir-	tion)
				mode.
	incremental	tual pulse output	• High-speed
				The current position output for the AXIS instruc-
	encoder	function	counter (FB
				tion is used as the command pulse to create a
			pulse)
				position loop with the high-speed counter PV
			• Analog output
				(the feedback pulse from the Servo Driver). A
			instructions	control loop for the analog output instruction is
			with position	generated according to this deviation and used.
			deviation using
			virtual axis and
			high-speed
			counter
	Use Servo Driv-	Position control	As above	7-8 Virtual Pulse Output Function
	ers compatible	in semi-closed		Uses virtual axis (AXIS instruction) in absolute
	with Absolute	loop using vir-
				mode. Everything else is the same as above.
	Encoder	tual pulse output
		function
		Reading current	• Absolute	Same as PTP positioning with pulse I/O when
		position from	counter mode	Servo Drivers compatible with Absolute Encoder
		Servo Driver	(absolute lin-	used.
			ear/circular)
			• High-speed
			counter abso-
			lute encoder
			read
		Presets abso-	• High-speed	7-8 Virtual Pulse Output Function
		lute position in	counter PV	Presets the high-speed counter PV read using
		AXIS instruction	• MOVL instruc-
				the high-speed counter absolute encoder read
			tion	instruction outlined above, and presets and uses
				this PV as the current position output in the
				AXIS instruction.
				The PV is preset before executing AXIS instruc-
				tion.

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