Omron FQM1-MMP21, FQM1-CM001 Motion Control Modules, Section, Performance Specifications

Motion Control Modules		Section 2-4
Performance Specifications
	Item	Specifications
Control method		Stored program
I/O control method		Cyclic scan
Programming language		Ladder diagram
Instruction length		1 to 7 steps per instruction
Number of instructions		Approx. 270
Instruction	Basic instructions	0.1 ∝s min.
execution
	Special instructions	0.3 ∝s min.
time
Common	MMP21	Sync Mode: 250 ∝s
processing		ASync Mode: 190 ∝s
time (over-
	MMA21	Sync Mode: 340 ∝s
head)
		ASync Mode: 280 ∝s
		Each analog input when analog output is disabled: 190 ∝s
		When analog output disabled: 230 ∝s
Program	Ladder	5 Ksteps
capacity
	Comment storage	None
Number of tasks		Cyclic tasks: 1, interrupt tasks: 50
Subroutines		256
JMP instructions		256
Number of basic I/O		20 per Module
CIO Area	Input Bit Area	12 bits (CIO 0000): CIO 0000.00 to CIO 0000.11
	Output Bit Area	8 bits (CIO 0001): CIO 0001.00 to CIO 0001.07
	Cyclic Refresh Bit	160 bits (10 words): CIO 0100 to CIO 0109
	Area	Input refresh for Coordinator to Motion Control Module: CIO 0100 to CIO 0104
		Output refresh for Motion Control Module to Coordinator Module: CIO 0105 to CIO 0109
	Synchronous Data	320 bits (20 words): CIO 0200 to CIO 0219
	Link Bit Area	Sent from Coordinator Module: CIO 0200 to CIO 0203
		Sent from Motion Control Module #1: CIO 0204 to CIO 0207
		Sent from Motion Control Module #2: CIO 0208 to CIO 0211
		Sent from Motion Control Module #3: CIO 0212 to CIO 0215
		Sent from Motion Control Module #4: CIO 0216 to CIO 0219
Work Area	CIO Area	3,584 bits: CIO 0002 to CIO 0099, CIO 0110 to CIO 0199, and CIO 0220 to CIO 0255
	WR Area	4,096 bits: W000 to W255
Auxiliary	Read/Write	Read only: 5,568 bits, A000 to A099 and A200 to A447
Area		Read/write: 3,232 bits, A448 to A649
	Error Log	100 words: A100 to A199 (20 records)
Temporary Area		16 bits: TR0 to TR15
Holding Area		None
Timer Area		256 timers: T0000 to T0255 (1-ms, 10-ms, and 100-ms timers)
Counter Area		256 counters C0000 to C0255 (decrementing counters and reversible counters)
		Note Status not retained when power turned OFF.
DM Area	Read/write (not	30 Kwords: D00000 to D29999 (Status not retained when power is turned OFF.)
	retained)
	Read/write	2,768 words: D30000 to D32767 (Retained by super capacitor)
	(retained)
System Setup		System Setup Area (Coordinator Module/Motion Control Module settings),
		motion parameter setting area
Index Registers		IR0 and IR1 used with JSB instruction
Data Registers		None
Interrupt	Input interrupts	4 (with adjustment down mode)
Functions
	Timer interrupts	1(Scheduled or one-shot interrupt)

39