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Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 Connecting FQM1 Components, Installation Height

Models: FQM1-MMP21 FQM1-MMA21 FQM1-CM001

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Installation

Section 3-1

Installation Height

The installation height of the FQM1 varies from 115 to 165 mm.

When a CX-Programmer or connecting cables are connected, however, even greater height is required. Allow sufficient depth in the control panel contain- ing the FQM1.

Approx. 115 mm to 165 mm

OMRON

3-1-4 Connecting FQM1 Components

The Modules that make up the FQM1 can be connected simply by pressing the Modules together and locking the sliders. The End Module is connected on the far right side of the FQM1.

1,2,3... 1. Insert the two hooks on the top of the Module to the hook holes on the oth- er Module, and join the Modules so that the connectors fit exactly.

AC100 -240V INPUT

L2/N

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Omron FQM1-MMA21, FQM1-CM001, FQM1-MMP21 operation manual Connecting FQM1 Components, Installation Height

Contents

Flexible Motion Controller FQM1 Series Page  Omron Omron Product ReferencesPage Table of Contents Coordinator Module Functions 123 Inspection and Maintenance 259 Table of Contents About this Manual Name Cat. No ContentsXii Precautions Safety Precautions General PrecautionsIntended Audience Safety Precautions Operating Environment PrecautionsApplication Precautions Xvii Xviii Conformance to EC Directives Conformance to EC DirectivesApplicable Directives ConceptsCountermeasure Examples Current Characteristic Required elementRelay Output Noise Reduction Methods CountermeasuresName Model Cable length Circuit Current Characteristic Required elementCharge the capacitor Data BackupModule Data Data backup Temperature Initial After 5 years After 10 yearsBacking Up DM Area Data in Flash Memory Xxiv Section Section Outline of FQM1 Flexible Motion ControllerSpecial I/O Servo Driver Pulse or Analog I/O Basic I/O FQM1 Configuration FQM1-MMA21 FQM1-MMP21CJ1W-PA205R Details ModulesPLC Outline of Internal Data Exchange and I/OCX-Programmer CX-ProgrammerSystems Expanded System ConfigurationSystem Configuration Serial CommunicationsHost Link System Yes See note FQM1 Serial Gateway1N Connection between CJ1M and FQM1 Controllers Connection between CJ1M and FQM1 ControllerNo-protocol Custom Communications System via RS-422A Port Basic Operating ProcedureInput wiring Output wiringWiring Initial Hardware Settings InstallationExamples Writing the Programs Transferring the Programs Testing Operation Online Editing Time Chart MonitoringSave and Print the Programs Data TracingPurpose Operation Function used Details Function Tables Arranged by PurposeFunction Tables Arranged by Purpose Purpose Operation Main functions Details Used Position and Speed ControlAbsolute Encoders Analog Outputs Pulse Output Function Procedures Measuring Input Pulses High-speed Analog I/O Control Analog Input Function SpecificationsPulse Outputs Controlling Timing Input Interrupt ModeTime Measurement with the Pulse Section Specifications and Nomenclature Name Type Model Specifications General SpecificationsGeneral Specifications Must be installedVA max Inrush current At 100 to 120 V AC See note Power Supply Unit SpecificationsNomenclature IndicatorsIndicator Color Name Status Meaning Coordinator ModuleSwitch on Front Panel Function SpecificationsPeripheral Port Baud Rate Detection/System Setup Switch Bits TR0 to TR15 Built-in General-purpose I/O SpecificationsMotion Control Modules Motion Control ModuleOUT7 FQM1-MMA21 Analog I/OMMP21 MMP21 Performance SpecificationsMMA21 Specifications CW/CCW Pulse I/O Specifications FQM1-MMP21 Pulse I/OPulse Inputs and Analog FQM1-MMA21 Analog I/O Specifications FQM1-CM001 Coordinator Module DimensionsFQM1-TER01 End Module Power Supply Units CJ1W-PA202 XW2B-80J7-1A Servo Relay Unit Maximum Current Maximum Total Power ConsumptionModule Current Consumption Current Consumption for Each ModuleCurrent Consumption for 24-V Systems Example Calculation Current and Power ConsumptionCombining Power Supply Units Motion Control Modules Motion Control ModulesAreas Backed Up to Flash Memory Memory Block DiagramMotion Control Modules Areas Backed Up by Super CapacitorsSection Installation and Wiring Accessibility for Operation and Maintenance InstallationInstallation and Wiring Precautions Temperature ControlImproving Noise Resistance FQM1 Orientation Do not install the FQM1 in any of the following positionsIng Terminal Screws M4 1.2 N·m M3 0.5 N·m Installation in a Control PanelWiring Ducts FQM1 must be mounted inside a control panel on DIN TrackRouting Wiring Ducts Assembled Appearance and DimensionsPLC FQM1 Motion Control Module width 49 mm Assembled DimensionsInstallation Dimensions Coordinator Module width 49 mmInstallation Height Connecting FQM1 ComponentsDIN Track Installation Lock the pins on the backs of the Modules PFP-100N/50N DIN Track DIN Track and AccessoriesDIN Track PFP-100N2 DIN TrackPower Supply Capacity WiringWiring Power Supply Units AC Power SourceTerminal Screws GroundingCrimp Terminals FQM1 Crimp Terminals for Ground Wire Connection Methods 2 RS-232C Port WiringWiringSection Connector Pin ArrangementConnecting to an IBM PC/AT or Compatible Peripheral Bus Toolbus Serial Communications ModeApplicable Connectors Coordinator Module Connector IBM PC/AT or Compatible Connector 9-pin, MaleDirect Connection from RS-232C to RS-232C RS-232C Port SpecificationsSpecification Connection Example to Programmable Terminal PTFQM1-CM001 Coordinator Module Wiring Module ConnectorsConnector Pin Arrangement General-purpose I/O 40-pin ConnectorPin No Name General-purpose I/O 26-pin ConnectorFQM1-MMP21 Pulse I/O 40-pin Connector FQM1-MM@21 Motion Control ModulesPin Name FQM1-MMA21 Analog I/O 40-pin ConnectorPulse Outputs External Connection DiagramsInput between 4 and 20 mA Are outlined in the following tablesConnecting Pulse Inputs FQM1-MMP21 MMA21 Wiring ExamplesExample Power supply Encoder FQM1-MMP21 Connecting Pulse Outputs FQM1-MMP21Connectors Wiring MethodsConnecting Analog Outputs FQM1 MMA21 Connecting Analog Inputs FQM1-MMA21Applicable Connector-Terminal Block Conversion Units Wiring Servo Relay UnitsRecommended Wire Size Pin No Signal RS-422 ConnectorNomenclature and Functions Lower Terminal Block Pin Arrangement Upper Terminal Block Pin ArrangementSwitch Setting details Signal SwitchesFollowing screwdriver can be used when removing wires External DimensionsWiring Screw-less Clamp Terminal Blocks Wiring MethodModel Manufacturer Recommended ScrewdriverPhoenix Contact Inc Sysmac PLC Wiring when Using Servo Relay UnitsUpper 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 OUT External WiringSurge suppressor specifications Diode specifications Inductive LoadsInput Devices Connecting I/O DevicesCOM + VON ≤ VCC VR Precautions when Connecting a Two-wire DC SensorResidual Voltage Output Wiring PrecautionsOutput Short-circuit Protection Transistor OutputMethod Add a control resistor as shown in the following diagramOutput Surge Current Reduce the surge currentOperation User Program OutlineMemory Coordinator Module Operation System Setup Flash MemoryRefreshing Servicing Contents3 I/O Refreshing and Peripheral Servicing Startup InitializationUser Program Area Description of Each AreaMotion Control Module Operation Memory System Setup Read/Write DM Area D00000 to D32767System Setup Using CX-Programmer Tab SettingsUles. Refer to 5-4 Synchronous Data Refresh for details Sync Mode OperationSame time Scan or at the specified sync cycle time. See noteProgram Operating Modes Following tables list status and operations for each modeMode Cyclic task status Interrupt task status Operating ModesMode Changes Cleared areas Retained areas Power OFF OperationOperating Mode Changes and I/O Memory Power OFF OperationPower Holding Time Power OFF Timing ChartFixed Power OFF Detection Time User-set Power OFF Detection TimeDescription of Operation Instruction Execution for Power InterruptionsModule Functions and Data Exchange Sync and ASync Modes Sync ModeASync Mode Synchronous Operation between ModulesMethod Outline Description Data Exchange between ModulesApplications Cyclic RefreshWord Bits Details Address Cyclic Refresh Area DetailsCoordinator Module Cyclic Refresh Area Motion Control Module Cyclic Refresh AreasBit Cyclic Refresh Area AllocationsCM Coordinator Module MM Motion Control Module Bits DetailsSync Cycle Time Synchronous Data RefreshSynchronous Data Transfer time Input or analog output value in the System SetupSynchronous Data Link Bit Area Ladder execution results dataSynchronization between Modules SettingsSystem Setup Coordinator Module Trol ModulesInterruption of the Sync System Setup Motion Control ModulesDM Data Transfer Prohibit SystemArea Settings DetailsMake Auxiliary Area Settings Executing DM Data TransferConstant Cycle Time Function Cycle Time SettingsTurn on Request Bit Programming Example Constant Cycle Time Function Enabled for Coordinator Module Constant Cycle Time Function in Sync ModeSystem Setup Constant Cycle Time Exceeded Error Clear BitAuxiliary Area Words Watch Cycle Time FunctionCycle Time Monitoring Function Cycle Time Too Long FlagAuxiliary Area Bits Clearing Constant Cycle Time Exceeded ErrorsConstant Cycle Time Exceeded Error Clear Function Normal OperationProgram Protection Operation Settings at Startup and Maintenance FunctionsSpecifying the Startup Mode Tab Name Details Settings DefaultPassword Protection Automatic Backup to Flash MemoryFlash Memory Name Address Meaning Diagnostic FunctionsError Log Auxiliary Area FlagsOperation of FAL006 Failure Alarm FunctionsOperation of FALS007 Coordinator Module Functions Peripheral 232C 422A Serial CommunicationsFQM1 supports the following serial communications functions Protocol Connections DescriptionSerial Communications Host Link Communications ProcedureFQM1. Select the method that best suits your application Type Header Name Function Code Host Link CommandsType Command Name Function Code Fins CommandsCR+LF Forced SET/RESETForced SET/RESET Cancel No-protocol Communications RS-232C PortMessage Frame Formats End code setting YesCR+LF On the TXD236 and RXD235 instructions NT Link 1N ModeSystem Setup RS-232C Settings Host Link Port Settings Setting Default EnabledCIO 0080 to CIO 0089 CJ1M master to FQM1 slave Serial PLC LinksOverview Ule are shared with the CJ1M master as shown belowFQM1 Slave Settings CJ1M Master SettingsSource Words and Number of Link Words Function SettingsSettings Default Enabled Smart Active Parts Communications SettingsSmartstep No-protocol Communications RS-422A Port RS-422A SettingsMotion Control Module Functions 138 Main function Sub-functions Applicable Modules OverviewOverviewSection FQM1 Modules have the following functionsExecuting Interrupt Programs Interrupt FunctionsOverview Interrupt PriorityEnabling All Interrupts DI802 instruction will disable all interruptsDisabling and Enabling All Interrupts Disabling All InterruptsOverview of the Input Interrupt Function Input Interrupt SpecificationsInput Interrupts Applicable ModelsInput Allocated input bit Interrupt task number Using Input InterruptsCounter Mode Input Interrupt Mode ProcedureCounter Mode Procedure Application Example Equipped with one interval timer each Interval Timer InterruptsInterval Timer Interrupt Modes Using Interval Timer Interrupts@STIM Stim Interval TimerModel Functions SpecificationsPulse Inputs Based on the counter PVPulse Inputs Pulse Input Specifications 151 Pulse Inputs Latch Input SpecificationsInternal Circuit Configurations Applicable InstructionsHigh-speed Counter Function Description Pulse Input Function DescriptionLinear Counter Reset MethodsCounter Operation Numeric Ranges Circular CounterTarget-value Comparison Method Phase-Z Signal Reset Input and Software ResetSoftware Reset Checking for High-speed Counter InterruptsRange Comparison Method Word Bits Function Details Monitoring High-speed Counter Movement ModeTab Function Details System Setup Function Details Word Bit Function Details High-speed Counter Procedure Pulse Input Function ProceduresTarget-value comparison interrupt Mode 1 ProcedureProcedure Mode 2 ProcedurePulse Input Function Example Application 163 164 165 Example Latching High-speed Counter PV Pulse Outputs 168 One-shot Pulse Outputs All Pulse Outputs Except for One-shot Pulse OutputsInstructions Ineffective during Pulse Output Sible is also listed in the following tablePulse Output Function Details Mode Description172 SPED88 Pulse Output OperationsPULS88 Dividing ratio Precautions when Using Pulse OutputsTarget frequency Set by userFormula 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 Target-value Comparison Interrupts from Pulse Output PVs Pulse Counter Timer SpecificationsLinear Mode Operation END ACC Range Comparison Bit Pattern Outputs from Pulse Output PVs Circular Mode OperationMs Cycle 12 PLS2887 Pulse Output Direction Priority ModeSetting Speed-change CycleExecute PLS2887 with A628.14 OFF Pulse Output Function ProceduresSetting the Pulse Output Direction Priority Mode Pulse Output Direction Priority ModePulse output port Pulse Outputs with Acceleration/DecelerationPort Pulse output port Electronic Cam Control Functions187 One-shot Pulse Output STIM980 Pulse Counter Timer Function STIM980@SPED Pulse Output Function ExamplesAccelerating the Frequency at a Fixed Rate Changing the Frequency in StepsSpeed Number of pulses is 0 or more192 @PLS2 Using PLS2887 for Trapezoidal Acceleration/DecelerationOne-shot Pulse Output Function Example Pulse Counter Time Measurement Timer ExampleSupports continuous mode only Pulse Output Starting ConditionsCCW Use this function for positioningSPED8 PULS8 PULS88 PULS886 Absolute Pulse Output in ProgressAbsolute linear CaseTarget position Present position Cases 7, 11, 12 Cases 6, 8, 9,199 P is in ASCII. It is 50 hex in hexadecimal Serial Data SpecificationData Format of Absolute Encoder Output Data FormatCounting Operation Counter Operation Details Counter OperationAbsolute Present Value Absolute Number of Rotations PV Counter 1 A604 and A605Absolute Linear Counter Absolute Circular Counter Absolute Offset Preset Absolute Present Value Preset7FFF Related Areas Tab Function Details Time when SettingWord Bits Function Details Controlled Auxiliary Area206 Acquiring Method Overview of Absolute Encoder Output Data AcquireAbsolute Encoder Output Data208 Program Description Sample Programs Connecting an Omron W-series Servo Driver210 211 Axis Virtual Pulse Output FunctionOperands Mode Specifier Sets the output modeFirst Word of Setting Table Axis Instruction For Virtual Pulse OutputsDescription Analog Input Functions Positioning or Speed Control Using a Virtual AxisMotion Control Module for Analog I/O FQM1-MMA21 Analog Input Function Specifications Tab Function Settings Time when setting Becomes effective Related Areas and SettingsWord 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 Overview CTBL882 Instruction Operation Signal Range 1 to 5 V and 4 to 20 mASignal Range 0 to 5 High-speed Analog Sampling FQM1-MMA21 OnlyComparison Table At several measurement points@CTBL Analog OutputsAnalog Outputs Analog Output Function SpecificationsCPU standby status Overall accuracy is the ratio of accuracy to the full scaleCondition Analog output To 5 Specified Output Values and Analog Output SignalsEND Refreshing With Immediate Refreshing To 10Procedure Outputting a Stepped Analog Output Outputting the Analog Output Value Stored Auxiliary AreaOutputting a Sloped Analog Output 231 232 Connecting the CX-Programmer CS1W-CIF31 Make System Setup settings, and monitor or debug operationName Model Specifications Cables shown in the following tableSystem Configuration Connecting the CX-ProgrammerConnecting a Personal Computer Running Support Software CS1W-CIF31 Cable Connection DiagramConnection Methods Using a USB-Serial Conversion Cable Cable Port Communic Connecting Ations Connector Model CX-Programmer Connecting CablesSerial Features Communications Mode Connecting an RS-232C Cable to the RS-232C PortWhen connecting the CX-Programmer to the FQM1 Connecting an RS-232C Cable to the Peripheral Port240 Error Processing Instruction FAL numbers Error codes Error LogErrors Generated by FAL006/FALS007 Error Log StructureIndicator Status and Error Conditions Error ProcessingError Categories Error InformationPrphl OFF COMM1 COMM2 Error CodesClassification Error code Error name ERR OFFError Processing Flowchart CPU Standby Error TablesCPU Errors Fatal Errors247 Fatal Errors Lit Flashing Non-fatal ErrorsNon-fatal Errors C2FFOther Errors Power Supply Check Program Error Check Memory Error CheckSystem Setup Error Check Cycle Time Overrun Error Check11 I/O Setting Error Check 12 I/O Check Environmental Conditions Check Troubleshooting Problems in ModulesCoordinator Module Errors Error condition Probable cause RemedyInput Errors Motion Control Module ErrorsOutput Errors Inspection and Maintenance Inspection Criteria Action InspectionsInspection Points Inspection Points for Periodic InspectionsTools Required Module Replacement PrecautionsTools Required for Inspections Required Tools262 Tasks Programming Programs and TasksType of task Description Type of subroutine Description Calling instruction Using Normal SubroutinesSubroutines What Are Subroutines?Overview Using Subroutines That Pass ParametersExecution without Subroutine Input Condition Flags Execution with Subroutine Input Condition FlagsAddress Corresponding subroutines Word Bits JSB982 OperationJSB Mcro Appendix aRET Main Program Instruction Conditions Power FlowBasic Information on Programming Basic Information on InstructionsOperands Instruction Description Setting Canceling ConditionOperand types Description Symbol FlagsWord Addresses Instruction Location and Input ConditionsAddressing I/O Memory Areas Bit AddressesOperand Description Notation Application Specifying OperandsBCD Operand Description Notation Application Examples#FFFFFFFF Data Operand Data form Symbol Range Application exampleLD ,IR0 BCDNUL NUL AbcdeNUL AbcdData type Data FormatsDecimal Digit Two’s Complements Complements7FFF Decimal Hexadecimal BinaryFfff FffeNon-differentiated Instructions Variation Symbol DescriptionInstruction Variations Input Conditions280 Using Condition Flags Programming PrecautionsCondition Flags Using Execution Results in NC and no Inputs CMP Difu Using Execution Results from Differentiated InstructionsError Flag Main Conditions Turning on Condition FlagsNegative Flag Equals FlagCarry Flag Less Than and Greater Than FlagsProgram section Instructions Instruction condition Status Special Program SectionsInstruction Combinations SubroutinesFollowing instructions cannot be placed in a subroutine Instructions Not Allowed in SubroutinesInstructions Not Allowed in Step Ladder Program Sections Instructions Not Allowed in Block Program SectionsComputing the Cycle Time FQM1 Operation FlowchartYES Calculating the Cycle Time of the Coordinator Module Overview of Cycle Time CalculationsCoordinator Module Motion Control ModulesCyclic Refreshing Peripheral ServiceCalculating the Cycle Time of a Motion Control Module Sync Bus RefreshingModel Refresh time Module I/O Refresh TimesCyclic Refresh Time in the Coordinator Module Cyclic Refresh Time in Motion Control ModulesCalculation Example for FQM1-MMP21 Example of Calculating the Cycle TimeOnline Editing Cycle Time Extension ConditionsResponse Time Response TimeCoordinator Module I/O Response Time Minimum I/O Response Time General-purpose I/O 0 to Motion Control Module I/O Response TimeInput Interrupt Tasks Interrupt Response TimesMotion Control Module Interrupt Response Times Response Time for Pulse and Analog I/OScheduled Interrupt Task Motion Control Module Interrupt Processing TimesMaximum Response Time Processing TimeInterrupt Response Time Calculation Example Minimum Response Time298 Introduction Memory Overview of I/O MemoryParameter Area Coordinator Module Memory StructureCIO Motion Control Modules Bit Area CIO 0000 and CIO CIO AreaEND Refresh RefreshSynchronous Data Link Bit Area CIO 0200 to Serial PLC Link Bit Area CIO 0080 to CIOTemporary Relay Area TR Refreshing Using the IORF097 InstructionWork Area W000 to W255 W000.00 to W255.15, 4,096 Bits Auxiliary Area A000 to A649 A000.00 to A649.15Timer Area Appendix B Counter AreaBCD-mode Addressing *D Data Memory DM AreaCondition Flags Binary-mode Addressing @DName CX-Programmer Function Symbol Using the Condition FlagsSummary of the Condition Flags Name Label CX-Programmer Operation Symbol Using the Clock PulsesClock Pulses Parameter Area System SetupProhibit 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 for Host Link Peripheral Port Settings CX-Programmer Peripheral Port TabHost Link Unit Number Peripheral Port Settings for NT LinkPeripheral Port Settings for Peripheral Bus ToolBus Standard/Customer SettingFormat RS-232C Port Settings for Host LinkRS-232C Port Settings for Peripheral Bus ToolBus RS-232C Port Settings for NT LinkSend Delay RS-232 Port Settings for No-protocol Communications RS-232CData Format PLC Link Unit No. PC Link Unit Number RS-232C Port Settings for PLC Link PC Link SlaveStart Code and End Code Number of Received BytesSend Delay Time Peripheral Service Time Fixed Service Time Enable Setting Set Time to All EventsCX-Programmer Cycle Time Tab System Setup in Motion Control ModulesSettings Used by All Motion Control Modules CX-Programmer Module Settings TabCX-Programmer Pulse Input Tab FQM1-MMP21 Motion Control Modules with Pulse I/OFunction Details CX-Programmer Pulse Output TabFQM1-MMA21 Motion Control Modules with Analog I/O Address Bits Function Remarks When settingRS-232C Port Settings Host Link Port Details on System Setup SettingsStartup Mode Peripheral Port SettingsConstant Cycle Time Messages Sent and Received with No-protocol ModeWatch Cycle Time Over Fixed Peripheral Servicing Time328 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 Appendix C Allocations Related to Built-in InputsSystem Flags Program Error FlagsOther Error Flags and Bits Error Log and Error CodeModule Errors FAL/FALS ErrorsMemory Errors ErrorsOther CommunicationsPeripheral Port RS-232C Port Allocations Directly Related to InstructionsRS-422A Port Motion Control Module Built-in I/O Allocations Coordinator Module Built-in I/O AllocationsAppendix D Appendix D 351 352 353 354 355 356 357 358 Detailed Explanations on the Auxiliary Area Error Codes and Error FlagsError Log Area A100 to A199 Classification Error code Meaning Error flagsFQM1 Memory Addresses Memory ConfigurationMemory 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 Increment/Decrement Instructions Data Shift InstructionsSymbol Math Instructions Logic Instructions Conversion InstructionsFloating-point Math Instructions Special Math InstructionsData Control Instructions Table Data Processing InstructionsSubroutine Instructions High-speed Counter and Pulse Output Instructions Interrupt Control InstructionsRefresh Instruction Step InstructionsOther Instructions Serial Communications InstructionsDebugging Instructions Failure Diagnosis InstructionsElse If notIend 374 Index Index 377 378 379 Page 381 382 383 384 385 386 Revision History Revision code Date Revised contentOriginal production 388 Regional Headquarters Omron CorporationTerms and Conditions of Sale Omron Electronics LLC