FQM1-TER01 Omron, FQM1-TER01 Datasheet
FQM1-TER01
Specifications of FQM1-TER01
FQM1-TER01 Summary of contents
Page 1
... Cat. No. O012-E1-01 FQM1 Series FQM1-CM002 FQM1-MMP22 FQM1-MMA22 Flexible Motion Controller OPERATION MANUAL ...
Page 2
... FQM1 Series FQM1-CM002 FQM1-MMP22 FQM1-MMA22 Flexible Motion Controller Operation Manual Produced December 2005 ...
Page 3
iv ...
Page 4
... OMRON. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con- stantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice ...
Page 5
... Numbers Note The Ver. 2.0 Modules (FQM1-CM001, FQM1-MMA21, and FQM1-MMP21) vi The FQM1 Series Controllers have “unit versions”, which are used to manage the differences in functionality associated with upgrades to the Coordinator Modules and Motion Control Modules. The unit version is listed just to the right of the lot number on the nameplate of the Module, as shown below ...
Page 6
... SECTION 1 Features and System Configuration . . . . . . . . . . . . . . . . . . . 1-1 Outline of FQM1 Flexible Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 FQM1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Page 7
SECTION 4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Page 8
TABLE OF CONTENTS SECTION 8 Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . 289 8-1 CX-Programmer . . . . . . . . ...
Page 9
TABLE OF CONTENTS ...
Page 10
... CX-Programmer Ver. 6.1 Operation Manual Function Blocks Section 1 describes the features of the FQM1 and its system configuration. Section 2 provides the specifications of the FQM1 and describes the parts and their functions on the Coordinator Module and Motion Control Modules. Section 3 describes how to install and wire the FQM1 Section 4 describes the operation of the FQM1 ...
Page 11
xii ...
Page 12
... LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS ...
Page 13
... Application Considerations OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of products in the customer's application or use of the products. At the customer's request, OMRON will provide applicable third party certification documents identifying ratings and limitations of use that apply to the products. This information by itself is not sufficient for a complete determination of the suitability of the products in combination with the end product, machine, system, or other application or use ...
Page 14
... Performance data given in this manual is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability. The information in this manual has been carefully checked and is believed to be accurate ...
Page 15
xvi ...
Page 16
... This section provides general precautions for using the FQM1-series Flexible Motion Controller and related devices. The information contained in this section is important for the safe and reliable application of the FQM1-series Flexible Motion Controller. You must read this section and understand the information contained before attempting to set up or operate a control system using the FQM1-series Flexible Motion Controller ...
Page 17
... As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system. • The FQM1 outputs may remain ON or OFF due to destruction of the out- put transistors countermeasure for such problems, external safety measures must be provided to ensure safety in the system. ...
Page 18
... Do not operate the control system in the following places: !Caution Take appropriate and sufficient countermeasures when installing systems in • When the 24-VDC output (service power supply to the FQM1) is over- loaded or short-circuited, the voltage may drop and result in the outputs being turned OFF countermeasure for such problems, external safety measures must be provided to ensure safety in the system ...
Page 19
... System Setup is disabled). • Configure the external circuits so that the control power supply turns ON after the power supply to the FQM1 turns ON. If the power is turned ON in the opposite order, the built-in outputs and other outputs may momen- tarily malfunction and the control outputs may temporarily not operate cor- rectly ...
Page 20
... Part of the DM Area in the Coordinator Module is backed up in the built-in flash memory when transferring data from the CX-Programmer. Do not turn OFF the power to the FQM1 while data is being transferred. The data will not be backed up if the power is turned OFF. • Confirm that no adverse effect will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation. • ...
Page 21
... Be sure to mount the End Module supplied with the Coordinator Module to the rightmost Module. Unless the End Module is properly mounted, the FQM1 will not function properly. • Make sure that parameters are set correctly. Incorrect parameter settings may result in unexpected operations. Make sure that equipment will not be adversely affected by the parameter settings before starting or stop- ping the FQM1 ...
Page 22
... Always ensure that devices operating at voltages 1,000 V AC and 75 to 1,500 V DC meet the required safety standards for the Motion Controller (EN61131-2). The FQM1-series Flexible Motion Controllers comply with EC Directives. To ensure that the machine or device in which the Motion Controller is used com- plies with EC Directives, the Motion Controller must be installed as follows: 1 ...
Page 23
... Conformance to EC Directives 4-5 Relay Output Noise Reduction Methods The FQM1-series Flexible Motion Controller conforms to the Common Emis- sion Standards (EN61000-6-4) of the EMC Directives. However, noise gener- ated by relay output switching may not satisfy these Standards. In such a case, a noise filter must be connected to the load side or other appropriate countermeasures must be provided external to the Motion Controller ...
Page 24
... Power supply When switching a load with a high inrush current such as an incandescent lamp, suppress the inrush current as shown below. The following Unit and Cables can be used with the FQM1-series Flexible Motion Controller. Characteristic The diode connected in parallel with the load changes energy accumulated ...
Page 25
... C: 26. 15. 4. Initial value, After 5 years, After 10 years Power must be supply to the FQM1 for at least 20 minutes to completely charge the capacitor. Data Data backup RAM with super capacitor Flash memory After 5 years After 10 years 96.2 hours 90.8 hours (4.01days) (3.78 days) 15.28 hours 4 ...
Page 26
Data Backup by Capacitor 2. The backup time of the super capacitor is reduced as the capacitor ages. The data in the DM Area and error log will become unstable or corrupted if the power to the system is OFF ...
Page 27
Data Backup by Capacitor xxviii 5 ...
Page 28
... This section describes the features of the FQM1 and its system configuration. 1-1 Outline of FQM1 Flexible Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . 1-2 FQM1 Configuration 1-3 Modules 1-4 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Page 29
... Motion Control Modules RS-422A Servomotors and Servo Drivers An FQM1 Flexible Motion Controller System is made Power Supply Unit, a Coordinator Module, one or more Motion Control Modules, and an End Module. Motion Control Modules are available with either pulse I/O or analog I/O, and a mixture four Motion Control Modules can be included in one system (up to three if only analog I/O Motion Control Modules are used ...
Page 30
... CX-Programmer’s function block and ST programming can be used. Language CJ-series Units Supported When an FQM1-IC101 I/O Control Module is mounted to the FQM1 Control- ler, some CJ-series Units (Basic I/O Units, CPU Bus Units, Special I/O Units, and Communications Units) are supported Motion Control Units and CJ-series Units can be mounted ...
Page 31
... CJ-series Units When using CJ-series Units with an I/O Control Module, always mount a CJ1W-TER01 End Cover on the last CJ-series Unit FQM1-TER01 End Module is used, an I/O bus error will occur and the Coordinator Module will stop operating. Likewise, an I/O bus error will occur if only Motion Control Modules are being used (without CJ-series Units) but a CJ-series End Cover is mounted ...
Page 32
... Peripheral port RS-232C port CX-Programmer The FQM1 consists of a Power Supply Unit, a Coordinator Module, one or more Motion Control Modules, and an End Module. Motion Control Modules are available with either pulse I/O or analog I/O and up to four Motion Control Modules can be connected in one system. (See note.) ...
Page 33
... Select a Power Supply Unit with a capacity greater than the total current con- sumption of the connected Modules. FQM1-TER01 End Module One FQM1-TER01 End Module is supplied with the Coordinator Module. Attach the End Module to the right side of the Motion Control Module. When an I/O Control Module is being used, mount a CJ1W-TER01 End Cover on the last CJ-series Unit ...
Page 34
... FQM1 Motion Control Module models are also available. When an I/O Control Module is being used to connect CJ-series Units, always mount a CJ1W-TER01 End Cover on the right side of the Rack FQM1- TER01 End Module is used, an I/O bus error will occur and the Coordinator Module will stop operating ...
Page 35
... Modules (as Read Request Bit (A530.01) in the Auxiliary Area of the Coordinator Module turns ON. required) Exchange data An FQM1-IC101 I/O Control Module can be mounted to the Coordinator Module in order to with CJ-series use some CJ-series Units. Data will be exchanged with the CJ-series Units each Coordina- Units tor Module cycle ...
Page 36
Modules Outline of Internal Data Exchange and I/O Coordinator Motion Control Module Module #1 Ladder program Ladder program CX-Programmer DM Peripheral port RS-232C PT 16 inputs 12 inputs 8 outputs 8 outputs RS-422A PLC (for parameter settings) Coordinator • Peripheral ...
Page 37
... CX-Programmer 1-4 CX-Programmer The CX-Programmer provides programming and debugging functions. Use CX-Programmer Ver. 6.11 or later for the FQM1-CM002, FQM1-MMP22, or FQM1-MMA22. Refer to 8-1 CX-Programmer. CX-Programmer Note The CX-Programmer can be connected online to FQM1 Coordinator Modules and Motion Control Modules at the same time. If the default baud rate is changed when Coordinator and Motion Control Modules are connected at the same time, set the baud rate to 38 ...
Page 38
... The SPU-Console can be used to set and operate SYSMAC SPU Units. Connect this Programming Device directly to the SPU Unit. The FQM1 system can be expanded using the two serial ports built into the Coordinator Module: Peripheral port and RS-232C port. Host computer CX-Programmer ...
Page 39
... OMRON PLC and the FQM1 Communications between a PT and W-series or SMARTSTEP Servo Drivers via the FQM1 The Host Link System allows the I/O memory of the Modules to be read/writ- ten and the operating mode to be changed from a host computer (personal computer or Programmable Terminal (PT)) by executing Host Link commands or FINS commands that are preceded by a Host Link header and followed by a terminator ...
Page 40
... I/O memory of the FQM1. The NT Link System allows the controlled by the FQM1, and the PT can periodically read data from the status control area of the FQM1, and per- form necessary operations if there are any changes in the area. The PT can communicate with the FQM1 by writing data to the status notify area of the FQM1 from the PT ...
Page 41
... Words CIO 3100 to CIO 3189 in the Coordinator Module’s Serial PLC Link Bit Area are shared with the CJ1M master, as shown in the following diagram. Use a CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapter when con- necting more than one FQM1 to the same CJ1M CPU Unit (1:N, where max.). Section 1-5 ...
Page 42
... 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 OMRON’ ...
Page 43
... DeviceNet open field network specifications. Remote I/O communications can be achieved between the PLC (Master) and FQM1 (Slave) by mounting a DeviceNet Mas- ter Unit in Master mode in the host PLC and mounting a DeviceNet Master Unit in Slave mode in the FQM1 (Coordinator Module). Remote I/O communi- cations provide high I/O capacity and flexible I/O data allocation ...
Page 44
... To allocate memory from a Programming Device (free allocation), either connect the CX-Integrator to the host PLC (such as a CJ1M) in which the Master Unit is mounted or use a Configurator to make the settings. With the FQM1-CM002 also possible to use the FQM1’s allocated DM Ar- ea. The CompoBus/S network is a high-speed ON/OFF bus for remote I/O. ...
Page 45
... Connect the Power Supply Unit, Coordinator Module, Motion Control Mod- ules, and End Module. Refer to 3-1-4 Connecting FQM1 Components for details. Mount the FQM1. Refer to 3-1-5 DIN Track Installation for details Connect the power supply wiring and ground. Refer to 3-2-1 Wiring Power Supply Units for details. ...
Page 46
... CM001 MMP22/MMA22 formats by changing the PLC model selected in the CX-Pro- grammer. With the FQM1 in PROGRAM mode, change the settings in the System Setup as necessary from the CX-Programmer online. (Another method is to change the System Setup in CX-Programmer offline and transfer it to the Coordinator Module and Motion Control Modules ...
Page 47
... Connect the Power Supply Unit, Coordinator Module, Motion Control Mod- ules, and End Module to assemble the FQM1. Make sure that the total power consumption of the Modules is less than the maximum capacity of the Power Supply Unit. Use DIN Track to mount the FQM1 to the control panel. PA202 AC100 -240V INPUT 2 ...
Page 48
... Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Alloca- tions for details. The FQM1 is set to the Sync Mode by default. This mode must be changed on the Coordinator Module when programming Motion Control Modules, transfer- ring programs, or debugging. Set the mode to ASync Mode in the System ...
Page 49
... Peripheral port CX-Programmer FQM1 There are several ways to monitor and debug FQM1 operation, including the force-set and force-reset operations, differentiation monitoring, time chart monitoring, data tracing, and online editing. Force-Set and Force-Reset When necessary, the force-set and force-reset operations can be used to force the status of bits and check program execution ...
Page 50
... Online Editing When a few lines of the program in a Module have to be modified, they can be edited online with the FQM1 in MONITOR mode or PROGRAM mode from the CX-Programmer. When more extensive modifications are needed, upload the program from the Module to the CX-Programmer, make the necessary changes, and transfer the edited program back to the Module ...
Page 51
... Basic Operating Procedure 1,2,3... 24 1. Read the ladder program for the FQM1-CM001 on the CX-Programmer. The addresses in the ladder program, such as A410.08 and CIO 100.00 will be converted. 2. Double-click the icon circled in the following window to enable changing the CPU type. Section 1-6 ...
Page 52
... ROM will be exhausted sooner. Use other words to prevent this. Also, these DM Area words are not cleared at startup for the FQM1- CM002. If they must be cleared at startup, include suitable instructions to clear them from the ladder program. ...
Page 53
... Basic Operating Procedure 26 The program will appear as shown below after conversion, with addresses changed to those for the FQM1-CM002. Section 1-6 ...
Page 54
... Time in the FQM1. 5-1 Synchronous Operation between Modules The Coordinator Module's constant cycle time is set as the FQM1 Sync Cycle Time (as above). The I/O refresh interval for the Motion Control Module within that Sync Cycle Time is made constant, and the I/O cycle with external inter- faces is also made constant ...
Page 55
... Synchronous Operation between Modules (Motion Control The Coordinator Module's constant cycle time is Modules) set as the FQM1 Sync Cycle Time (as above). The I/O refresh interval for the Motion Control Module in that Sync Cycle Time is made con- stant and the I/O cycle with external interfaces is also made constant ...
Page 56
Function Tables Arranged by Purpose 1-7-2 Position and Speed Control Purpose PTP positioning Using Servo Controlling posi- using pulse I/O Driver compati- tioning speed ble with an incremental encoder or step- ping Servomo- tor/Servo Driver Controlling trap- ezoidal position- ing ...
Page 57
... Driver tion (absolute Set counter operation to Absolute Linear (CW ), linear/circular) Absolute Circular, or Absolute Linear (CW+). • 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 easier to find the origin by reading the absolute position before operation starts ...
Page 58
... If cam curves are generated using ladder pro- (APR instruc- gramming, the cam curves can be changed dur- tion) ing operation. • Pulse output High-precision, synchronized control with exter- with specified nal axes is possible with FQM1 high-speed target position cycle. and frequency (PULS(886) instruction) • Constant cycle time ...
Page 59
... PV and executes pulse and frequency output control. (PULS(886) Speed is set and controlled to enable distribution instruction) of specified number of pulses within FQM1 con- • Constant cycle trol cycle. time Electronic cam • Cam curve 7-6-13 Pulse Output Function Procedures ...
Page 60
... Fine speed control is possible in FQM1 high- speed cycle. Performing ana- • Analog input 7-9 Analog Input Functions log output con- • Analog output ...
Page 61
... Data stored in memory can also be displayed on PT and other display devices, e.g., to show trends. Storing analog High-speed 7-9-7 High-speed Analog Sampling (FQM1- inputs to DM analog sam- MMA22 Only) Area synchro- pling function Sampling of target measurement object position nous with posi- as compared to the sampling based on time ...
Page 62
Function Tables Arranged by Purpose Purpose Control using Judgment pro- Reading analog measurement cessing based input values in results for undu- on measure- high-speed lation, distortion, ment results cycles and per- thickness, forming judg- height, diame- ment processing ter, etc., ...
Page 63
Function Tables Arranged by Purpose 1-7-5 Controlling Timing Purpose Responding Executing pro- Starting inter- quickly to exter- cessing as soon rupt processing nal signals and as change in when an input operate external input bit turns ON signal detected and/or ...
Page 64
Function Tables Arranged by Purpose Purpose Operation with Increasing accu- High-precision highly precise racy of external ON outputs, with timing output ON time. minimum unit of (Feeding, hole 0.01 ms opening, tape winding, gluing, and other appli- cations) Highly accurate ...
Page 65
... FQM1S-MC233 This basic set of Units provides pulse outputs for two axes. CJ1W-PA202 + FQM1-CM002 + FQM1-MMP22 + FQM1-TER01 FQM1S-MC224 This basic set of Units provides analog outputs for two axes. CJ1W-PA205R + FQM1-CM002 + FQM1-MMA22 + FQM1-TER01 1-8-2 Differences between Existing and Replacement Models Functions Changed in All Units ...
Page 66
... The Serial PLC Link function can use both the Complete Link Method tion supports the and Master Link Method. Complete Link With the Complete Link Method, the CJ1M CPU Unit and FQM1 can Method perform program-free data exchange with all other nodes. Increase in the DM ...
Page 67
... CJ-series Unit’s I/O refreshing time 10 Ksteps Supported Motion Control Modules: 4 Modules max. CJ-series Units can be mounted if an FQM1- IC101 is used Motion Control Modules and CJ-series Units (Basic I/O Units, Special I/O Units, and CPU Bus Units) 1 Rack max. ...
Page 68
Comparison with Functions in Earlier Models Item Previous model specifications (CM001/MMP21/MMA21) Cyclic Refresh Bit Area 640 bits (40 words) Synchronous Data Link Bit 320 bits (20 Area words) CM Serial PLC Link Bit Area 320 bits (20 words): CIO 0080 ...
Page 69
Comparison with Functions in Earlier Models Item Previous model specifications (CM001/MMP21/MMA21) Counter Area 256 counters DM Area Read/Write 30,000 words (not retained) Read/Write 2,768 words (retained) PLC Setup Contains settings such as shared Coordinator Module/Motion Control Module settings, peripheral service ...
Page 70
... Serial PLC Link Bit Area words CIO 3100 to CIO 3119 are used for the Master Link Method, which was the only link method supported in the previous model (FQM1-CM001). When the Complete Link Method is being used, words CIO 3100 to CIO 3189 are allocated. ...
Page 71
... Subroutine Input Condition Flags Basic I/O Unit Information Area (Rack 0, Slot 0) Basic I/O Unit Information Area (Rack 0, Slot 1) Basic I/O Unit Information Area (Rack 0, Slot 2 to Rack 1, Slot 9) (The FQM1’s maximum rack number is Rack 1.) Error Log Area First Cycle Flag Step Flag ...
Page 72
Comparison with Functions in Earlier Models CM001/ Bits CM002/ Bits MMP21/ MMP22/ MMA21 MMA22 A414 02 A318 A415 A319 00 ...
Page 73
Comparison with Functions in Earlier Models CM001/ Bits CM002/ Bits MMP21/ MMP22/ MMA21 MMA22 A403 00 Same --- --- A404 --- A409 ...
Page 74
Comparison with Functions in Earlier Models CM001/ Bits CM002/ Bits MMP21/ MMP22/ MMA21 MMA22 A522 A534 A523 A535 A524 A536 A525 00 ...
Page 75
Comparison with Functions in Earlier Models CM001/ Bits CM002/ Bits MMP21/ MMP22/ MMA21 MMA22 A565 00 A815 00 A570 00 A820 A571 00 A821 00 ...
Page 76
Comparison with Functions in Earlier Models CM001/ Bits CM002/ Bits MMP21/ MMP22/ MMA21 MMA22 A610 00 A860 A611 00 A861 00 ...
Page 77
... Note The structure of data areas such as the Auxiliary Area and Cyclic Refresh Bit Area are different in the FQM1-CM001/MMP21/MMA21 and FQM1- CM002/MMP22/MMA22 models, but the data areas can be automatically con- verted between the CM001 MMP22/MMA22 formats by changing the PLC model selected in the CX-Pro- grammer ...
Page 78
... This section provides the specifications of the FQM1 and describes the parts and their functions on the Coordinator Module and Motion Control Modules. 2-1 List of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Page 79
... I/O, and wiring the RS-422A line. FQM1S-MC233 A set including the CJ1W-PA202, FQM1-CM002, FQM1- MMP22, and FQM1-TER01 A set including the CJ1W-PA205R, FQM1-CM002, FQM1-MMA22, and FQM1-TER01 WS02-CXPC1-E-V6 Used for System Setup setting, programming, and moni- toring for Coordinator Modules and Motion Control Mod- ules. ...
Page 80
General Specifications Item Dimensions 49 90 Weight All models are each 5 kg max. Safety measures Conforms to EC directives and C-Tick. (UL certification pending.) Note Power Supply Unit Specifications Item Power Supply Unit CJ1W-PA205R Supply voltage 100 to 240 ...
Page 81
... AC power supply. The AC inrush control circuit uses a thermistor element with a low-temperature current control characteristic. If the ambient tem- perature is high or the FQM1 is hot-started, the thermistor will not be suf- ficiently cool, and the inrush currents given in the table may be exceeded twice the given values. When selecting fuses or breakers for ex- ternal circuits, allow sufficient margin in shut-off performance ...
Page 82
Coordinator Module Switch on Front Panel Peripheral Port Baud Rate Detection/System Setup Switch Function Specifications Item Control method I/O control method Programming Instruction length Ladder instructions Execution time Basic instructions Special instructions 0.3 s min. Common processing (overhead) time Program ...
Page 83
... CIO 3100 to CIO 3189 CIO 3100 to CIO 3109: CJ1M to FQM1 CIO 3110 to CIO 3189: FQM1 to CJ1M and all FQM1 nodes other than the source node (10 words for each node number) Can be connected as a Serial PLC Link slave to the host PLC (CJ1M). ...
Page 84
Coordinator Module Item Power interruption hold function (momentary power interruption) Memory backup Trace memory Peripheral servicing Self-diagnosis function Program check Super-capacitor backup time Clock Fixed Power OFF detection time User-set Power OFF detection time RUN output Individual func- Serial communica- ...
Page 85
Coordinator Module COM8 to 15 Outputs 58 4.7 k IN0 750 4.7 k IN7 750 COM0 to 7 4.7 k IN8 750 4.7 k IN15 750 IN0 MIL: 1 XW2D: A1 MIL: 2 XW2D: B1 IN1 MIL: 3 XW2D: A2 ...
Page 86
... Motion Control Modules 2-4 Motion Control Modules Motion Control Module FQM1-MMP22 (Pulse I/O) Item I/O Pulse I/O Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders) Pulse outputs: 2 General-purpose General-purpose inputs: 12 I/O General-purpose outputs: 8 OUT0 MIL XW2D: A10 MIL: 20 XW2D: B10 ...
Page 87
... High-speed counter can be started/stopped using counter start bit. • Changes in high-speed counter present value can be measured. • High-speed counter frequency can be measured. Program Program capacity 10 Ksteps FQM1-MMA22 (Analog I/O) Item I/O Pulse inputs Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders) Analog I/O • ...
Page 88
Motion Control Modules Indicators RDY RUN ERR IN0 to IN11 0UT0 to OUT7 A1/B1 A2/B2 Note IN0 to IN 11, OUT0 to OUT7, and are all controlled by hardware. Functional Specifications Item Control method Stored program I/O ...
Page 89
... V: 1/4,000 mA: 1/4,000 Analog outputs Conversion speed: 40 s/output Resolution 1/10,000 V V 1/4,000 62 Specifications Error log, part of DM Area (backup for momentary power interruptions) User programs, System Setup (part of DM Area (via con- trol bit Section 2-4 FQM1-MMP22 (pulse I/O) FQM1-MMA22 (analog I/O) ...
Page 90
... Motion Control Modules I/O Specifications General-purpose I/O Common Specifications for FQM1-MMP22 (Pulse I/O) and FQM1-MMA22 Specifications (Analog I/O) COM8 to 15 Item Inputs Number of inputs 12 inputs Input voltage 20.4 to 26.4 V Input response Interrupt input (4 points with one common) Normal input (8 points with one common) 4 ...
Page 91
Motion Control Modules 64 Item Outputs Number of outputs 8 outputs Output type Transistor (NPN) Switching capacity 4 DC, 0.3 A per output ON delay time 0.1 ms max. OFF delay time 1 ms max. OUT0 MIL: ...
Page 92
... Motion Control Modules Pulse I/O Specifications FQM1-MMP22 (Pulse I/O) Pulse inputs Pulse outputs One- shot pulse outputs Item Number of counters 2 Counter operations Linear counter and circular counter Input signals Two words each for phase A, phase B, and phase Z. Signal levels 24 V DC, line-driver ...
Page 93
... Motion Control Modules Pulse Inputs and Analog FQM1-MMA22 (Analog I/O) I/O Specifications 66 Item Pulse Number of counters 2 inputs Counter operations Linear counter, circular counter Input signals Two words each for phase A, phase B, and phase Z. Signal levels CH1 DC, line-driver CH2: Line-driver Input method ...
Page 94
... CJ1W-OD261 64 Yes (See note 1.) CJ1W-OD263 64 Yes (See note 1.) Section 2-5 Compatible Rack FQM1 CJ-series Expansion Rack Yes Yes Yes Yes Yes Yes Yes Yes Yes Compatible Rack FQM1 CJ-series Expansion Rack Yes Yes Yes Yes Yes Yes Yes Yes Yes Yes 67 ...
Page 95
... CPU Rack Expansion Rack 16 (See note 2.) Yes Yes 16 (See note 2.) Yes Yes 16 Yes Yes 32 Yes Yes 64 Yes Yes 64 Yes Yes Number of bits Compatible Rack allocated FQM1 CJ-series CPU Rack Expansion Rack 32 Yes Yes 64 Yes Yes 32 Yes Yes 64 Yes Yes 32 Yes Yes 64 Yes ...
Page 96
... Yes 20 words Model Allocated words FQM1 (See note.) CPU Rack CJ1W-SPU01 25 words Yes CJ1W-NCF71 25 words Yes Model Allocated words FQM1 (See note.) CPU Rack CJ1W-DRM21 25 words Yes Section 2-5 Unit numbers CJ-series Expansion Rack Yes Compatible Rack Unit numbers CJ-series ...
Page 97
... Dimensions 2-6 Dimensions FQM1-CM002 Coordinator Module 90 mm FQM1-MMP22/MMA22 Motion Control Modules 90 mm FQM1-TER01 End Module 2 CM002 RDY FLEXIBLE MOTION RUN CONTROLLER ERR PRPHL ON OFF COMM1 COMM2 PERIPHERAL 1 2 CN1 PORT RS422 MMP22 RDY A1 RUN B1 ERR OUT CN2 CN1 39 40 ...
Page 98
Dimensions Power Supply Units CJ1W-PA202 65 81.6 CJ1W-PA205R 65 81.6 Section 2-6 PA202 POWER L1 AC100 -240V INPUT L2 PA205R POWER L1 AC100-240V INPUT L2/N 90 RUN OUTPUT AC240V DC24V 80 71 ...
Page 99
Dimensions XW2B-80J7-1A Servo Relay Unit Signal switches 100 90 41.7 15.9 CJ1W-IC101 I/O Control Unit CJ1W-II101 I/O Interface Unit 72 Terminating resistance switch 160 4.5 dia. Phase B switches 30.7 (140) IC101 IC101 OUT OUT 20 (140) II101 OUT IN ...
Page 100
Dimensions Dimensions of Units with 18-point Terminal Blocks CJ1W-ID211 32-point Basic I/O Units (Input Units and Output Units) Units with Fujitsu-compatible Connector (40-pin x 1) CJ1W-ID231 (32 inputs DC) CJ1W-OD231 (32 outputs DC, 0.5 ...
Page 101
Dimensions 32-point Basic I/O Units (24-V DC Input/Transistor Output Units) Units with Fujitsu-compatible Connector (24-pin x 2) Units with MIL Connector (20-pin CJ1W-MD231(16 inputs DC, 16 outputs DC, 0 ...
Page 102
Dimensions 64-point Basic I/O Units (Input Units, Output Units, 24-V DC Input/Transistor Output Units, and TTL I/O Units) Units with Fujitsu-compatible Connector (40-pin x 2) CJ1W-ID261 (64 inputs DC) CJ1W-OD261 (64 outputs DC, 0.3 ...
Page 103
... None 14 W None 25 W Model 5-V system current consumption (A) FQM1-CM002 0.37 FQM1-TER01 Included in Coordinator Module current consumption FQM1-IC101 0.02 CJ1W-II101 0.13 FQM1-MMP22 0.824 FQM1-MMA22 0.772 Model 24-V system current consumption (A) FQM1-MMA22 0.095 ...
Page 104
... CJ1W-SRM21 Master Unit Current con- Calculation sumption Result Power con- Calculation sumption Result The following table shows the Power Supply Units that can be connected for different numbers of Motion Control Modules. Number Number of connected Motion Control Modules Power Supply Unit of axes FQM1-MMP22 ...
Page 105
Memory Block Diagram 2-8 Memory Block Diagram Coordinator Module and Motion Control Module memory has the following block configurations. The following tables show the backup methods for these memory areas. Areas Backed Up by Super Capacitors Data backed up by ...
Page 106
... Connecting I/O Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 Wiring Module Connectors 3-3-1 Connector Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-2 External Connection Diagrams 3-3-3 Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3-4 Wiring Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 Wiring Servo Relay Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-5 List of FQM1 Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-6-1 Reducing Electrical Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SECTION 3 Installation and Wiring ...
Page 107
... Do not install the FQM1 in any of the following locations. Be sure to enclose or protect the FQM1 sufficiently in the following locations. Installation in When the FQM1 is being installed in a cabinet or control panel, be sure to pro- Cabinets or Control vide proper ambient conditions as well as access for operation and mainte- Panels nance ...
Page 108
... FQM1 Orientation PA202 AC100 -240V INPUT • The FQM1 will be easiest to install and operate mounted at a height of about 1.0 to 1.6 m. • Do not mount the FQM1 in a control panel containing high-voltage equip- ment. • Install the FQM1 at least 200 mm away from power lines. ...
Page 109
... Installation in a Control Panel The FQM1 must be mounted inside a control panel on DIN Track. L1 AC10 0 -240V INPU T L2 Note The FQM1 must be mounted on DIN Track. It cannot be mounted with screws. 82 • Do not install the FQM1 in any of the following positions L2/N INPUT -240V AC100 L1 ...
Page 110
... Installation Wiring Ducts Use wiring ducts to wire the FQM1’s built-in I/O. Install the wiring ducts to facilitate wiring the built-in I/ handy to have the duct at the same height as the FQM1. Wiring Duct Example The following example shows the proper installation of wiring ducts. ...
Page 111
... Installation Routing Wiring Ducts Install the wiring ducts at least 20 mm away from the FQM1 and any other objects, (e.g., ceiling, wiring ducts, structural supports, and devices) to pro- vide enough space for air circulation and replacement of Modules. FQM1 3-1-3 Assembled Appearance and Dimensions The Modules and CJ-series Units that make up the FQM1 are connected to each other, and an End Module is connected to the right end ...
Page 112
... Note Mount an I/O Control Module only if CJ-series Units are being used. Name CJ1W-II101 Note Mount an I/O Interface Unit only if an Expansion Rack is being used. Section 3 14.7) Specifications Unit width Module width 49 mm Model Module width FQM1-MMP22 49 mm FQM1-MMA22 Model Module width 20 mm Model Module width 35.4 27.6 85 ...
Page 113
... Special I/O Units CompoBus/S Master Unit Communications DeviceNet Unit Units Note Mount only if CJ-series Units are being used. Name End Module FQM1-TER01 (for CPU Rack) CJ1W-TER01 (for Expansion Rack) Approx. 115 mm to 165 mm Section 3-1 Model Unit width CJ1W-ID231 20 mm CJ1W-OD231 ...
Page 114
... Module is not mounted, a fatal I/O bus error will occur and the Controller will not operate. (The error flags listed below will show details on the I/O bus error.) (3) If the last Module on the right side of the Rack is a Motion Control Module, mount an FQM1-TER01 End Module. Section 3-1 Lock Unlock ...
Page 115
... Use the following procedure to install the FQM1 on DIN Track. 1. Release the pins on the backs of the Modules. 1,2,3... 2. Fit the back of the FQM1 onto the DIN Track by inserting the FQM1 onto 3. Lock the pins on the backs of the Modules FQM1-IC101 I/O Control Module has been used to mount CJ-series Units and the last Module on the right side of the Rack is a CJ-series Unit, mount a CJ1W-TER01 End Module ...
Page 116
... Installation 4. Install a DIN Track End Plate on each end of the FQM1. To install an End DIN Track and Use the DIN Track and DIN Track End Plates shown below. Accessories Secure the DIN Track to the control panel using M4 screws separated by 210 mm (6 holes) or less and using at least 3 screws. The tightening torque is 1.2 N· ...
Page 117
... Use the CS/CJ-series I/O Connecting Cable to connect the FQM1 Rack’s I/O Control Module to the CJ-series Expansion Rack’s I/O Interface Unit. • The total length of the I/O Connecting Cable from the FQM1 Rack to the Expansion Rack must not exceed 12 m. ...
Page 118
... Installation Connecting Cables Connect the simple locking connectors to the FQM1 Rack’s I/O Control Mod- ules and the CJ-series Expansion Rack’s I/O Interface Unit. I/O Connecting Cable Connecting the Simple Press the tabs on the end of the connector and insert the connector until it Locking Connectors locks in place. The PLC will not operate properly if the connector isn’ ...
Page 119
Module Wiring 3-2 Module Wiring 3-2-1 Wiring Power Supply Units AC power supply 100 to 240 V 92 (4) A 63-mm hole will be required if the I/O Connecting Cable must pass through a hole when connecting an Expansion Rack. ...
Page 120
... AC Power Source Isolation Transformer The FQM1's internal noise isolation circuits are sufficient to control typical noise in power supply lines, but noise between the FQM1 and ground can be significantly reduced by connecting a 1-to-1 isolation transformer. Do not ground the secondary coil of the transformer. Power Supply Capacity The power consumption will be 100 VA max ...
Page 121
... The ground wire should not be more than 20 m long. • The FQM1 is designed to be mounted so that it is isolated (separated) from the mounting surface to protect it from the effects of noise in the installation environment (e.g., the control panel). ...
Page 122
... FQM1 Other equipment Ground to Ground to 100 or less. 100 FQM1 Other equipment (1) Use crimp terminals for wiring. (2) Do not connect bare stranded wires directly to terminals. (3) Tighten the terminal block screws to a torque of 1.2 N·m. (4) Use M4 crimp terminals for AC power supplies max. Section 3-2 or less ...
Page 123
Module Wiring 3-2-2 RS-232C Port Wiring Connector Pin Arrangement Connector hood FG Note Do not connect the 5-V power supply on pin number 6 of the RS-232C port to any devices ...
Page 124
... Fujikura Ltd.: Hitachi Cable, Ltd.: UL2464-SB (MA) 5P Note Use the special cables provided from OMRON for all connections whenever possible. If cables are produced in-house, be sure they are wired correctly. External devices and the Coordinator Module may be damaged if general-pur- pose (e.g., computer to modem) cables are used or if wiring is not correct. ...
Page 125
... Direct Connection from RS-232C to RS-232C RS-232C Port Specifications Note Baud rates for the RS-232C are specified only up to 19.2 kbps. The FQM1 supports serial communications from 38.4 kbps to 57.6 kbps, but some com- puters cannot support these speeds. Lower the baud rate if necessary. ...
Page 126
Module Wiring Crimp Terminals The terminals on the I/O Unit are M3, self-raising terminals with screws. Note Wiring Terminal Blocks • The current capacity of electric wire depends on factors such as the ambi- ent temperature and insulation thickness as ...
Page 127
... CJ-series Basic I/O Units with connectors use special connectors to connec- tor to external I/O devices. The user can combine a special connector with cable or use a pre-assembled OMRON cable to connect to a terminal block or I/O Terminal. The available OMRON cables are described later in this section. ...
Page 128
... Inputs, 32 Outputs CJ1W-MD563 TTL Input/TTL Output Units, 32 Inputs, 32 Outputs CJ1W-MD232 24-V DC Input/Transistor Output Units, 16 Inputs, 16 Outputs CJ1W-MD233 24-V DC Input/Transistor Output Units, 16 Inputs, 16 Outputs Connection Pins OMRON set Pressure-welded 40 XG4M-4030-T 20 XG4M-2030 0. Use cable with external wire diameters of 1.61 mm Section 3-2 Specifications Fujitsu parts ...
Page 129
Module Wiring Wiring Procedure Use the following procedure when wiring. Fujitsu-style connectors are used in this example. 1. Check that each Unit is installed securely. 1,2,3... 2. Do not remove the protective label from the top of the Unit until ...
Page 130
Module Wiring 4. Assemble the connector (purchased separately). 5. Insert the wired connector. 6. Remove the protective label after wiring has been completed to allow air Small screws (3) Connector bar Socket Cable-securing Nuts (3) bracket ID261 ...
Page 131
Module Wiring 3-2-5 Connecting I/O Devices Input Devices Use the following information for reference when selecting or connecting input devices. DC Inputs The following types of DC input devices can be connected. Contact output Two-wire DC output NPN open-collector output ...
Page 132
Module Wiring Current regulator AC Input Units The following types of AC input devices can be connected. Contact output AC Switching Note When using a reed switch as the input contact for an AC Input Unit, use a switch with ...
Page 133
... FQM1 input impedance IN An incorrect input may occur if a sensor is turned ON after the FQM1 has started up to the point where inputs are possible. Determine the time re- quired for sensor operation to stabilize after the sensor is turned ON and take appropriate measures, such as inserting into the program a timer de- lay after turning ON the sensor ...
Page 134
... Use either of the following methods to reduce the surge current. Method 1 Add a resistor that draws about 1/3 of the current consumed by the bulb. Method 2 Add a control resistor as shown in the following diagram. 0.00 TIM 0000 #0001 TIM0000 0.01 2961.00 L OUT FQM1 R COM R L OUT FQM1 COM Section 3 107 ...
Page 135
... Wiring Module Connectors 3-3 Wiring Module Connectors 3-3-1 Connector Pin Arrangement The following tables provide the connector pin arrangement for FQM1 Mod- ules. FQM1-CM002 Coordinator Module General-purpose I/O 40-pin Connector Pin Name No. 1 External input 0 3 External input 1 5 External input 2 ...
Page 136
... External input 4 CN1 14 External input 5 12 Common for external inputs External output External output 1 6 External output 2 4 External output 3 2 Common for external outputs FQM1-MMP22 Pulse I/O 40-pin Connector Pin No. 1 Counter CN2 23 Counter 1 SEN output signal for absolute Servo ...
Page 137
... Wiring Module Connectors FQM1-MMA22 Analog I/O 40-pin Connector Pin. No. 1 Counter Counter 1 SEN CN2 output signal for absolute Servo Driver --- Analog input 35 37 Analog output 1 Voltage output (+) 39 Note Connect the voltage input (+) and the current input when using with a current input between 4 and 20 mA. ...
Page 138
... Phase B LD+ Phase B LD Phase Z LD+ Phase Z LD Outputs Analog output 1 (+) Analog output Analog output 2 (+) Analog output 3-3-3 Wiring Examples Connecting Pulse Inputs (FQM1-MMP22/ MMA22) Port 1 Port 2 Signal name Pin number Pin number ( (6) Encoder input (11 (12) Encoder input B Note ...
Page 139
... Pulse input 1: Phase Pulse input 1: Phase Phase B White 11 Pulse input 1: Phase Pulse input 1: Phase Orange Phase Z 17 Pulse input 1: Phase Brown +Vcc Blue 0 V (COM not share the power supply with other I/O) Power 0 V supply Shielded twisted-pair cable Section 3-3 FQM1 ...
Page 140
... Power supply Encoder Connecting a Servo Driver (OMRON's W Series) Compatible with an Absolute Encoder (FQM1-MMP22/MMA22) OMRON W-series Servo Driver Compatible with Absolute Encoder • The wiring for an encoder with a line-driver output (Am26LS31 or equiva- lent) is shown below. FQM1 Differential phase input mode A+ Black 3 ...
Page 141
... Wiring Module Connectors Connecting Pulse Outputs (FQM1-MMP22) FQM1-MMP22 5-V DC power supply for output CW pulse output CCW pulse output Example FQM1-MMP22 5-V DC power supply for outputs CW pulse outputs CCW pulse outputs 114 5 V-DC power supply + 28 26 29/30 31/32 33/34 35/36 Connections with a Servo Driver are given below example. ...
Page 142
... Wiring Module Connectors Connecting Analog Output signals are connected as shown in the following diagram. Outputs (FQM1- MMA22) Connecting Analog Inputs (FQM1-MMA22) Voltage Input Current Input 3-3-4 Wiring Methods Either make a cable using the special connector (purchased separately), or connect to a terminal block using an OMRON special cable with a connector. ...
Page 143
Wiring Servo Relay Units Applicable Connector-Terminal Block Conversion Units XW2Z-@@@K XW2Z-@@@J-A28 Recommended Wire The recommended size for cable wires is AWG24 to AWG26 (0.2 to Size 0.13 mm 3-4 Wiring Servo Relay Units XW2B-80J7-1A Servo Relay Units can be used ...
Page 144
... Connects to the 26-pin connector on the Motion Control Module. The Mo- tion Control Module general-purpose I/O is allocated to the clamp terminal block. 3. Servo Driver Connectors Connects to two Servo Drivers. Motion Control Corresponding Module connecting cable FQM1-MMP22 XW2Z-@@@J-A28 XW2Z-@@@J-A30 FQM1-MMA22 XW2Z-@@@J-A28 XW2Z-@@@J-A31 4. RS-422 Connector ...
Page 145
... Allocated when connecting an FQM1-MMA22 Analog I/O Motion Control Module. (2) Used as the power supply for FQM1-MMP22 pulse outputs or SEN out- puts for Servo Drivers compatible with absolute encoder. (3) IN4 to IN11 and OUT0 to OUT7 are used for the servo control signal pow- er supply ...
Page 146
... For current inputs, voltage input (+) and current input do not need to be connected. (c) When using an FQM1-MMP22, always set the Y axis. Set this terminating resistance switch to ON when the Servo Relay Unit is at the end of the RS-422A line and the PORT2 terminal is not connected to PORT1 on another Servo Relay Unit ...
Page 147
Wiring Servo Relay Units External Dimensions Signal switches 100 90 41.7 15.9 Wiring Screw-less Screw-less clamp terminal blocks use clamps to attach wires, and do not Clamp Terminal require screws. In addition to control signal wiring to Servo Drivers, clamp ...
Page 148
Wiring Servo Relay Units Recommended Screwdriver Model Manufacturer SZF1 Phoenix Contact Inc. Side Front 0.6 mm 3.5 mm Section 3-4 121 ...
Page 149
Wiring Servo Relay Units Wiring when Using Servo Relay Units CX-Programmer CS1W-CN226/626 Peripheral Port Cable PA202 POWER Power Supply Unit L1 AC100 -240V INPUT L2 Coordinator Module XW2Z-@@@K Connector- Terminal Block Conversion Unit Cable XW2D-40G6 or other Connecter-Terminal ...
Page 150
... Wiring Servo Relay Units Example Servo Relay When Servo Relay Units for the FQM1 are used, the I/O power supply is pro- Unit Wiring vided from terminals 20-0, 21-1, and 60-40. The only additional wiring required are the connections between the signals, as shown in the following diagram ...
Page 151
... Servomotor 1. Connector-Terminal Block Conversion Unit Cables (for FQM1-CM002, 40- pin MIL Connector) Specifications Connects FQM1-CM002 and XW2D-40G6 Connector-Terminal Block Conversion Unit. 2. Servo Relay Unit Connecting Cables (for FQM1-MMP22/MMA22, 26-pin MIL Connector) Specifications Connects FQM1-MMP22 and Servo Relay Unit. Section 3-5 2. Servo Relay Unit Cable 3 ...
Page 152
... List of FQM1 Connecting Cables 3. Servo Relay Unit Connecting Cables (for FQM1-MMP22/MMA22, 40-pin 4. RS-422A Connecting Cables (with 9-pin D-sub Connector) 5. Servo Driver Connecting Cables (Servo Relay Unit to Servo Driver) 6. Servomotor Connecting Cables 7. RS-422A Cable, connects Connector-Terminal Block Conversion Unit and Note The Servo Relay Unit Connecting Cable and Servo Driver Connecting Cable must be connected in the correct direction ...
Page 153
Wiring Precautions 3-6 Wiring Precautions 3-6-1 Reducing Electrical Noise I/O Signal Wiring Whenever possible, place I/O signal lines and power lines in separate ducts or raceways both inside and outside of the control panel. If the I/O wiring and power ...
Page 154
... If wiring racks are parallel, allow at least 300 mm between the racks. FQM1 I/O wiring FQM1 power supply and general control circuit wiring Power lines • If the I/O wiring and power cables must be placed in the same duct, they must be shielded from each other using grounded steel sheet metal ...
Page 155
Wiring Precautions 128 Section 3-6 ...
Page 156
... This section describes the operation of the FQM1. 4-1 Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1-2 Coordinator Module Operation 4-1-3 I/O Refreshing and Peripheral Servicing . . . . . . . . . . . . . . . . . . . . . 4-1-4 Startup Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
Page 157
... Coordinator Module 4-1 Coordinator Module The FQM1 Coordinator Module and each Motion Control Module have sepa- rate ladder programming. Each Module independently processes the ladder programming, I/O, and peripheral servicing to achieve high-speed I/O response somewhat like a system of multiple CPU Units. 4-1-1 ...
Page 158
Coordinator Module System Setup The System Setup contains software switches used to make initial settings and other settings. As shown in Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations, addresses (words and bits) are allo- cated for ...
Page 159
Coordinator Module 4-1-3 I/O Refreshing and Peripheral Servicing I/O Refreshing I/O refreshing updates general-purpose I/O status. All I/O is refreshed in the same cycle (i.e., time slicing is not used). I/O refreshing is always performed after program execution. Cyclic Refreshing ...
Page 160
Coordinator Module The time specified in the system is allocated to each type of servicing and executed every cycle. If the servicing is finished before the end of the allo- cated time, the remaining time is not used and the ...
Page 161
Motion Control Modules 4-2 Motion Control Modules 4-2-1 Outline Motion Control Modules each have independent ladder programming, which perform processing independently from other Modules. The following diagram shows the internal structure of Motion Control Modules. Note 4-2-2 Description of Each ...
Page 162
Motion Control Modules Broadly speaking, the user program consists of a cyclic task and interrupt tasks, which are executed for interrupts. The cyclic task is executed every cycle. The user program is stored in RAM and flash memory. Data is ...
Page 163
Motion Control Modules Basic inputs (12) Basic outputs (8) Pulse inputs (2) or analog input (1) Pulse or analog outputs (2) Sync Mode Operation In Sync Mode, the Motion Control Module's cyclic scan is synced with the Coordinator Module's cyclic ...
Page 164
Motion Control Modules Coordinator Module Motion Control Module Initialization at At Internal Module initialization (determining the operating mode, initializing user power ON memory, clearing specified memory areas, checking for memory corruption, reading the System Setup, etc.) is performed and the ...
Page 165
... I/O memory monitoring). The main system operation is per- formed in RUN mode. Note 4-3-2 Status and Operations in Each Operating Mode PROGRAM, RUN, and MONITOR are the three FQM1 operating modes. The following tables list status and operations for each mode. Mode Program execution (See note.) I/O refresh ...
Page 166
... Power OFF Operation 4-4-1 Power OFF Operation The following processing is performed if FQM1 power is interrupted during operation. The following power OFF processing will be performed if the power supply falls below 85% of the minimum rated voltage while in RUN or MONI- TOR mode. 1. The Motion Control Modules and Coordinator Module will stop. ...
Page 167
Power OFF Operation It thus requires between 10 and detect a power interruption. This time can be increased by setting the User-set Power OFF Detection Time ( ms) in the System Setup. Note The User-set ...
Page 168
Power OFF Operation Description of Operation 4-4-2 Instruction Execution for Power Interruptions If an unstable power supply is causing power interruptions, set a longer User- set Power OFF Detection Time (10 ms max.) in the System Setup. Power Holding Time ...
Page 169
Power OFF Operation 142 Section 4-4 ...
Page 170
This section describes the functions common to both the Coordinator Module and Motion Control Modules and the methods to transfer data between the Coordinator Module and Motion Control Modules. 5-1 Synchronous Operation between Modules . . . . . . ...
Page 171
Synchronous Operation between Modules 5-1 Synchronous Operation between Modules Sync and ASync Modes Sync Mode System Setup Module Settings Tab Page Sync Mode Synchronization between Sync Cycle Time = 0 ms Modules Coordinator Module cycle time ASync Mode 144 The ...
Page 172
Data Exchange between Modules 5-2 Data Exchange between Modules The three methods for data exchange between Coordinator and Motion Con- trol Modules are outlined in the following table. These methods can be used simultaneously. Method Outline 1. Cyclic refresh Exchanges ...
Page 173
Cyclic Refresh 5-3 Cyclic Refresh 5-3-1 Outline Status information, general-purpose I/O, and other information for each Motion Control Module in the Cyclic Refresh Area of the Coordinator Module are refreshed every Coordinator Module cycle (asynchronous to the Motion Control Module ...
Page 174
Cyclic Refresh 5-3-3 Cyclic Refresh Area Details Coordinator Module Cyclic Refresh Area Word Bits address CIO 4000 Output Refresh Area (CM to MM) CIO 4004 15 The data in this area is allocated to the MM ...
Page 175
Cyclic Refresh Word Bits address CIO 4005 Output Refresh Area (This MM to CM) 08 Data from this area is allo- 09 cated to the Coordinator Mod- ule's CM Input Refresh Area (MM to CM). 10 ...
Page 176
Synchronous Data Refresh 5-4 Synchronous Data Refresh 5-4-1 Outline If Sync is set under Synchronization between Modules in the System Setup, each Module will broadcast the specified data (2 types data, 4 words max.) to the Synchronous Data Link Bit ...
Page 177
Synchronous Data Refresh Synchronous Data Normal (via Ladder) Counter 1 values Counter 2 values Pulse output 1 Pulse output 2 Analog input Analog output 1 Analog output 2 Inner I/O input (Built-in input) Note 5-4-3 Synchronous Data Link Bit Area ...
Page 178
Synchronous Data Refresh Synchronous Data Word Link Bit Areas in address Coordinator and (See note Motion Control 1.) Modules Sent from Motion CIO 0216 Control Module #4 CIO 0217 CIO 0218 ...
Page 179
DM Data Transfer System Setup (Motion Control Modules) Selecting Synchronous Select the type of synchronous data to be sent by each Motion Control Mod- Data ule in the System Setup for that Motion Control Module, as shown in the fol- ...
Page 180
DM Data Transfer 5-5-2 Settings Details The settings for using the DM data transfer function are made in the Auxiliary Area. Name DM Write Request Bit (Coordinator A556.00 Module to Motion Control Module) DM Read Request Bit (Motion A556.01 Control ...
Page 181
DM Data Transfer 6. The Coordinator Module acknowledges the notification and turns OFF the 5-5-3 Executing DM Data Transfer Step 1: Make Auxiliary To transfer data, the Auxiliary Area settings, described earlier, must be made. Area Settings The following settings ...
Page 182
... Constant Cycle Time Function A constant cycle time can be set with the FQM1 Series. Programs are exe- cuted at standard intervals, which allows the control cycles for Servomotors to be constant. The constant cycle time is set using the Cycle Time setting in the System Setup (0 ...
Page 183
Cycle Time Settings Coordinator Module Motion Control Module Constant Cycle Time The Motion Control Module cycle time is synchronized with the Coordinator Function Enabled for Module constant cycle time, and gradually is made constant, while the Motion Motion Control Module ...
Page 184
... The average cycle time for the last 8 scans can also be read from the CX-Pro- grammer. Note The FQM1 can skip program areas that do not need to be executed by using the JMP-JME instructions to shorten cycle times. 5-6-4 Clearing Constant Cycle Time Exceeded Errors When using the constant cycle time function, normally the cycle time will no longer stay constant (i ...
Page 185
Operation Settings at Startup and Maintenance Functions Constant Cycle Time Exceeded Flag (A316.05) Constant Cycle Time Exceeded Error Clear Bit (A555.15) Auxiliary Area Bits 5-7 Operation Settings at Startup and Maintenance Functions This section describes the following operation settings at ...
Page 186
... ON. (1) If you forget the password, the program in the FQM1 cannot be trans- ferred to the computer. (2) If you forget the password, programs can be transferred from the comput the FQM1. Programs can be transferred from the computer to the FQM1 even if the password protection has not been released ...
Page 187
... View Menu. For normal transfer operations (PLC/Transfer), the backup status will be displayed in the transfer window after the transfer status for the program and other data. Never turn OFF the FQM1 power dur- ing these backup operations. The flash memory will be corrupted if the power is turned OFF ...
Page 188
... Program index file (CX-Programmer’s section names, section comments, and program comments) g Ver. 6.11 or higher When the project is downloaded, the comment data and section data can be stored in the actual PLC. Project FQM1 Variable table file Comment file Transfer Program index file Comment memory Can be stored here ...
Page 189
... The number of records is stored in binary in the Error Log Pointer (A300). The pointer is not incremented when more than 20 errors have occurred. Note The FQM1 does not support a clock and the time data in the error log will always be 0101. 5-8-2 Failure Alarm Functions The FAL(006) and FALS(007) instructions generate user-defined errors ...
Page 190
... Part 3 Textual Languages (IEC 61131-3). The user can create function blocks in the CX-Programmer and place these function blocks in regular programs. In addition, OMRON provides a library of standard function blocks in its FQM1 Smart FB Library, which can be copied and placed in regular programs. Function blocks have the following features: B FALS • ...
Page 191
... CS/CJ Series PLCs and FQM1 Controllers. ST Language In the FQM1, the ST language supports most of the functions for mathemati- Specifications cal calculations. The following table lists the ST-language statements, opera- tors, and functions that can be used in the FQM1. ...
Page 192
Function Block (FB) Functions Operators Operation Symbol Parentheses and (expression), brackets array[index] Function evaluation identifier Exponential ** Complement NOT Multiplication * Division / Addition + Subtraction Comparisons <, >, <=, >= Equality = Non-equality <> Boolean AND & Boolean AND ...
Page 193
Function Block (FB) Functions Numerical Argument data type functions SIN (argument) REAL, LREAL COS (argument) REAL, LREAL TAN (argument) REAL, LREAL ASIN (argument) REAL, LREAL ACOS (argument) REAL, LREAL ATAN (argument) REAL, LREAL Arithmetic Functions The following general exponential function ...
Page 194
... Change the following settings when required. Non-retained Retained (See note.) --- Timer Counter Note There is no Holding Area (HR Area) in the FQM1, so this setting is not sup- ported. Item Number of function block 128 max. per FQM1 (both Coordinator Module and definitions Motion Control Modules) Number of instances 256 max ...
Page 195
Function Block (FB) Functions 168 Section 5-9 ...
Page 196
This section describes the serial communications functions, which are supported only by the Coordinator Module. 6-1 Serial Communications . . . . . . . . . . . . . . . . . . . . . . ...
Page 197
... Serial Communications 6-1 Serial Communications The FQM1 supports the following serial communications functions. Protocol Connections Host Link Host computer or OMRON PT (Programmable Terminal) Host computer or No-protocol General-purpose external device 1:N NT Link OMRON PT (The 1:N NT (Programmable Terminal) Link commu- nications are used even for 1:1 con- nections ...
Page 198
... Serial Gate- way Host computer or No-protocol FQM1 Note The CJ1W-CIF11 is not insulated and the total transmission distance is 50 meters max. If the total transmission distance is greater than 50 meters, use the insulated NT-AL001 and do not use the CJ1W-CIF11. If only the NT- AL001 is used, the total transmission distance is 500 meters max. ...
Page 199
... FINS Header Terminator Procedure 172 The following table shows the Host Link communication functions available in FQM1. Select the method that best suits your application. Communica- Configuration tions method Create frame in Directly connect the host computer in a 1:1 or the host com- 1:N system ...
Page 200
... Force-resets the specified bit. Force-sets, force-resets, or clears the forced status of the specified bits. Cancels the forced status of all force-set and force-reset bits. Reads the model type of the FQM1. Returns, unaltered, one block of data transmitted from the host computer. Section 6-1 Function ...