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OPERA TION MANUAL Cat. No. O010- E1-01 FQM1 Series FQM1-CM001 FQM1-MM P21 FQM1-MMA21 Flexible Motion Controller.
FQM1 Series FQM1-CM001 FQM1-MMP21 FQM1-MMA21 Flexib le Motion Control ler Operation Manu al Produ ced Novem ber 2004.
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v Notice: OMRON products are manufactured for use accordi ng to prope r proce dures by a qualifie d operato r and onl y for the pur po ses des cri bed i n this manua l. The following conv entions ar e used to in dicate and classi fy preca utions in th is manual.
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vii TABLE OF CONTENTS PRECAUTION S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii 1 Intended Aud ience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi v 2 General Precaution s .
viii TABLE OF CONTENTS 4-4 Po wer OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 SECTION 5 Module Fun ctions and Da ta Excha nge . . . . . . . . . . . . . . . . . 103 5-1 Synchro nous Operation between Mo dules .
ix TABLE OF CONTENTS SECTION 10 Inspection and Maintenan ce . . . . . . . . . . . . . . . . . . . . . . . . . 259 10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
x TABLE OF CONTENTS.
xi Abou t this Manual : This m anual descr ibe s the opera tion of the Coordi nator Mod ule an d Motio n Control Module s of the FQM1-s erie s Flexible Motion C ontrolle r .
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xiii PRECA UTIONS This section pro vides general precautions for using the FQ M1-series Flexible Motion C ontroller and related de vices. The information contained in this section is imp ortant for the safe and reliable a pplication of the FQM1-series Flexible Motio n Controller .
xiv Intend ed A udience 1 1 Intended A udien ce This manual is intended for the following personnel, who mus t also have knowledge of ele ctric al syst ems (an electr ical engine er or the equivalent). • P erson nel in charge of instal ling F A syste ms.
xv Safety Precaution s 3 • Wh en the 24-VDC outpu t (ser vice power suppl y to the FQM1) is ov er- loaded or shor t-circuited, the voltage may drop and re sult in the out puts being tur ned OFF . As a c ounter me asure for such p roblems, e xter nal safety measure s must b e provided t o ensu re sa f ety in the sy stem.
xvi Saf ety Precautions 3 • Loc ation s subject t o static elect ric ity or o ther forms o f nois e • Loc ation s subject t o strong elect romagneti c field s • Loc ation s subject t o poss ible.
xvii Safety Precaution s 3 • O utputs may remain ON due to a malfuncti on in the built-in tran sistor out- puts o r other inter nal circuit s. As a coun ter meas ure for such p roblems, ex ter nal safety measures must be provided to en sure the safety of the system .
xviii Saf ety Precautions 3 • D o not ap ply voltages o r co nnect load s to the built-in outp uts in excess of the maxi mum switching cap acity . Excess voltage or lo ads may resul t in bu r ni n g . • Dis connec t the fu nctional ground ter minal when perform ing withs tand v olta ge tests.
xix Conf ormance to EC Dire ctiv es 4 4 Conformance to EC Directives 4-1 Applicab le Direc tives •E M C D i r e c t i v e s • Low V olta ge Direc tive 4-2 Concepts EMC Direct ives OMRON de vi ces .
xx Conf ormance to EC Dire ctive s 4 4-5 Rela y Output Noise Reduction Methods The FQM1 -seri es Flexible Motion Con troller confor ms to the Co mmon E mis- sion Stan dards (EN610 00-6-4 ) of the EMC Directi ves . Howe ver , noi se gener- ated by relay outpu t switching may not s atisfy t hese Standa rds.
xxi Conf ormance to EC Dire ctiv es 4 When switchin g a load with a high in r ush current such as an incand escent lamp, suppress the inr ush curre nt as s hown below . The following Unit and Cables can be used with th e FQM1-s erie s Flexible Motion Con troller.
xxii Data Bac kup 5 5D a t a B a c k u p The user programs, I/O memor ies, and oth er data in the Coordinator Module and Motion Control Mod ules i s backed up either by a super capac itor or flas h memor y , as listed in the following table.
xxiii Data Backup 5 mentar y power interrupt ions. For operating para meters an d other long- ter m dat a, use th e por tion of DM Area stored i n flash memor y in the Coor- dinator Module a nd transfer it to the Mot ion Contr ol Modul es be f ore star t- ing operati on.
xxiv Data Bac kup 5.
1 SECTION 1 F eatures and System Conf iguration This section des cribes the features of the FQM1 and its system conf iguration. 1-1 Outline of FQM1 Flexible Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . 2 1-2 FQM1 Conf iguration . .
2 Outline of FQM1 F lexible Motion Controller Section 1-1 1-1 Outline of FQM1 Fl exib le Motion Con tr oller The FQM1 (Flexible Quick Motion) is a stand -alone F le xible Mo tion Con troller that can be used to crea te flexible high-speed, high- precis ion motion control syst ems f or 2 to 8 ax es.
3 Outline of FQM1 F lexible Motion Controller Section 1-1 Built-in RS-232C P ort in Coor dinator Module A Programmable T er mina l (PT) can be connected to the Coo rdinator Module to monitor present values on th e PT or make parameter s ettings for Ser vomo- tors from the PT .
4 FQM1 Configuration Section 1-2 Pulse Input Frequency Meas urem ent F unct ion The spee d of pulse inp uts can be me asured at the same ti me as the number of pu lse i nput s is coun ted.
5 FQM1 Configuration Section 1-2 FQM1-CM001 Coor dinator Module One Coordina tor Module is requir ed in an FQM1. The Coordinato r Module provides t he follo wing : I/O: 16 inputs, 8 outputs Program capac ity: 5 Ksteps DM Area capacity : 32 Kwords (D M) • T he CX-Programme r (V er .
6 Modules Section 1-3 FQM1-TER01 End Module One End Mod ule is supplied with the Coordi nator Module. Always attach the End M odule bec ause it a cts a s a ter m inator for the s ystem.
7 Modules Section 1-3 Outline of Internal Data Exchange and I/O PT CX-Programmer DM DM RS-232C PLC RS-422A Coordinator Module Motion Control Module #1 Motion Control Module #2 Motion Control Module #3.
8 CX-Programmer Section 1-4 1-4 CX-Pr ogrammer The CX-Programm er provides software functio ns f or pro gramming and debugging. FQM1 Patch Software must be i nstalled f or the C X-Programmer V er . 5.0 (Model: WS02 -CXPC1- E-V50) to use i t to cr eate la dder programs, ma ke set- tings in the Sy stem Se tup, and monitor operation.
9 Expanded System Configurat ion Section 1-5 1-5 Expanded System Configuratio n 1-5-1 Serial Comm unications The FQM1 system can be e xpande d using the two ser ial por ts built into the Coordina tor Module: P er iphe ral por t and RS-23 2C por t.
10 Expanded System Configurat ion Section 1-5 Host Li nk Sy stem The Host Link System al lows the I/O memor y of the Module s to be read/w rit- ten and the operati ng mode to be chan ged from a host c.
11 Expanded System Configurat ion Section 1-5 Set the P T communi cations settings for a 1:N or Stand ard NT Link. An NT Link Sys tem is possible for either the pe rip heral por t or the RS- 232C por t. Note (1) The FQM1 can b e connec ted to any PT por t that suppor ts 1:N NT Links.
12 Expanded System Configurat ion Section 1-5 1:N Connection between CJ1M and FQM1 Contr ollers 1:1 Connection between CJ1M and FQM1 Contr o ller Serial Gatew ay Readin g/wri ting Se r vo P aram eters.
13 Basic Operating Procedure Section 1-6 No-protocol (Custom) Communications Syste m via RS- 422A Po r t No-prot oco l commu nicat ions all ow simple data tran smis sions, suc h as input- ting bar code d ata and outputtin g pr inter data us ing com munications por t I/O instr uct ions TXD( 236) and RXD(235) .
14 Basic Operating Procedure Section 1-6 Wir ing I/O ter minal s and conn ectors. Refer to 3-3 Wir ing M odule Conne c- tors for details. 3. Initial H ardware S etting s Set the DIP switch on the front of t he Coor dinator M odule as r equired . Re- fe r t o 2-3 Co ordi nato r Modu le f or d etails.
15 Basic Operating Procedure Section 1-6 1-6-1 Ex amples 1. Installa tion Connect the Po wer Supply Uni t, Coordina tor Module, Motion Co ntrol Mod- ules, and En d Module to assemble the FQM1. Mak e sure th at th e tot al po we r consu mptio n of t he Mo dules i s les s than the maximum c apacity of the Po wer Supply Unit.
16 Basic Operating Procedure Section 1-6 4. T urning ON P ower and Chec king Initial Operation Note The Syst em Setup and user programs are backed up in b u ilt-in fla sh memor y . When the data is b eing b acked up , a m essage indic ating the data is b eing transferred will be displayed on the CX-Programmer .
17 Basic Operating Procedure Section 1-6 7. T ransferr ing t he Pr ograms When the pr ograms has been c reated in the CX-Programmer, the y must be transferred to the Mo tion Con trol Mod ules through th e Coor dinator M odule.
18 Basic Operating Procedure Section 1-6 1,2,3. .. 1. Select t he bit for differential moni tori ng. 2. Select Diff er enti al Mon itor from the PLC M enu. The Differential Monitor Dialog B o x will be displ ay ed. 3. Select Risi ng or Falling. 4. Click the Start Button .
19 Function T ables Arranged by Purpose Section 1-7 1-7 Function T ables Arranged by Purpose 1-7-1 Sync Cyc les and Synchr o nized data Purpose Operation Function us ed Details Synchro nizing 3 or mor.
20 Function T ables Arranged by Purpose Section 1-7 Synchro nizing 3 or mor e axes Make contr ol cycle a s sho r t as poss ible w ith Modul es sy n- chroni zed Synchron izing Motion Contro l Modul es on ly Sync Mo de, Sync Cycle Time 5-1 Sync hronous O peratio n betw een Modules Set Sync Mode to Sync and Sync Cycl e Time to betw een 0.
21 Function T ables Arranged by Purpose Section 1-7 1-7-2 P osition and Speed Contr ol Purpose Operation Main fun ctions used Details PTP posit ioning using p ulse I/O Using Ser vo Driv er compa ti- b.
22 Function T ables Arranged by Purpose Section 1-7 PTP posit ioning using p ulse I/O Using Ser vo Driv ers compati - ble with an Absolute Encoder Reading PV from Se r vo Driver • Ab solute counter .
23 Function T ables Arranged by Purpose Section 1-7 PTP posit ioning using a nalog I/O Simple p osition- ing usi ng in ve r t- ers Stepped o r sloped analog outp ut cor re- spondi ng to the high-sp ee.
24 Function T ables Arranged by Purpose Section 1-7 Synchro nous control Slave axis co n- trol sync hro- nized t o vir tual axi s. Electroni c cam: Chan gin g tar get pos ition and speed e ve ry cycle based on vir tual p uls e ou t- put (pos ition or speed) t o e x e- cute po sitioning .
25 Function T ables Arranged by Purpose Section 1-7 1-7-3 Measuring Input Pulses Speed co ntrol T orque cont rol (positio n + torque c ontrol) Individ ual axis control f or mold- ing equ ipment and sim ilar applic ations Switching betw een posi - tion and torque control mo des.
26 Function T ables Arranged by Purpose Section 1-7 1-7-4 High-speed Analog I/O Contr ol Detec ting spee d using ro tar y encode r inputs Detec ting spee d and us e in o ut- put co ntro l whi le manag.
27 Function T ables Arranged by Purpose Section 1-7 Control using measur ement results fo r undu- lation, d istortion, thic kness , heigh t, di ame- ter , etc.
28 Function T ables Arranged by Purpose Section 1-7 1-7-5 Controlling Timing Purpose Operation Main fun ctions used Details Respo nding quic kly to e xter- nal sig nals and oper ate Ex ecuting pro- cessi ng as soon as chan ge i n e xternal input signal detected Star ting inte r- ru pt pro ces sing when an in put bit turns ON and/or O FF .
29 Function T ables Arranged by Purpose Section 1-7 Operat ion w ith highly precise timing Increas ing accu - racy of e xter nal output O N time . (F eeding, hole opening , tape windi ng, gluing, and othe r appli- cations ) High-prec ision ON output s, with minimum uni t of 0.
30 Function T ables Arranged by Purpose Section 1-7.
31 SECTION 2 Specif ications and Nomenclatur e This section pro vides the specif ications of the FQM1 and de sc ribes th e par ts and thei r fu ncti ons o n the Coo rdi nator Mod ule and Motion Contro l Modules. 2-1 List of Models . . . . . . . . . . .
32 List of Models Section 2-1 2-1 List of Mode ls Note If CX-Programmer V er . 5.0 is us ed with the F QM1, the FQM 1 P atch Sof tware must be installe d.
33 General Sp ecifications Section 2-2 Note (1) Disconnec t the P ower Supp ly Unit's L G ter mi nal from th e GR ter minal when t esting insula tion and di electr ic s trength. T esting t he ins ulation and dielect ric strength with th e LG a nd GR ter minals co nnected wi ll da mage inter na l circuit s.
34 Coordinator Modul e Section 2-3 Note (1) T he in rus h current is given for a cold s tar t at room tempe rature with a n A C power supply . The A C inr ush contr ol circui t uses a ther mis tor elemen t with a low -temperature curre nt contro l ch aracteri stic.
35 Coordinator Modul e Section 2-3 Switch on Fr ont P anel P er ipheral P or t Baud Rate Detection/ Syst em Setu p Swit ch Function Specifications PRPHL Y ello w P eripheral p or t communi catio ns Lit Communic ating via the peripher al por t. Not lit All othe r times .
36 Coordinator Modul e Section 2-3 CIO Area Input Bit Are a 1 6 bits (CIO 00 00): CIO 0000.0 0 to CIO 0000.1 5 Output Bi t Area 8 bits (CIO 000 1): CIO 0001 .
37 Motion Control Modules Section 2-4 I/O Specifications Built-in General-purpose I/O 2-4 Motion Control Modules Motion Control Module FQM1-MMP21 (Pulse I/O ) R UN ou tput 1 (wh en CJ 1W-P A205 R used.
38 Motion Control Modules Section 2-4 FQM1-MMA21 ( Analog I/O) Nomenc lature Indicators Note IN0 to IN 11, OUT0 to O UT7, an d A1 to B2 are al l co ntrolled by har dware.
39 Motion Control Modules Section 2-4 P erformance S pecifications Item S pecifications Control method Stored prog ram I/O co ntro l met hod Cycl ic sc an Progr amming langua ge Ladder diagram Instruct ion length 1 to 7 ste ps per ins truction Numbe r of instru ctions Appro x.
40 Motion Control Modules Section 2-4 I/O Specifications General-purpos e I/O Specifications Common Specifications f or FQM1-MMP21 (Pulse I/O) and FQM1-MMA21 (Analog I/O) P owe r interruption h old fu.
41 Motion Control Modules Section 2-4 Pulse I/O Sp ecifications FQM1-MM P21 (Pulse I/O ) Item Specific ations Pulse inputs Number o f counters 2 Counter o peration s Linear coun ter and ci rcular cou nter Input sign als T wo w ords eac h f or phase A, phase B , and phase Z .
42 Motion Control Modules Section 2-4 Pulse Inputs and Analog I/O Specifica tions FQM1-MMA21 ( Analog I/O) Item Specificati ons Pulse inputs Numb er of coun ters 2 Counte r operati ons Linear cou nter , circular counter Input si gnals T wo w ords each fo r phase A, p hase B , and phase Z.
43 Dimensions Section 2-5 2-5 Dimensions FQM1-CM001 Coor dinator Module FQM1-MMP21/MMA21 Motion Contr ol Modules FQM1-TER01 End Module FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHER.
44 Dimensions Section 2-5 P ower Suppl y Units CJ1W -P A202 CJ1W -P A205R 65 45 81.6 90 POWER PA202 INPUT NC NC AC100 -240V L2/N L1 POWER PA205R DC24V AC240V OUTPUT RUN INPUT AC100-240V L2/N L1 65 80 81.
45 Module Cur rent Consum ption Section 2-6 XW2B-80 J7-1A Se rvo Relay Unit 2-6 Module Current Consum ption The amou nt of current /power that can be suppli ed to the M odules mo unted i n the FQM1 is lim ited.
46 Module Cur rent Consum ption Section 2-6 Motion Contr ol Modules Current Consumpti on for 24-V Syst ems Exam ple Calcula tion of Current and P ower Consumption Exampl e f or CJ1W- P A202 P ower Sup.
47 Memory Block Diagram Section 2-7 2-7 Memory Blo c k Diagram Coordina tor Modu le an d Motion Control Modul e memor y has t he following bloc k confi gurations. • I/O Memor y Area: Mem or y acc essible from user programs. • Us er Memor y (UM): User pr ograms and paramete r area (See note 1.
48 Memory Block Diagram Section 2-7.
49 SECTION 3 Installation and W iring This secti on describes ho w to install and wire the FQ M1. 3-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 3-1-1 Installation and W iring Precautions .
50 Installation S ection 3-1 3-1 Installation 3-1-1 Installation and Wiring Precautions Be sur e to co nsider the following factors whe n inst alling a nd wir ing the FQM 1 to improve the reliability of the syst em and make the most of th e FQM1’ s func- tions.
51 Installation S ection 3-1 • T he FQM1 will be easiest to install and operate if it is mounted at a he ight of about 1.0 to 1.6 m . Impro ving Nois e Resistance • Do no t mount the F QM1 in a co ntrol pane l containi ng high-voltage equi p- ment.
52 Installation S ection 3-1 FQM1 Orientation • T he FQM1 mus t be mou nted in an upr ight pos ition to provide proper coo l- ing. • Do n ot ins tall t he FQM1 in any of the f ollowing posi tions.
53 Installation S ection 3-1 3-1-2 Installation in a Contr ol P anel The FQM 1 must be mou nted in side a control pa nel on DIN T rac k. Note The FQM1 must be mounted on DIN T rack. It cannot be mou nted with screws. Wiring Ducts Use wiri ng ducts to wi re the FQM1’ s built-in I/O .
54 Installation S ection 3-1 Routing Wi ring Ducts Install the wir ing du cts at leas t 20 mm awa y from the FQM1 and any other objects, (e.g., c eiling, wir ing duct s, str uctural suppor ts, and devices) to pro- vide eno ugh sp ace for air cir culation and repl acement o f Modul es.
55 Installation S ection 3-1 Assembled Dimensions W = a + 49 + 49 × n* + 14.7 * n is the number of conne cted Mo tion Contro l Modul es (Up to 4 can be con- nected.) P ower Supply Unit width: “a” mm Coordina tor Module wi dth: 49 mm Motion Con trol Module width: 49 m m End Modul e widt h: 14.
56 Installation S ection 3-1 Installation Height The inst allatio n heig ht of the FQM1 varies from 115 to 165 m m. When a CX -Programmer or conne cting cables are conn ected, howe ver , ev en greater height is req uired. Al low suffic ient de pth in the con trol pa nel contai n- ing th e FQM1.
57 Installation S ection 3-1 2. Mov e the yellow sliders at the top a nd bottom of ea ch Mod ule unti l they click into pla ce to lock the Mo dules together . Note If the l ocking tabs are n ot se cured proper ly , the F QM1 m ay not func tion pr op- erl y .
58 Installation S ection 3-1 2. Fit the back of the FQM1 onto the DIN T rac k by inser ting the FQM1 onto the top of the T rack and then p ressing i n at th e botto m of the F QM1, as shown bel ow . 3. Lock the pins on the backs of t he Modu les. 4. Install a DIN T rack End Plate on each end of the FQ M1.
59 Installation S ection 3-1 DIN T rack and Access ories Use the DIN T ra ck and DIN T rack End Plates s hown below . • DIN T rack Model numbe rs: PFP- 50N (50 c m), PFP- 100N (10 0 cm), a nd PFP-100N 2 (100 cm) Secure the DIN T rack to the c ontrol pan el using M4 screws separated by 210 mm (6 holes ) or les s and us ing at leas t 3 scr ews.
60 Wi r i n g Section 3-2 3-2 Wiring 3-2-1 Wiring P ower Supply Units Note The R UN outpu t function is provided onl y f or the CJ 1W -P A205R Po wer Sup- ply Unit . It is not provided on the CJ1 W -P A202 P ower Supply Unit. A C Po wer Source • Suppl y 100 to 240 V AC .
61 Wi r i n g Section 3-2 T ermi nal Screws and Crimp T erminals The ter mi nals on the P ower Supply Uni t use M4, self- raising ter minal s crews. Note (1) Us e cr imp te rm inals for wiring . (2) Do n ot con nect bar e stranded w ires dire ctly to t er minal s.
62 Wi r i n g Section 3-2 • LG is a noise -filter ed neutral ter m inal. If noise is a significan t source of errors an d to prev ent electr ical sh ocks, connect the l ine ground ter mi nal to the ground ter minal and ground both with a ground re sistance o f less than 100 Ω or less .
63 Wi r i n g Section 3-2 T ermi nal Screws and Crimp T erminals The ter mi nals on th e P ower Supply Uni t use M4 s elf-raisi ng ter mi nal screws. Note (1) Us e cr imp te rm inals for wiring . (2) Do n ot con nect bar e stranded w ires dire ctly to t er minal s.
64 Wi r i n g Section 3-2 3-2-2 RS-232C P ort Wiri ng Connector Pin Arrang ement Note Do not connect the 5- V power supply on pin number 6 of the RS-232C por t t o any de vices oth er than a NT -AL0001 C onv er t er . Doi ng so may damage th e ex ter nal device and the Co ordinato r Module.
65 Wi r i n g Section 3-2 P eripheral Bus (T oolbus) Serial Comm unications Mode Use the following conn ectors and cables if m aking the RS-232C c able f o r RS- 232C por t connec tions.
66 Wi r i n g Section 3-2 Connection Example to Pr ogrammab le T erminal (PT) Direct Con nection f rom RS-232C to RS -232C • Com municati ons Mode : NT Link (1:N, N = 1 node only) • O MRON Cables with Connector s: XW2Z200T ( 2 m) XW2Z5 00T (5 m ) RS-232C P ort Specifications Note Baud rates for the RS-232 C are specifi ed only up to 19.
67 W iring Module Connectors Section 3-3 3-3 Wiring Modu le Connectors 3-3-1 Connector Pin Arrangement The following tables p rovide the conne ctor pi n arrange ment for FQM1 Mod- ules. FQM1-CM001 Coordinator Module General-purpose I/O 40-pin Connector Pin No.
68 W iring Module Connectors Section 3-3 FQM1-MM @ 21 Motion Control Modules General-purpose I/O 26-pin Connector FQM1-MMP21 Pulse I/O 40-pin Connector Pin No. Name Address Pin No. Name Address 26 Not used . 25 No t us ed. 24 External input 0 (interrupt inpu t) CIO 0 000.
69 W iring Module Connectors Section 3-3 FQM1-MMA21 Analog I/O 40-pin Connector 23 Cou nter 1 SEN output si gnal f or absolute Servo Driver SEN output 24 Counter 2 SEN out put si gnal for absolute Ser.
70 W iring Module Connectors Section 3-3 Note Connect th e voltage inp ut (+) and the cu rrent in put when us ing with a curren t input between 4 and 2 0 mA. 3-3-2 External Connection Dia grams The conn ections wi th the Ser v o Dr ivers, the main type of device connected , are outl ined in th e following tables.
71 W iring Module Connectors Section 3-3 3-3-3 Wiring Exa mples Connecting Pulse Inputs (FQM1-MMP21/ MMA21) Connect th e output from an en coder to the co nnecto r in the following way , accord ing to the por t's counter operation. Note The numbers in paren theses a re the pin numbers o n the ne gative side.
72 W iring Module Connectors Section 3-3 • T he wir ing for an encoder wi th a line-d river output (A m26LS3 1 or equiva- lent) is shown be low . Connecting a Serv o Driver (OMR ON's W Se ries).
73 W iring Module Connectors Section 3-3 Connecting Pulse Outputs (FQM1-MMP21) Examp le Connectio ns with a Ser vo Dr iver are given below , as an example.
74 W iring Module Connectors Section 3-3 Connecting Analog Outputs (FQM1- MMA21) Output s ignals a re conne cted a s shown i n the following diagram. Connecting Analog Inputs (FQM1-MMA21) V oltage Inp.
75 W iring Servo R elay Units Section 3-4 Applicable Connector -T erminal Bloc k C on version Units Recommended Wire Siz e The recomm ended size for cable wires is A W G24 to A WG26 (0.2 to 0.13 mm 2 ) . Use a ca ble with an o uter diam eter of le ss than 1 .
76 W iring Servo R elay Units Section 3-4 Nomenclature and Functions 1,2,3. .. 1. Motion Con trol Module 40-pin C onnect or Connects to the 4 0-pin conn ector on the Moti on Cont rol Modu le. 2. Motion Control Module 34-pin C onnect or Connects to the 26 -pin connect or on the Mo tion C ontrol M odule.
77 W iring Servo R elay Units Section 3-4 Upper T erminal Block Pin Ar rangement Lowe r T erminal Block Pin Arrangement Note (1) Alloc ated when co nnect ing an FQ M1- MMA21 Anal og I/O Moti on Co nt rol Module. (2) Us ed as the power s upply for FQM1-MMP 21 pul se outputs or SEN o ut- puts for Ser vo Dr ivers compat ible with abs olute encoder.
78 W iring Servo R elay Units Section 3-4 6. Signal S witch es Note (a) A n exter nal encod er with a line-dr iver output c an be con nected . (b) F or 4 to 2 0 mA cu rren t inputs, voltage input ( +) and curren t inpu t do not need to be connected . 7.
79 W iring Servo R elay Units Section 3-4 External Dimensions Wiring Screw -less Clamp T erminal Bloc ks Screw-less clamp te r min al blocks use clam ps to attach wires, and do no t require s crews. In addition to co ntrol si gnal wir ing to S er vo Drivers, clamp ter- minal blocks can be use d to connec t sens ors and extern al devices.
80 W iring Servo R elay Units Section 3-4 Recommended Scr ewdriver Model Man ufacturer SZF1 Phoenix Contact Inc. 3.5 mm 0.6 mm Side Front.
81 W iring Servo R elay Units Section 3-4 Wiring when Using Serv o Relay Units FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL PORT ON OFF CM001 2 CN1 RS422 1 40 39 1 2 MMP21 2 CN2.
82 W iring Servo R elay Units Section 3-4 Exam ple Serv o Rela y Unit Wiring When Ser v o Relay Units for the FQM1 a re used, th e I/O power supply is pro- vided fr om ter min als 20-0 , 21-1, and 60 -40. The o nly additi onal wir ing required ar e the connec tions between the signals, as s hown in the f oll owing diagram.
83 List of FQM1 Connecting Cables Section 3-5 3-5 List of FQM1 Co nnecting Cables It is reco mmende d that specia l cables are use d when connec ting Coo rdinator and Motio n Contr ol Module s to S er vo Relay Units. Connecting Cable Models 1,2,3. .. 1.
84 List of FQM1 Connecting Cables Section 3-5 3. Ser vo Relay Unit Connec ting Cables (for FQM1-MM P21/M MA21, 4 0-pin MIL C onne cto r) 4. RS-422A Con necting Ca bles (with 9-pi n D-sub Connector ) 5. Ser vo Driver Connecting Cables (Ser vo Rela y Unit to Ser vo Driver) 6.
85 W iring Precautions Section 3-6 • Attach th e modif ied ca b le to the XW2D- 40G6 Con nector- T ermi nal B lock Conv e rsi on Unit . 3-6 Wiring Precautio ns 3-6-1 Reducing Electrical Noise I/O Si.
86 W iring Precautions Section 3-6 Inductive Loads When an indu ctive load i s conn ected to I/O, connect a surge suppres sor or diode in parallel w ith the load as shown be low . Note Use surge suppres sors a nd diodes with the following speci fication s.
87 W iring Precautions Section 3-6 3-6-2 Connecting I/O De vices Input Devi ces Use the following infor matio n f or reference when sel ecting or connectin g input de vices.
88 W iring Precautions Section 3-6 • The circuit below sho uld NOT be use d for I/O devices having a voltage output. Precautions when Connecting a T w o-wire DC Sensor When using a two-wire sensor with a 24-V DC input device, check that the f ol- lowing con ditio ns hav e been m et.
89 W iring Precautions Section 3-6 3. Relation b etween FQM1 O FF cur rent and sen sor lea kage curr ent: I OFF ≥ I leak Connect a bleeder res istor R if I leak is greater tha n I OFF . Use the following equation t o calcu late the bleeder resistan ce co nstan t.
90 W iring Precautions Section 3-6 Output Sur g e Current When con necting a tra nsistor or tri ac outp ut to an output d evice having a hig h surge c urrent (such as an incand esce nt lamp) , steps mus t be taken to avoid damage to the transi stor or tria c.
91 SECTION 4 Operation This section describes the oper ation of the FQM1. 4-1 Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 4-1-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . .
92 Coordinator Modul e Section 4-1 4-1 Coord inato r Module The FQM1 Coordina tor Modul e and e ach Motio n Contr ol Module hav e se pa- rate ladder pr ogramming.
93 Coordinator Modul e Section 4-1 Syste m Setup The Syst em Setup c ontain s so ftware s witc hes use d to make in itial s ettings and oth er setti ngs. As shown in Ap pendix C Sy stem S etup, A u xiliar y Area Alloca tions, and Bu ilt-in I/ O Alloc ations , address es (words and bits) are all o- cated f or se ttings in the System Setup.
94 Coordinator Modul e Section 4-1 4-1-3 I/O Refreshi ng and P eripheral Servic ing I/O Refreshing I/O ref reshing up dates general- pur pose I /O st atus. All I/O is re freshed in th e same cy cle (i.e., time slici ng is not used ). I/O refre shing i s always performe d after program e xecution.
95 Motion Control Modules Section 4-2 4-2 Motion Control Modules 4-2-1 Outli ne Motion Co ntrol M odule s eac h hav e i ndependen t ladd er pro gramming, whic h perform processi ng ind ependentl y from o ther M odules. Th e follo wing diagram shows the int er nal s truc ture of Mo tion Co ntrol Mod ules.
96 Motion Control Modules Section 4-2 Broadl y speaki ng, the u ser p rogram cons ists of a c yclic task and i nterr upt tasks, whic h are ex ecuted f or inte rr upts. The cy clic ta sk i s e xecuted ev er y cycle. The use r program is stored in RAM and flash mem or y .
97 Motion Control Modules Section 4-2 Sync Mode Operation I n Sync M ode , th e Moti on Co ntrol Modul e's cy clic s can i s sync ed with the Coor dinat or Mo dule's cyclic sc an or the s ync cyc le time s et in the Sy stem Setup. The program in each Moti on Con trol Mod ule is thus ex ecuted a t the same tim e.
98 Motion Control Modules Section 4-2 Initialization at At po wer ON Inter nal Module i nitia lizatio n (det er minin g the o peratin g mode, initi alizing user memor y , clear ing spec ified memor y areas, checking for memor y corr uption , reading the Syste m Setup, etc.
99 Operating Modes Section 4-3 4-3 Operat ing Mode s 4-3-1 Operating Modes Coordina tor and Motion Control Modules hav e th ree operati ng modes tha t control the user program.
100 P o wer OFF Operation Section 4-4 4-3-3 Operating Mode Changes and I/O Memory Note (1) T he cycle ti me wil l incre ase by approximately 10 ms when the operatin g mode is chang ed from M ONIT OR to RUN mode. This will not caus e an error f or e xceeding t he maximum cycle time limit.
101 P o wer OFF Operation Section 4-4 Note The above timing char t shows an example when th e User-set P ower OFF Detection Time is set to 0 ms. The following timing char t shows the Coordinato r Module power OFF opera- tion in m ore detai l.
102 P o wer OFF Operation Section 4-4 Description of Operation P ower OFF wil l be dete cted i f the 10 0 to 24 0 V AC power supply stays below 85% of the mi nimum rated voltage f or the Fi xed P ower OFF Detect ion Time (variable between 10 to 25 ms.
103 SECTION 5 Module Functions and Data Exchange This section describes the fu nctions common to bo th the Coordinator Modu le and Motion Control Modul es and the methods to transfer data between the Coordinator Module and Motion Control Modules. 5-1 Synchro nous Operation between Mo dules .
104 Synch ronous Operation betw een Modules Section 5-1 5-1 Synchr onous Op eration between Mo dules Sync and ASync Modes Sync Mode The Coordin ator Modul e and Mo tion Cont rol Modul es are nor m ally set to operate us ing the same cycle t ime, i.e., sync hronous ly .
105 Data Exchange between Modul es Section 5-2 5-2 Data Exchange b etween Modules The three method s f or data exchange between C oordi nator and Motion Con- trol Modu les a re outlin ed in the following table. These m ethods can be u sed simultaneo usly .
106 Cyclic Re fresh Section 5-3 5-3 Cyc lic Refresh 5-3-1 Outli ne Status i nf or mati on, general -pur pos e I/O , and ot her infor mation for each Motion Cont rol Mo dule in the Cy clic Refr esh Area of th e Coord inator Mo dule are refres hed ev e r y Coor dinator Module cycle (a synchr onous to th e Motio n Control M odule cyc les).
107 Cyclic Re fresh Section 5-3 5-3-3 Cyc lic Refresh Area Details Coordinator Module Cyclic Refresh Area CIO 0100 to CIO 0109 in each Mot ion Control Mod ule is alloc ated to ten words between CIO 0 100 to CIO 0139 in the Coordinator Module acc ording to the slot number for the Motio n Control Module.
108 Cyclic Re fresh Section 5-3 5-3-4 Cyc lic Refresh Area Allocations CM: Coordina tor Module MM: Mo tion Cont rol Mod ule CIO 0105 00 to 07 MM Output Re fresh Area (This MM to CM) Data from thi s area is al lo- cated to the Coordi nator Mod - ule's CM Inp ut Refresh Area (MM to CM).
109 Synchron ous Dat a Refre sh Section 5-4 5-4 Synchr onous D ata Refresh 5-4-1 Outli ne If Sync is s et under Sy nchroni zation be tween Modul es in the Sy stem Setup, each Mo dule w ill broadc ast the spec ified da ta (2 ty pes data , 4 word s max.
110 Synchron ous Dat a Refre sh Section 5-4 Synchr onous Data Note (1) Synchron ous data for Coord inator Mo dules is fi xed to general-pur p ose (ladder ex ecution results ) data. (2) If the re is no synch ronous da ta to be sent, sel ect no data for Select Syn- chronou s Data in the System S etup to sh or ten the synch ronous dat a transfer time.
111 Synchron ous Dat a Refre sh Section 5-4 Note (1) Ad dresses ar e the same for the Coordinator Modul e and all Mo tion Con- trol Mod ules. (2) Wh en the sy nchronou s data is one -word data (an alog i nput values, ana- log output values, built-in I/O, etc .
112 DM Data T ransfer Section 5-5 Syste m Setup ( Motion Contro l Modules) Selecting Sync hronous Data Select the type of sy nchron ous data to be s ent by each Motion Con trol M od- ule in th e System Setup for that Mo tion Co ntrol Mod ule, as shown in the fol- low in g tabl e.
113 DM Data T ransfer Section 5-5 5-5-2 Settings Details The sett ings for using the DM data tran sfer function are mad e in the A uxi liar y Area. 5-5-3 Executi ng DM Data T ransfer Step 1: Mak e Auxiliary Area Settings T o transfer data, the A uxiliar y Area setting s, descr ibed ea rli er , must be m ade.
114 Cycle T ime Set tings Section 5-6 Step 2 : T u rn ON R equest Bit • T ransferring DM Data from the Coo rdinator Module to a M otion C ontrol Module: T ur n ON the DM Wr ite R equest Bit (Coo rdinator Module t o Moti on Cont rol Modu le) (A5 30.0 0).
115 Cycle T ime Set tings Section 5-6 System S etup Constant Cycle Ti me Exceeded Flag Constant Cycle Ti me Exceeded Error Clear Bit Constant Cycle Time Function in Sync Mode When in Sy nc Mode with a.
116 Cycle T ime Set tings Section 5-6 Note When the c onst ant cycle ti me fun ction is enabled for the Motion Control M od- ule in A Sync Mode, the M otion Co ntrol Mo dule's cy cle tim e will be cons tant.
117 Cycle T ime Set tings Section 5-6 5-6-4 Clearing Constant Cyc le Time Exceeded Err ors When us ing th e con stant cy cle ti me functi on, no rm ally the cy cle tim e will no longer s tay constan t (i.e., will vary depending on the real cy cle time) if the constan t cycl e time i s exceeded o nce.
118 Operation Settin gs at Startup and Maintenan ce Functions Section 5-7 5-7 Operat ion Se ttings at Startup an d Mainte nance Functi ons This sec tion des cri bes the f ollowing operation se ttings at star tup and main te- nance fun ctions.
119 Operation Settin gs at Startup and Maintenan ce Functions Section 5-7 P asswor d Protectio n 1,2,3... 1. Register a password either o nline or offline. a. Select the Modu le in the Device T ype drop -down menu and sel ect Prope r ties from the View Menu.
120 Diagnostic Function s Section 5-8 in the PLC prope r tie s and Window/PLC Memory Backup Status mus t be sele cted from the Vi ew Menu. F or nor m al transfer operatio ns ( PLC/T ransfer ), the backup status will be dis play e d in the t ransf er wi ndow after t he tran sfer status for the program and other data.
121 Diagnostic Function s Section 5-8 The number of rec ords is stored in binar y in the Error Log Pointer (A408). T he pointer is not in cremente d when m ore than 20 error s have occurred. Note The FQM1 d oes not supp or t a c lock and the time data in the error log will alwa ys be 0101.
122 Diagnostic Function s Section 5-8 Errors generated by F A L(006) can be clea red by e xecuting F AL(006 ) with F AL number 00 or performin g the error read/clea r operation from the CX-Program- mer . Operation of F ALS(007) When inp ut con dition B goe s ON , an err or with F ALS numb er 3 i s generate d and A401.
123 SECTION 6 Coordinator Module Fu nctions This section describes the ser ial communications fun ctions, which are supported only by the Coordinator Module . 6-1 Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
124 Serial Comm unications Section 6-1 6-1 Serial Communications The FQM 1 supp or ts the following ser ial communica tions functions. Pr otocol Connecti ons Description P orts Pe ripheral RS- 232C RS.
125 Serial Comm unications Section 6-1 Note The CJ1 W -CIF11 is not insul ated a nd the total t ransmissio n distan ce is 50 meters m ax. If the tota l transmis sion distan ce is great er than 50 meters, use the insul ated NT - AL001 an d do not use the CJ1W -CIF11 .
126 Serial Comm unications Section 6-1 6-1-1 Host Link Communications The following table shows th e Host Link communica tion fu nction s availab le in FQM1. Sel ect th e metho d that be st su its your applic ation . Pr ocedure A list of Host Lin k comma nds is provided next.
127 Serial Comm unications Section 6-1 Host Link Commands The follo wing table lists th e Host L ink com mands. Refer to the C-ser ies Hos t Link Uni ts Syst em Manual (W143) for details.
128 Serial Comm unications Section 6-1 FINS Commands The following table lis ts the F INS comma nds. Refer to th e C-ser ies Host Link Units Sy stem Manual (W143) for details. Progra m ar ea access com- mands RP PROGRAM READ Reads the contents of the C oordinator Module’ s user p rogram area i n machine language (object c ode).
129 Serial Comm unications Section 6-1 6-1-2 No-pr otocol Comm unications (RS-232C P ort) No-prot ocol Mo de is used to se nd and rec eive data using the c ommunicati ons por t TXD(236) an d RXD(235 ).
130 Serial Comm unications Section 6-1 Pr ocedure Message Frame Formats Data can be plac ed betw een a start co de and en d code f or transm ission by TXD(236) and frames with that sa me forma t can be received by RXD(235) .
131 Serial Comm unications Section 6-1 Refer to the Instr uct ions R eference Manual (Cat. No. O011) f or more d etails on the TX D(236) and RXD(2 35) inst ruc tions. System Setup RS-232C Settings (Host Link Port Settings) Note The set tings ar e made us ing CX -Programmer V er .
132 Serial Comm unications Section 6-1 6-1-4 Serial PLC Links Overvie w The FQM1 can be conne cted to a Ser ial PL C Link by linkin g to a Se r ial PLC Master .
133 Serial Comm unications Section 6-1 Direction of Data T ransfer For e xample, if th e number of li nk words i s set to 10 , the CJ1 M CPU Unit (master) will broadca st CIO 310 0 to CIO 3109 from its I/O memor y and to CIO 0080 to CIO 0089 in the I/O mem or y of each FQM 1 Controller (slaves).
134 Serial Comm unications Section 6-1 Settings CJ1M (Master) PLC Set up Note (1) A uto matic ally all ocates 10 words (A hex) when the default setting of 0 hex is used. (2) Con nectio n to the F QM1 is not possi ble at 115,200 b its/s. FQM1 (S lave) System Se tup Note The set tings ar e made us ing CX -Programmer V er .
135 Serial Comm unications Section 6-1 Note When the Se r ial Gatewa y function is u sed, the FQM1 rece ives FINS com- mands (e ncapsulated W -ser ies or SMARTSTEP com mands ) via the RS-4 22A por t f.
136 Serial Comm unications Section 6-1 6-1-6 No-pr otocol Comm unications (RS-422A P ort) RS-422A Sett ings Note The set tings ar e made us ing CX -Programmer V er .
137 SECTION 7 Motion Contr ol Module Functions This section describes th e v arious functio ns supported by the Motion Co ntrol Module. 7-1 Ov erview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
138 7-6-10 Range Compar ison Bit Pattern Outputs from Puls e Output PVs . . . 182 7-6-11 Acceleration/Deceleration R ates in A CC(888) and PLS2(887) Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 7-6-12 PLS 2(887) Pul se Output Directi on Prio rity Mode .
139 Overview Section 7-1 7-1 Over view The FQM 1 Modules hav e the following func tions. Main functio n (Applic able Mo dules) Sub-functions Basic i nterrupt functi ons (FQM1-M MP21/MM A21) Input Int errupts (4 po ints) (Inpu t Interrupt Mod e or Counter Mod e) Interval T imer Interrupt (1 point ) Sett ing rang e: 0 .
140 Interrupt Fun ctions Section 7-2 7-2 Interru pt Functio ns 7-2-1 Overvie w The Moti on Cont rol Modu les supp or t t he following interr upts. Executing Interrupt Pr ograms in the FQM1 The programmi ng routin es that ar e ex ecute d for all of the following interr upts are programmed as interr up t tasks.
141 Interrupt Fun ctions Section 7-2 This situ ation can be av oi ded with the programming me thods s hown in the fol- lowing diagram. Note Only o ne int errupt task number is recorde d for pulse output and high- speed count er interr upts.
142 Input Interru pts Section 7-3 The EI(694 ) instr ucti on does not enable all inter rup ts. If an interr upt was masked before all in terr upts were di sabled, that inter rupt w ill s till be masked after the prohibi tion on al l interr upts is clea red.
143 Input Interru pts Section 7-3 Counter Mod e 7-3-5 Using Input I nterrupts Input Interrupt Mode Pr ocedure 1,2,3... 1. Deter mine which in put inte rrupt num ber will be used. 2. Wire t he i npu t. 3. Make the ne cess ar y Sys tem Se tup se ttin gs.
144 Input Interru pts Section 7-3 Counter Mode Pr ocedure 1,2,3. .. 1. Deter min e which i nput inter rup t number will be used . 2. Deter min e the i nitial S V for the decrem enting count er . 3. Wire th e input. 4. Make the necess ar y Sys tem Setup settin gs.
145 Input Interru pts Section 7-3 7-3-6 Applicatio n Example This example s hows input in terr upt 0 and in put int errupt 1 used in inter rup t input mod e and c ounter mo de, respect ively .
146 Interval T imer Interrupts Section 7-4 The following timing char t shows the operation of t he program as it is ex e- cuted . Note (1) Cou nting con tinues ev en whil e the i nterrup t task is bein g ex ecute d. (2) The i nput i nterru pts are m asked after th is point .
147 Interval T imer Interrupts Section 7-4 7-4-5 Applicatio n Example In this e xampl e, the inter v a l timer is use d to ge nerate an i nterr upt ev er y 2.4 ms (0.6 ms × 4). The default System Setu p setting s are u sed. (In puts are not refres hed for interr upt pr ocessi ng.
148 Pulse Inputs Section 7-5 7-5 Pulse Inputs 7-5-1 Applicab le Models 7-5-2 Outli ne The FQM 1-MMP21 and FQ M1-MMA2 1 Motion C ontrol Modules can re ceive pulse inpu ts.
149 Pulse Inputs Section 7-5 Counte r va lues Linear Cou nter: 8000 0000 to 7FFF FF FF he x Circul ar Counter: 0000 000 0 to Circ ular maxim um co unt (he x) (The circ ular maxim um co unt is se t in the Sy stem Setup between 0000 0001 and FFFF FFFF h ex .
150 Pulse Inputs Section 7-5 7-5-4 Pulse Input Specifications Item Specifi cation Number of pulse i nputs 2 inpu ts Note High-spe ed counte r 1 can be an RS-422A li ne-drive r input or a n input wit h a v oltage o f 24 VDC .
151 Pulse Inputs Section 7-5 Min imum r esponse pulse At 50 kHz At 500 kH z Operatio n ma y not b e reliab le abov e 50 kH z. Item Specifi cation OFF ON 50% OFF ON T1 T2 T4 T3 OFF ON 50% ON 50% OFF Encoder Inputs A and B Wa veform of Encoder Inputs A and B Signal rise and fall must be 3 µ s max.
152 Pulse Inputs Section 7-5 7-5-5 Latc h Input Specifications 7-5-6 Applicab le Instruct ions 7-5-7 Internal C ir cuit Configur ations Pulse Inputs Phases A and B Phase Z Item S pec ific at ion Numb er of i nput s 2 Input v oltage 20.
153 Pulse Inputs Section 7-5 7-5-8 Pulse Input Functi on Description The pulse inp ut functi on uses the high -speed co unter s. The pulse input fun c- tion can be u sed t o moni tor cha nges (mov emen t) in t he hig h-speed counter PV (mo de 1) or chang es in the high- speed co unter frequenc y (mode 2).
154 Pulse Inputs Section 7-5 Counter Operation (Numeric Ranges) The following two counter operation s are av aila b le for high-spee d counte rs 1 and 2, with the sp ecified counti ng ranges.
155 Pulse Inputs Section 7-5 ■ Phase-Z Signal (Reset Input) and Software Rese t The PV of th e high -speed cou nter is reset on the fir st r ising edge of the phase -Z signal after the correspo nding Hig h-speed Counter Reset Bit (see below) tur n s ON.
156 Pulse Inputs Section 7-5 ■ Range Comparison Method Up to 16 compar iso n ranges (lower and upper li mit values) and corr espondin g output bi t patter ns can be regist ered in the compar ison table.
157 Pulse Inputs Section 7-5 Monitoring High-speed Counter Mov ement (Mode 1) This func tion mo nitors t he cha nge in a high-speed count er’ s PV (trav el di s- tance) regular ly at t he pr eset sam pling pe r iod. The sampli ng per iod can b e set betwee n 1 and 9,9 99 ms.
158 Pulse Inputs Section 7-5 High-speed Counter Movement (Mode 1) Spe cification s Note (1) Wh en usin g mode 1 wi th a ci rcular c ounter , set the m aximum cir cular val- ue to 10 or higher . (2) In mo de 1, the Mo tion Cont rol Modul e outputs the change a s the differ- ence in the count m easured each samp ling per iod.
159 Pulse Inputs Section 7-5 Frequency M easureme nt (Mode 2) Specif ications Latching a High-speed Counter’ s PV The prese nt counter value can be latc hed at t he ri sing edge of the l atch si gnal input an d stored as the latch re giste r value.
160 Pulse Inputs Section 7-5 7-5-9 Pulse Input Functi on Pr ocedures High-speed Counter Pr ocedure 1,2,3. .. 1. Deter min e the Input Mode, reset m ethod, a nd Nume ric Ran ge.
161 Pulse Inputs Section 7-5 Mode 1 Pr ocedure 1,2,3. .. 1. Deter min e the Counting Speed, In put Mode, Reset Metho d, and Coun ter Operation . • Cou nting Spee d: 50 k Hz or 50 0 kHz • Input Mod.
162 Pulse Inputs Section 7-5 • Mo nitor the hig h-speed counte r mov emen t value in A6 04 and A 605 (high- speed counter 1) or A 606 and A607 (hi gh-spe ed cou nter 2). Pr ocedure 1,2,3. .. 1. Set Coun ter movements (mode 1) in the System S ettings ( P ulse Inpu t, Coun ter da ta di spla y ).
163 Pulse Inputs Section 7-5 Exampl e When the P V reac hes 2,500 hex, interr upt task 10 is sta r ted . When the P V reac hes 7,500 hex, interr upt task 11 is sta r ted .
164 Pulse Inputs Section 7-5 Exam ple 2 : High-speed Counter Range Compa rison & Bit P att ern Output In this example, pulse inp ut 1 operat es a high- speed co unter , the high- speed count er PV is com pared i n a range comp aris on, a nd co rrespondi ng bi t patte r n is outpu t inte rn ally wh en the PV is within a spec ified rang e.
165 Pulse Inputs Section 7-5 Range High-speed Counter PV Time Content of A612 3 10000 Range 2 7500 Range 1 2500 A612: 0001 hex 0002 hex 0004 hex 0008 hex 0001 hex 0002 hex 0004 hex 0008 hex 0001 hex P.
166 Pulse Inputs Section 7-5 Exam ple 3 : Latching High-speed Counter PV In this example, pulse inp ut 1 operat es a high- speed co unter , the high- speed counter PV is latche d, and the c aptured h igh-spe ed counter PV is read.
167 Pulse Output s Section 7-6 7-6 Pulse Outputs 7-6-1 Applicab le Models 7-6-2 Outli ne The FQM 1-MMP21 Motio n Control Module p rovides 2 pulse ou tputs. The pulse ou tputs can be us ed for the f ollowing func tions. Note Set the puls e output o peration mode f or each o utput in S ystem Set up (Puls e Out put T ab P age) .
168 Pulse Output s Section 7-6 7-6-3 Specifi cations Item S pec ific at ion Acceler ation/ d ecelera - tion None Y es T ra pezoi d None None (ac celera tion or decele ration ) Y es with se parate acce.
169 Pulse Output s Section 7-6 7-6-4 Pulse Output Specificatio ns All Pulse O utputs Except f o r One-shot Pulse Outputs One-shot Pulse Outputs Numbe r of out put puls es 1) Rela tiv e pulse outp ut: .
170 Pulse Output s Section 7-6 7-6-5 Applicab le Instruct ions The following se ven instruc tions can be used to cont rol pulse outp uts. The relatio nship between the i nstr uctio n and the t ypes o f pulse output th at is pos- sible is al so list ed in th e following table.
171 Pulse Output s Section 7-6 7-6-6 Pulse Output Function Details Overvie w Pulses are outp ut in ind ependen t mode or continuous mode. In i ndependen t mode, the number of ou tput puls es is s pecifie d in a dv ance. In c ontinuous mode, the number of outpu t pulses is not s pecifie d in ad v ance.
172 Pulse Output s Section 7-6 Pulse output operation mo de (Only in Independent M ode) Description Compatib le instructions (1) Relativ e pulse outpu t P ositions to a relativ e positio n from the present po sition. The nu mber of ou tput puls es (actual o utput amou nt) in the spe cified di rection is the targe t numbe r of pulse s.
173 Pulse Output s Section 7-6 Pulse Output Operations The following table shows the operations that can be perfor med with the pul se output functi on. Mode Frequency changes Des cription Procedure Example Inst ru c- tions Settings Contin u- ous mo de (Speed control) The f requency is changed in steps (u p or down) dur ing puls e out put .
174 Pulse Output s Section 7-6 Indepen - dent mode (P osition- ing) Puls e out put starts at the specif ied fre- quen cy and stop s when the specif ied n um- ber of pu lses hav e been ou t- put. (The numbe r of pulses cannot be chan ged dur- ing puls e out- put.
175 Pulse Output s Section 7-6 Note With ACC(888) and PLS2(88 7), the ac celeratio n/decele ration rate’ s speed -change cycle c an b e set to 2ms or 1 ms.
176 Pulse Output s Section 7-6 Form ula: Actual f requenc y = Clock frequ ency ÷ INT (clock frequenc y/target fr equency) Note INT (clock freq uency /target fr equen cy) is th e divi ding ratio. The difference between the ta rget frequ ency and the actual freq uency increa ses at hi gher freq uencies.
177 Pulse Output s Section 7-6 Set the puls e output ope ration mode to 1 sh ot in advance in the Sys tem Setup, as shown in the following table. Note A pulse ou tput por t that is bei ng used for one-shot pul se outputs cannot be used f or any other pulse output functions.
178 Pulse Output s Section 7-6 7-6-8 Time Measure ment with the Pulse Counter The one-s hot pul se output function can be used to c reate a high- precisio n pulse coun ter timer.
179 Pulse Output s Section 7-6 (3) If th e STIM( 980) inst ru ction is ex ecute d again to resta r t an operating ti m- er , the timer value will be reset to 0 and th e time r will restar t.
180 Pulse Output s Section 7-6 Linear Mode Operation A target value can be set at a d esired p ulse outp ut PV to ex ecute an interr upt task when the target value is reache d. An ACC(888) or SP ED(885) instr uctio n can be programmed i n the interr up t task to perform s peed contr ol at that tar- get value.
181 Pulse Output s Section 7-6 D00100 0 0 3 2 D00101 0 7 D 0 D00102 0 0 0 0 ACC #1 #0 D00100 @CTBL #3 #0 D00000 3.00 D00000 0 0 0 5 D00001 0 5 0 0 D00002 0 0 0 0 D00003 0 0 0 1 D00004 2 0 0 0 D00005 0.
182 Pulse Output s Section 7-6 Circ ular Mode Operation A speed contr ol patt er n can be repeate d in c ontinuous s peed c ontrol to con- trol a se rie s of repet itive operatio ns at spec ific pos ition s.
183 Pulse Output s Section 7-6 Setting the Spee d-change Cycle The speed c hange c ycle for the A CC(888) and PLS 2(887) instruc tions is specifi ed by setti ng the ON/OFF bit sta tus o f A628 .07 before ex ecut ing th e A CC(88 8) or PLS2 (887) i nstr uction.
184 Pulse Output s Section 7-6 Setting the Pulse Output Direction Priority Mode The pul se outpu t direc tion prio r ity mod e for the PLS2( 887) i nstr uction is s pec- ified by se tting the ON/OF F bit status o f A628 .14 be f ore ex ecuting the PLS2 (887) ins tr uctio n.
185 Pulse Output s Section 7-6 • Se t the clock spee d for pulse outpu ts 1 an d 2. 4. Create the necessar y ladder pr ogramming. • Us e PULS (886) to se t number of output pulses for the specified por t. • Us e SPED (885) to st ar t pulse ou tput c ontrol w ithout acce leration/de celer- ation fro m the spec ified po r t.
186 Pulse Output s Section 7-6 • Us e PR V(881) to read th e pulse o utput P V of the specifi ed por t. Pulse Outputs without Acceleration/Dece leration (PULS(886) : Elect roni c Cam Control) This p.
187 Pulse Output s Section 7-6 The PULS (886) ins truc tion (El ectronic Cam Contr ol) ca n be used to imme- diately change the pulse output value f or absolute pos itionin g or the pulse output freq uency for speed cont rol i n response to the high -speed c ounter PV (e.
188 Pulse Output s Section 7-6 • Sele ct pu lse ou tput 1 or 2 . 2. Wire th e output. • O utput: CW an d CCW • O utput power supply: 5 V DC 3. Make the nece ssar y Syste m Setu p setti ngs (P ulse Output T ab P age − Op- eration Mod e).
189 Pulse Output s Section 7-6 • Se t the p ulse ou tput ope ration mod e (in t he Puls e Output T ab Page − Operation Mode) to Calculat ion (tim e measur ement) . 3. Create the necessar y ladder pr ogramming. a. Use STIM(9 80) with C1 = #000 B or #000C and C2 = #0000 to sta r t measur ement.
190 Pulse Output s Section 7-6 Changing the Frequency in Steps In this ex ampl e, the SP ED(885) instr ucti on is u sed t o change the s peed of a pulse ou tput from por t 2 from a freque ncy of 3 ,000 Hz to 50,000 H z. In th is case, the pulse ou tput is a CCW c ontinuou s mod e output .
191 Pulse Output s Section 7-6 Note The pul se ou tput can b e stop ped by ex ecu ting ACC(888) wi th a de celeratio n target frequen cy of 0. Howe ver , since the puls e output c annot be stoppe d at.
192 Pulse Output s Section 7-6 PULS #1 #2 D00000 P_On MOVL &200000 D00002 END P_On APR D01000 A600 D00000 D00000 D00001 D00002 D00003 D01000 1 0 0 4 D01001 0 3 E 7 D01002 0 0 0 0 D01003 0 0 0 0 D0.
193 Pulse Output s Section 7-6 Using PLS2(887 ) for T rapezoi dal Accelerati on/Deceleration In this example, the axis is accelerated in the CW dir ection at 500 Hz/2 ms, the accel eration/decel eration rate i s reduced to 300 Hz/2 ms, and the pulse output is stopp ed after 30 0,000 p ulses have been outp ut.
194 Pulse Output s Section 7-6 get F requenc y Not R eached F lag (A624. 02 or A625.0 2) will tur n ON at the peak of th e tr iangula r patt er n and tu r n OFF whe n dece leration is com pleted. One-shot Pulse Out put Function Example In this ex ampl e, STIM(9 80) is us ed to generate a 1.
195 Pulse Output s Section 7-6 (3) Us e this fun ction f or positi oning . Allo wed Star tup Conditions for P ulse Ou tput Operations (with Output Stopped) The follo wing ta ble shows when an independ.
196 Pulse Output s Section 7-6 PULS(886) Absolute Pulse Output in Progress Pulse Ou tput Oper ation Mode (Absolute Linear) Limitations PLS2(887 ) Startup Conditions when other Instructions are being Executed Note (1) Can cel the number of output pu lses set with PULS (886) and then e xecute PLS2 (887).
197 Pulse Output s Section 7-6 Note Cancel the number of output pu lses set with PULS(886) and then e x ecute PLS2 (887). Cases (1), (2 ), and (3) Case (4) Case (5) PULS (886) No absol ute output Y es Y es --- Y es N o Ye s Ye s Ye s Ye s ( S e e note.
198 Pulse Output s Section 7-6 Note The pul se output w ill stop. After the ax is stop s, it must be re star ted. Cases (6), (8 ), (9), and (10) • Sta r ting instruction : A CC(888) (co ntinuou s or.
199 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 • Sta r ting instruction : A CC(888) (co ntinuou s or inde penden t), decele ration, a bsolute circu lar 7-7 Functi.
200 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 7-7-3 Data Format of Absolute Encoder Output The f or mat of dat a from a Ser vo Driver compat ible with an absolute encoder suppor ted by the Motion Co ntrol Mod ule is a s f ollows: Serial Data Spe cification Data Format Note (1) T he “P” is in AS CII.
201 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 •E x a m p l e 1 A value between 0 a nd 65,5 34 is se t in the Se r vo Driver , th e Syste m Setup’ s Coun ter 1 C ounter ope ration is set to a n abso lute line ar (CW − ) counter , an d the Ser v o Dr iver’ s r ev erse rotation mode settin g (Pn000.
202 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 Absolute Circular Counter The ab solute enc oder ’ s puls e inf or mati on is coun ted usi ng a circula r counter. (Only the initi al in crementa l pul se (angl e) read ing is used as the ab solut e v alue.
203 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 P s : Absolu te offset Note With an a bsolute circul ar coun ter , th e abso lute numb er of ro tations pre sent v alue (A604/A 605) is not us ed; only the init ial inc remental pulses are use d.
204 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 7-7-9 Related Areas Syste m Setup T ab page Function Details Time when setting beco mes effect ive Pulse Input Coun t.
205 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 A uxiliary Area Pulse input Counter 1 Max. circ ular va l u e When the co unter oper ation is set to circu lar counter , this pa rameter s ets the m aximum val ue in the circu- lar coun ter .
206 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 A606 and A607 00 to 15 High-speed Counter 2 Count er oper ation • Absol ute linear (CW − ) • Absol ute circul ar • Absol ute linear (CW+) Absolute No .
207 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 7-7-10 Overview of Absolute Encoder Output Data Acquire Behavior of the Serv o Driver Compat ible with an Absolute Encoder The SE N signa l bein g tur ned O N, the S er vo Dr iver behav es in the following manner : 1,2,3.
208 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 After a sho r t tim e has pas sed to allow the Se r vo Driver's output to stabil ize, tur n ON the H igh-spe ed Count er Sta r t B it (A610.00) from the ladde r program.
209 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 7-7-11 Timing Char t of the Functions for Serv o Driver s Compatibl e with Absolute Encoders 7-7-12 Sample Pr ograms (Connecting an OMRO N W -series Serv o Driver) Pr ogram Description 1,2,3.
210 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 Note Adjust the tim er value of TIMH(15 ) instr u ction (1 0 ms timer) to match t o the system requir ements ( such as the a bsolu te encode r's res olution settin g).
211 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 Note Adjust th e timer value of TIMH( 15) instr uctio n (10 m s timer) to ma tch the sy s- tem requi rements (s uch as th e absolute encoder 's resoluti on setting ).
212 V irtual Pu lse Output Fu nction Section 7-8 7-8 Vir tual Pulse Outp ut Function 7-8-1 Applicab le Models 7-8-2 Overvie w The AX IS instr ucti on allows the ex ecutio n of vir tual puls e outpu t with trapezoi- dal accele ration/dec eleration.
213 V irtual Pu lse Output Fu nction Section 7-8 7-8-3 AXIS Instru ction (For Vir tual Pulse Outputs) Overvie w The AXIS i nstr uction i s used to generate a v ir tual pulse ou tput wit h trapezoi- dal accele ration/dec eleration.
214 V irtual Pu lse Output Fu nction Section 7-8 Description • Use th e AXI S instr ucti on with an input condi tion th at is ON for one cycle. AXIS ca nnot be used a s a differentiate d inst ru ction (the @ pr efix is not suppo r ted ). • AX IS is ex ecuted at t he r ising e dge of th e input co nditio n.
215 Analog Input Functions Section 7-9 7-8-4 Applicatio n Example P ositioning or Speed Contro l Using a Virtual Axis The inte rn al pulse c ount can b e treate d as a vir tual axis pos ition in orde r to perform el ectronic ca m operatio n on the real axis operation with simple c ur ve approximation.
216 Analog Input Functions Section 7-9 The PR V(881) instr uctio n can also be used to read the la test anal og inpu t v alue throu gh immedi ate refr eshin g.
217 Analog Input Functions Section 7-9 7-9-3 Analog Input Function Specifications Note The following diagram is pr ovided as a reference example. This e xampl e shows the inpu t respon se (step respons e) character is tics of an input wh en the ex ter nal input signa l is ch anged in a ste p patter n.
218 Analog Input Functions Section 7-9 7-9-4 Related Areas and Settings Syste m Setup T ab pa ge Function Setti ngs Time when setting beco mes effec tive Analog In put/ Output Both inpu ts and outp uts Input method 0 he x: END refresh 1 hex: Immediate refres h (Refresh wit h PR V(881).
219 Analog Input Functions Section 7-9 A uxiliary Area W ord Bits Function Settings Contro lled by A550 00 to 15 Analo g Input PV Contains the va lue inpu t from the analog input por t (using eith er the END refresh or immediate refre sh) in 4- digi t hexadec imal .
220 Analog Input Functions Section 7-9 A562 00 Analog Out- put 1 F lag s User Adjus tment Completed Initial v alue is 0. Set to 1 if user perf or ms offset/gain adj ustment and Returns to f actory def ault setti ng of 0 if adjust ment value is cl ear ed.
221 Analog Input Functions Section 7-9 A570 00 Adjustment Mode Co m- mand B its (Eff ective o nly when A575 is 5A5A hex.) Adjustm ent Enab le Analog In put OFF: Adjustmen t disab led.
222 Analog Input Functions Section 7-9 7-9-5 Applicab le Instruct ions With END Refreshing Read th e analo g inpu t PV (A5 50) using an instr uctio n suc h as the M O V instr u ction . With Immediate Refreshing The data is acqu ired immediate ly with th e PR V(88 1) instr uct ion.
223 Analog Input Functions Section 7-9 Signal Range: 1 to 5 V and 4 to 20 mA Signal Range: 0 to 5 V 7-9-7 High-speed Analog Sampling (FQM1-MMA21 Only) Overv iew When an FQM 1-MMA2 1 Motion Control Mo dule is be ing us ed, the Motio n Control Mo dule ca n be synchr onized with pul se inpu ts from the en coder to collec t analo g data.
224 Analog Input Functions Section 7-9 Once the sa mpling of ana log inpu t values star ts, the number of v alue s speci- fied with the circ ular value (up to 32,76 7 sam ples) a re st ored in t he DM Are a begin ning a t the spec ified DM add ress.
225 Analog Outputs Section 7- 10 3. The high-s peed analog sa mpling f unction sto ps when the specifi ed num- ber of hi gh-spee d analog i nput da ta sample s have been collec ted. The following diagram shows h ow this method can b e used to colle ct dis- placeme nt data f rom a par ticular workpi ece posi tion.
226 Analog Outputs Section 7- 10 7-10-3 Analo g Output Fun ction Sp ecifications Analog Outputs Item S pec ific at ion Outpu t s ign als V ol tage ou tput s Numbe r of analo g outpu ts 2 outputs Outpu.
227 Analog Outputs Section 7- 10 Note (1) T he ov erall ac curacy is the ratio of accuracy to the full sc ale. (2) T he follo wing table shows the status of the anal og outp uts if ther e is a fa- tal error in the M otion Con trol Modu le or the C oordinat or Module i s in CPU stand by status.
228 Analog Outputs Section 7- 10 Specified Output V alues and Analog Output Signals 7-10-4 Applicable I nstructions END Ref reshin g Se t the analo g output values in A5 60 and A56 1 usin g an instr uct ion suc h as the M O V instructio n. With Immediate Refreshing Outputs can be co ntrolle d with S PED(885 ) and ACC(888) as out lined below .
229 Analog Outputs Section 7- 10 F: Analog o utput value Specifi es the tar get an alog ou tput value as a 4-dig it hexadecimal value. Note The spec ified analo g output v alue must be wit hin the all owed range listed abov e.
230 Analog Outputs Section 7- 10 7-10-6 Application Example Outputting the Analog Output V alue S tored in the A uxiliary A rea In this example, the M otion Contr ol Modul e output s the an alog outpu t value stored i n A560 fr om ana log output 1.
231 Analog Outputs Section 7- 10.
232 Analog Outputs Section 7- 10.
233 SECTION 8 Connecting the CX-Programmer This section e xplains ho w to connect a per sonal computer runn ing the CX-Program mer to the FQM1. 8-1 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
234 CX-Programmer Section 8-1 8-1 CX-Pr ogrammer Connect the CX-Programme r Suppor t Software to the Co ordin ator Modu le to create a nd mon itor programs for all Modul es.
235 Connecting the CX-Program mer Section 8-2 8-2 Connecting th e CX-Pr ogrammer 8-2-1 System Configurat ion Connecting a P ersonal Comput er Running Suppor t Software Connecting to the P eripheral Po.
236 Connecting the CX-Program mer Section 8-2 Connecting through the USB port with a USB-Serial Con version Cab l e Connecting to the P eripheral Port Cable Connecti on Diagram Usin g a C S1W-CN226 /6.
237 Connecting the CX-Program mer Section 8-2 Connecting to the RS-232 C P ort Connection Methods (Using a USB-Serial Con version Cable) Cable Connecti on Diagram Using an RS-232C Cable (XW2Z-200S-CV , XW2Z- 500S -CV , XW2Z -200 S- V , or XW2Z-500S-V) Note The con nection m ust be a Host Link con nection.
238 Connecting the CX-Program mer Section 8-2 8-2-2 CX-Pr ogrammer Connecting Cables Note When conn ecting one of these ca bles to the Coordinator Module ’ s RS- 232C por t, alwa ys touc h a groun ded me tal objec t to discharge any ele ctrostatic charge from the b ody be f ore tou ching the cable connec tor .
239 Connecting the CX-Program mer Section 8-2 Connectin g an RS- 232C Cable to t he Peripheral P or t The following conne ction config urations can be use d when c onnecting an RS- 232C cable to th e Coordin ator Modu le’ s per ipheral por t.
240 Connecting the CX-Program mer Section 8-2.
241 SECTION 9 Error Pr oc essing This section provides information on identifying and correcting err ors that occur during FQM1 operation. 9-1 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
242 Error Log Section 9-1 9-1 Err or Log Each time tha t an er ror o ccurs i n the FQ M1, t he erro r inform ation is stored in the Erro r Log Area st ar ting at A1 00. The error inform ation inc ludes the error code (sa me code st ored in A400) and error contents.
243 Error Processing Section 9-2 9-2 Err or Pr ocessing 9-2-1 Error Categories Errors in the FQM1 can be bro adly div ided into the following three cate gori es.
244 Error Processing Section 9-2 9-2-3 Err or Cod es E R R O NO F F O F F O NF l a s h i n g - - - - - - - - - PRPHL --- --- --- --- --- OFF --- --- COMM1 --- --- --- --- --- --- OFF --- COMM2 --- ---.
245 Error Processing Section 9-2 9-2-4 Err or Processing Flo wchart Use the f oll owing flowchar t as a guide for error processing with the CX-Pr o- grammer . Yes Lit Is RUN indicator lit? Not lit Is ERR indicator flashing? Flashing Fatal error Not lit Is POWER indicator lit? Lit Error occurred during operation Proceed to 9-2-6 Power Supply Check.
246 Error Processing Section 9-2 9-2-5 Err or T ables The following tables s how the error s whic h can occur in the FQM1 a nd ind i- cate t he probable c ause of the error s. Note Always confir m the safety of conne cted equ ipmen t before tur ning the power supply OFF o r ON .
247 Error Processing Section 9-2 message and relat ed Auxiliar y Area fl ags/words an d cor rect th e ca use o f the error . Errors are liste d in o rder of impor tance. When two o r more errors o ccur at th e same tim e, the mo re ser ious error ’ s er ror co de will be rec orded in A400.
248 Error Processing Section 9-2 When operati on is stopp ed, all outputs will be tur ned OFF . The Ser vo Driver that is in Ser v o ON state for outp uts from the FQ M1 w ill switch to Se r vo OFF state. Fat a l E r ror s Error Error code (in A400) A uxiliary Area flag and w ord data Prob able cau se P ossible rem edy Memor y error 80F1 A401.
249 Error Processing Section 9-2 Non-fatal Err ors If the f o llowing LED ind icator co ndition appe ars dur ing ope ration (in R UN or MONITOR mode), it indi cates tha t a non- fatal error has occurred .. The non-fatal error’s error contents will be displ ay ed in the Er ror T ab in the CX-Prog rammer’ s Error Wi ndow .
250 Error Processing Section 9-2 O th e r Er ro rs Coordi nator Module F atal error 0006 A402.1 4: Coor- dinat or Mo dul e F atal Error Flag A f atal error o ccurred in th e Coordi- nato r M odu le. Remov e the cause of the error i n the Coordi nator Modu le and the n clear the error .
251 Error Processing Section 9-2 9-2-6 P ower Suppl y Check Power Supply Unit's POWER indicator is not lit. Is power being supplied to the Module? Connect power supply.
252 Error Processing Section 9-2 9-2-7 Memory Err or Chec k 9-2-8 Pr ogram Err or Chec k Memory error occurred ON OFF No Yes Flash Memory Error Flag (A403.
253 Error Processing Section 9-2 9-2-9 Cyc le Time Overrun Err or Check 9-2-10 System Setup Err o r Chec k Not cause of error The program execution time exceeded the watch cycle time.
254 Error Processing Section 9-2 9-2-11 I/O Setting Erro r Chec k Yes No I/O Setting Error occurred Are 5 or more Motion Control Modules connected? Reconfigure the system so that 4 or fewer Motion Control Modules are connected to the Coordinator Module.
255 Error Processing Section 9-2 9-2-12 I/O Chec k The I/O c heck flowchar t is based on the follo wing ladder d iagram sec tion, assumi ng that t he problem is S OL1 do es not tur n ON. Start Return to Start of I/O Check. Is the output indicator for CIO 0001.
256 T roubleshooting Problems in Modul es Section 9-3 9-2-13 En vir onmental Conditions Chec k Note Prev e nt exposure to corr osive gases, flamma ble gases, dust, dir t , salts, metal dust, dir ect sun light, water , oils, and c hemical s.
257 T roubleshooting Problems in Modul es Section 9-3 Motion Control Module Err ors Input Err ors Error condition Probab le cause Remedy The Mot ion Cont rol Modul e’ s R UN indic ator does not go ON. An error in progra m is causing a fa t a l e rr o r Cor rec t progr am.
258 T roubleshooting Problems in Modul es Section 9-3 O ut p u t E r ro rs Error condition Probab le cause Remedy None o f the outpu ts will go ON. (1 ) The load pow er is no t being suppli ed. Supply p ow er . (2) Load p ower supply v oltage i s too lo w .
259 SECTION 10 Inspection and Mai ntenance This section provides inspection and main tenance information. 10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 10-1-1 Inspection Poin ts .
260 Inspections Section 10-1 10-1 Inspections Daily o r per iodic insp ections are require d in or der to m aintai n the FQ M1 i n peak operatin g conditi on. 10-1-1 Inspection P oints Although the majo r com ponents in the FQM1 hav e an extremely long li f e time, they can d eteri orate unde r improp er e nvironmental c ondition s.
261 Inspections Section 10-1 Note The following table shows the allowable v oltag e fluctuat ion ranges for sourc e power suppl ies. T ools Required for Inspections Required T ools • Phill ips-he ad.
262 Inspections Section 10-1.
263 Appendix A Pr ogramming Pr ograms and T asks Ta s k s There a re basi call y two t ypes of ta sk. 1. Cyclic T ask The cycl ic task i s ex ecu ted onc e each c ycle. 2. Interru pt T asks An inte rrupt ta sk is ex ecute d when the interr upt cond ition i s met, ev en if this oc curs w hile the cy clic ta sk is being ex ecuted.
264 Programming Appendix A Subroutines What Are Subr outines? A subro utine is a program wr itten between the SBN(092 ) and RET (093) instr uctions in a sp ecial subrou tine area. A s ubrou tine is called f rom th e main program using the SB S(091) , MCRO(099), o r JSB( 982) in str uct ion.
265 Programming Appendix A Using Subr outines That P ass Pa rameter s With thes e subro utines, paramete rs can be p asse d to the sub routine wh en it is c alled an d then th e results o f processi ng in the subrouti ne can be r etur ned to th e main p rogram.
266 Programming Appendix A Note (1) Inde x regis ters hav e been used to incr ease the usabili ty of subrouti nes calle d with JSB(982) . The actual ad dresse s in I/O m emor y o f the firs t input param eter word and first ou tput paramete r word are autom atica lly stor ed in i ndex registers IR 0 and IR1, resp ectively .
267 Programming Appendix A Application E xampl es Execution without Subr outine Input Condition Flags MCRO 0049 0002 0015 0220.00 MCRO 0049 0000 0010 MCRO 0049 0005 0012 MCRO 0049 0010 0015 SBN 049 RET 0225.01 P_On (Always ON) 0225.00 0225.00 0220.01 0220.
268 Programming Appendix A Execution with Subr outine Input Condition Flags Main Progr am JSB 0 D00000 D01000 a c SBN 0 A000.00 @ACC #0000 #0000 ,IR0 @INI #0000 #0003 0000 W000.
269 Programming Appendix A Basic Information on Pr ogramming Basic Inf ormation on Instructions Programs co nsist o f ins truc tions. Th e con ceptua l str uc ture of the in puts to and outpu ts from an i nstr uction is sho wn in the f ollo wing d iag ram.
270 Programming Appendix A The following ins tr uctions are u sed in p airs to set a nd can cel cer tain i nstr uct ion cond itions. E ach p air of instr uction s must be in the sa me task. Flags In this c ontext, a flag is a bi t that s er ves as an inter face between instr uctio ns.
271 Programming Appendix A Instruction Location and Input Conditions The following table shows the possible locati ons for instruc tions. Instr ucti ons are grouped into tho se that d o and those do not req uire in put con ditio ns.
272 Programming Appendix A DM Area addresses are given with “D” prefi x es, as shown b elow for the address D0 0200. Specifying Operands 0010 Word address D00200 Word addres s Operand Description Notation Application exam ples Specify ing bit address es Specify ing wor d address es MO V 0003 D00200 @@@@ .
273 Programming Appendix A Note With indi rect addr ess sp ecifica tions in binar y mode, th e DM Area addr esses ar e treated as consecut ive memor y addres ses. Specify ing indirec t DM addr esse s in Binary Mode 1) D00000 to D 32767 are specifie d if @D( @@@@@ ) contains 0000 he x to 7FFF he x (00000 to 32767).
274 Programming Appendix A Operand Descrip tion N otation Application e xamples Specify ing an ind irect address usin g a re g- ister Indirec t addre ss (No o ffs et) The bit o r word wi th the me mor y address containe d in IR @ wi ll be sp eci- fied.
275 Programming Appendix A T e xt string T ext st ring data is s tored in ASCI I (one by te ex cept f or special cha rac- ters) in ord er from the leftm ost to the rightmost b yte and from th e right- most (lo wer) to th e leftmos t word.
276 Programming Appendix A Data Formats The following table shows the dat a forma ts that the FQM1 c an hand le. Note Signed Binary Data In signed binar y data , the lef tmost bi t indica tes the sig n of binar y 16-bit dat a. The value is expressed in 4-digit hexadecimal.
277 Programming Appendix A Negative Numbers: A value is ne gative if the leftm ost bit is 1 (ON) . In 4-digit hexadeci mal, this is e xpressed a s 8000 to FFFF h e x. The absolute of the negativ e valu e (decimal) is e x pressed as a two’ s complem ent.
278 Programming Appendix A Note Signed BCD Data Signed BC D data is a spec ial data for mat that i s used to express negative numbers in BCD . Althoug h this for mat is found in ap plicatio ns, it i s not st r ictly d efined and d epends o n t he spec ific app lica tion.
279 Programming Appendix A Instruct ion V ariations The following variation s are available f or ins truc tions to differentiate ex ecutin g cond itions.
280 Programming Appendix A • Input Instructions (Logical Starts and Intermediate Instructions) : The ins truc tion r eads bit status, makes compar iso ns, tests bi ts, or perform other type s of pro cessin g ev e r y cycl e and will ou tput an OFF ex ecut ion con dition (power flow stops) when r esults switch from O FF to ON .
281 Programming Appendix A Pr ogramming Preca utions Conditio n Flags Using Condition Flags Condition flags a re sha red by all instr ucti ons, and wil l change du ring a cycle depending o n res ults of e x ecu ting indivi dual ins truc tions.
282 Programming Appendix A Since co nditio n flags a re share d by all instr ucti ons, make absolut ely sure that they do not interfere with eac h other wit hin a sin gle la dder-diagram program.
283 Programming Appendix A Example: The following example will mov e #0200 to D00 200 if D001 00 contains #0010 and move #0300 to D0030 0 if D00100 does not con tain #0010 . The Equa ls Flag wil l tur n ON if D0 0100 in the r ung above contains #0 010.
284 Programming Appendix A 2. Using Execution Results fr om Di fferentiate d Instructions With differentiat ed instr uct ions, e xecution resu lts for instr uctions are refl ected in Con ditio n Flags.
285 Programming Appendix A Equals Flag The Equal s Flag is a temporar y flag for all instr ucti ons except when com pari son resu lts are equa l (=). It is se t automa tically by the sy stem, and i t will ch ange. The Equal s Flag can b e tur ned OFF (ON) by an instr uctio n after a previous instruc tion has tur ned it ON (OFF).
286 Programming Appendix A Special P r ogram Sect ions FQM1 pro grams hav e speci al program sec tions th at will c ontrol ins truc tion c onditions. The f ollo wing s pecial progr am secti ons are a v ailab le. Instruction Combinations The following table shows which of the s pecial instr uct ions can be us ed insid e other program se ctions.
287 Programming Appendix A Instructions Not Allo wed in Subr outines The following instr u ction s cannot be pla ced in a s ubro utine. Note Block Pr ogram Sections A subro utine can in clude a block program s ectio n.
288 Programming Appendix A Computing th e Cycle Time FQM1 Operation Flo wchart The Coord inator Mod ule and Mo tion Contr ol Module s proces s data in repeating cycles from the overseeing processi ng up t o per ipheral s er vic ing as s hown in the f oll owing diagram.
289 Programming Appendix A Overview of Cyc le Time Calculations Coordinator Module The cycl e time of t he C oordinato r Module will var y with the following factors.
290 Programming Appendix A 5. Sync Bus Refreshi ng 6. Cyclic Refre shing 7. P er ipheral Ser vic e Calculating the Cyc le Time of a Motion Control Module The cy cle tim e is the total time req uired for the M otion Con trol Mod ule to perform the ope rations shown i n the f ollowin g tables.
291 Programming Appendix A 4. I/O Refresh ing 5. Cyclic Refre shing 6. Sync Bus Refreshi ng 7. P er ipheral Ser vic e Module I/ O Refresh Times Cyclic Refresh Time in the Coor dina tor Module Cyclic R.
292 Programming Appendix A Example of Calculating the Cyc le Time An example is given here for FQM1 -MMP21 Motion Cont rol M odules c onnected to a Coordi nator Mo dule.
293 Programming Appendix A Response Tim e I/O Response Time The I/O resp onse time is the time it ta kes from when an built-in input on a Mod ule tur ns ON, the data is rec og- nized by the Module, and the user program is ex ecuted , up to the time for the result to be outp ut to the built-in output t er minals.
294 Programming Appendix A Motion Control Module I/O Response Time Minimum I/O Response Time (General-purpo se I/O 0 to 3) The I/O res ponse time is sh or te st when th e input r efresh i s e xecuted immedi ately a fter a Motio n Contr ol Mod- ule detec ts an inp ut, as shown in th e figure b elow .
295 Programming Appendix A Calculation Example Inpu t ON de la y: 0.03 m s Overhead time: 0.193 ms Instr uction ex ecutio n time: 0.0 01 ms Output ON d ela y: 0.
296 Programming Appendix A Scheduled Interrupt T ask The interr upt r esponse ti me of sch eduled inte rru pt tasks is the time ta ken from after the s cheduled time sp eci- fied by the STIM( 980) inst ru ction has elapse d until the interr upt tas k is actually e xecuted.
297 Programming Appendix A Pr ocessing Time The time requ ired fro m when the in terrup t f acto r occurs un til the interr up t task is called an d the time require d from com pleting t he inte rrupt ta sk un til program ex ecutio n retur ns to the o rigi nal posi tion are shown bel ow .
298 Programming Appendix A (2) Wh en using i nterr upt task s frequent ly , be s ure to consi der the t ime requir ed for interrupt p rocessin g and it s affect on the overall sys tem. (3) T he resul ts of ex ecuting a n interr upt tas k can b e outpu t imme diately f rom withi n the i nterru pt task by using the IORF(09 7) instr ucti on.
299 Appendix B I/O Memory Over view of I/O Memor y Intr oduction This se ction desc rib es the I/O Memo r y and othe r par ts of me mor y in the Modules othe r than that conta ining the user program. I/O Memory This regi on of me mor y cont ains t he data are as which c an be a ccessed by instr uctio n operan ds.
300 I/O Memory Appendix B I/O Memory Struc ture Coor dinator Mod ule The f ollo wing tab le sho ws th e basic structur e of the I /O Memo ry for the Co ordi nato r Modu le. Note When data i s wri tten from th e CX-Programme r or a host co ntroller, these DM Area words are b ack ed up in flash memor y .
301 I/O Mem ory Appendix B Motion Control Modules The f ollo wing tab le sho ws th e basic structur e of the I /O Memo ry Area f or the M otio n Contro l Modu les . Note These DM Ar ea words ar e backed up by a super capa citor . If the Memor y Not Held Fla g (A404.
302 I/O Memory Appendix B CIO Area Overvie w It is no t neces sar y to in put the “ CIO” pr efix wh en sp ecifyin g an addr ess i n the CIO Area. The CIO Area is g en- erally used for data exchanges, such as I/O r efre shing be tween Modu les (C oordin ator M odule and Motio n Control Mo dules).
303 I/O Mem ory Appendix B This area ca n be u sed t o transfer inform ation bet ween M odules t hat doe s not requir ed high- speed exchang e. The user can al loca te the informat ion to be trans f e.
304 I/O Memory Appendix B Immediat e Refr esh I/O can also be refr eshed on the timing s pecifie d by the user u sing im mediate refresh ing. Any I/O refr eshed using an immed iate refres h wil l also be refreshed f or the END refr esh. Refreshing Usi ng the IORF(097) Inst ruction W ork Area: W0 00 to W255 (W000.
305 I/O Mem ory Appendix B • Ea ch TR bi t can be u sed on ly once in one program sectio n. • T he status of TR bit s cannot be cha nged from the CX-P rogrammer .
306 I/O Memory Appendix B The follo wing table s hows when timer P Vs and Co mpletion Flag s will b e reset. Note The prese nt value of TIM, TI MH(015) , and TMHH(54 0) timer s programmed wi ll be upd ated ev en when jumpe d between JM P and J ME in stru ction s.
307 I/O Mem ory Appendix B Data Memor y (D M) Area The DM Area co ntains 32,7 68 words wi th address es ranging from D00000 to D32 767. This data area is used f or gen eral data st orage and m anipulati on and is acce ssible only by word.
308 I/O Memory Appendix B The Condi tion Fl ags cannot be f orce-s et and force-re set except for the Carr y Flag, which c an be manipul ated with the ST C(040) and CL C(041) ins truc tions.
309 I/O Mem ory Appendix B Clock Pulses The Clock Pul ses are fla gs tha t are tur ned ON and O FF at reg ular int er vals by the sys tem. The Clock Pul ses are specifi ed with labels (or sy mbols) rather than addres ses. Note The CX- Programmer tr eats Clo ck Pulses a s glo bal sym bols begi nning with P _.
310 I/O Memory Appendix B P arameter Area Unlike the data area s in I/O M emor y , which can be us ed in in str uction ope rands, the Par amete r Area can b e access ed only from t he CX-Programm er . The Parameter Area is made u p of the f ollowin g par ts.
311 Appendix C System Setup, A uxilia ry Area Allocati ons, and Built- in I/O Allocations Over view of System Setups A System Setup cont ains softwa re setting s that the user can change to cu stomi ze FQM1 operatio n. Modul e functions are se t usin g its Sy stem Set up .
312 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Sync Cycle Time Sync Mode Star tup Mode Setting (CX-Pr ogrammer: Startup T ab P age) Startup Mode Cyc le Time.
313 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C P eripheral P ort Set tings (CX-Progr amm er: P eripheral P ort T ab Pa ge) Communic ations Settings P eriphe.
314 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Host Link Unit Number P eripheral P ort Set tings f or NT Link Serial Comm unications Mode Baud Rate Maxim um Unit Number for NT Link (NT Link Max.
315 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Baud Rate RS-232C P or t Settings (CX-Programmer: Host P or t T ab P age ) RS-232C P or t Settings fo r Host .
316 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Host Link Unit Number RS-232C P or t Set tings for NT Link Serial Comm unications Mode Baud Rate Maximum Unit Number f or NT Link (NT Link Max.
317 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Baud Rate RS-232 P or t Settings f or No-pr otocol Comm unications (R S-232C) Serial Comm unications Mode Dat.
318 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Start Code and End Code Number of R eceived By tes RS-232C P ort Settings f or PLC Link (PC Link (Sla ve)) Serial Comm unications Mode Baud Rate PLC Link Unit No.
319 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C RS-4 22A P ort Setting s (CX - Pr ogrammer: Drive T ab P age) RS-422A P or t Settings for Ser ial Gatewa y St.
320 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Start Code and End Code Number of R eceived By tes P eripheral Service Time Setti ngs (CX-Programmer: Tim er/.
321 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C System Setup in Motion Cont r ol Modules Settings Used b y All Motion Contr ol Modules CX-Pr ogrammer: Module.
322 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C FQM1-MMP21 Motion Control Modules with Pulse I/O CX-Pr ogrammer: Pulse I nput T ab Pa g e Address Bits Funct .
323 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C CX-Pr ogrammer: Pulse O utput T ab Pa ge +323 00 t o 03 High-speed counter 2 (Counter 2) Input method Same as.
324 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Note Alwa ys set th e Circul ar Max imum Count whe n setting any of the cir cular ope ration mode s.
325 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C CX-Pr ogrammer: Analog Input/Output T ab P age Note Analo g outpu ts that are not be ing us ed ca n be disa bled to decr ease the cyc le tim e.
326 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Note The RS-23 2C por t setting s can a lso b e changed with th e STUP (237) ins truc tion. Th e RS-232 C P o r t Settings Chang ing Fl ag (A4 10.15) wi ll rem ain ON from th e tim e STUP (237) is ex ecuted u ntil the set- tings have actually b een chang ed.
327 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Note The watch c ycle tim e setting canno t be ch anged w hile the M odule is in R UN or MON IT O R mode. Note The default value for the watch cycl e time is 50 ms.
328 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C The default value for each ser vi cing pr ocess is 6.25 % of the las t cycl e’ s c ycle time. In g eneral, it is rec- ommend ed that the de f ault value be used .
329 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A uxiliar y Area A llocations by Function The following tables list the wo rds and bi ts alloc ated in the Auxiliar y Ar ea by function . These tables provide only an ov e r view of the functiona lity .
330 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Address Bits Name Function Controlled by A608 00 High-s peed counter 1 status T arget Compar - ison In- progress Flag OFF: T arget v alue comp arison is not being performed for CTBL(882).
331 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A609 00 High-s peed counter 2 status T arget Compar - ison In- progress Flag Same as for high-speed counter 1. M odule 01 PV Ov erflo w/ Underflow Flag 02 Reser ved 03 P hase Z Input Reset Flag (ON for one cycle) 04 A bsolute No.
332 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C A610 00 High-s peed counter 1 com- mand bits Star t Bit OFF: S tops counter operation. The count er PV will be m aintained. ON: Star ts c ounter operation. The counter P V will not be reset .
333 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A611 00 High-s peed counter 2 com- mand bits Star t Bit Same as command bits for high-speed counter 1.
334 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C A620 to A621 00 to 15 Pulse Output 1 PV Note This item applies when the operation mode is relativ e pulse output, absolute pulse output in linear mode, absolute pulse out- put in circular mode, or elec- tronic cam mode.
335 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A626 00 P ulse Output 1 Command B its PV Reset B it OFF: Pulse output 1 PV not r eset.
336 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C FQM1-MMA21 Motion Control Modules wi th Analog I/O Address Bits Name Function Contr olled by A550 00 to 15 Analog I nput PV Contains the value input from the analog input por t (using either the END refresh or immediate refresh) in 4-digit hexadecimal.
337 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A562 00 Analog Out put 1 Flags User Adjustment C om- pleted Initial v alue is 0. Set to 1 if us er performs offset/gain adjustment and Retur ns to f ac tory def ault setting of 0 if adjustment value is cleared.
338 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Address Bits Name Function Control led b y A564 00 Analog Out put 1 Conv ersion Enable Bit ON: Enables D/A conversion (enables analog output).
339 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Address Bits Name Function Contr olled by A600 00 to 15 High-speed Counter 1 PV Range: 8000 0000 to 7FFF F FFF Note F or a Linear Counter , high-speed counter ov er- flows/underflows are check ed when the P V is read (i.
340 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Address Bits Name Function Controlled by A608 00 High-s peed counter 1 status T arget Compar - ison In- progress Flag OFF: T arget v alue comp arison is not being performed for CTBL(882).
341 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A609 00 High-s peed counter 2 status T arget Compar - ison In- progress Flag Same as for high-speed counter 1. M odule 01 PV Ov erflo w/ Underflow Flag 02 Reser ved 03 P hase Z Input Reset Flag (ON for one cycle) 04 A bsolute No.
342 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C A610 00 High-s peed counter 1 com- mand bits Star t Bit OFF: S tops counter operation. The count er PV will be m aintained. ON: Star ts c ounter operation. The counter P V will not be reset .
343 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Allocations Related to Built-in Inputs Input Interrupts A611 00 High-s peed counter 2 com- mand bits Star t Bit Same as command bits for high-speed counter 1.
344 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Allocations That Ar e the Same f or th e Coordinator Module and M otion Contr ol M odules System Flags Pr ogr.
345 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C FA L / FA L S E r r o r s Me m or y E rro rs System S etup I/O Errors Module Err ors A500 14 Error Log P ointer Reset and Memor y Not Held Flag OFF Bit The error log pointer in A408 is reset to 0000 he x and Memory Not Held Flag (A404.
346 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Other Allocations Related to DM Data T ransfer (Coordinator Module Only) Communications Pe r i p h e r a l Po.
347 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C RS-232C Port RS-422A Port Allocations Directl y Related to Instructions Built-in I/O Alloca tions The Coordin ator Mo dule and Moti on Contr ol Modules all hav e built-in I/O.
348 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Coor dinator Module Buil t-in I/O Allocations Inputs (40-pin General-purpose I/O Connector) Outputs (40-pin G.
349 Appendix D A uxiliar y Area Allo cations A uxiliar y Area Allocat ions in Order of Address The following table lists the A uxiliar y Area alloc ations in orde r of address. Refer to Auxiliar y Area Allocati ons by Function o n page 329 for a list of a llocati ons by function.
350 A uxiliary Area Allocations Appendix D A403 00 UM Error Flag T ur ns ON when there is an error in the user memory . 04 System Setup Error Flag T ur ns ON when t here is an error in the Syst em Setup in the Coor- dinator Module or Mot ion Control Module.
351 A uxiliary Area Alloca tions Appendix D A414 02 RS -422A Po r t Error Flags P arity E rror Flag These error flags turn ON when an error has occurred at the RS- 422A por t.
352 A uxiliary Area Allocations Appendix D A520 00 to 15 Interr upt Counter 0 Counter SV Used for interrupt input 0 in counter mode. Sets the count v alue at which the interrupt task will start. Interrupt task 000 will star t when interrupt c ounter 0 has c ounted this num- ber of pulses.
353 A uxiliary Area Alloca tions Appendix D A559 00 to 15 Number of Analog Samples Indicates t he number of dat a samples act ually input since sam- pling star ted. A560 00 to 15 Analog Output 1 Output V alue When an END refresh is selected, the 4-digit hexadecimal v alue set here by the user is output from analog out put por t 1.
354 A uxiliary Area Allocations Appendix D A570 00 A djustment Mode Command Bits (Effectiv e only when A 575 is 5A5A hex.) Adjustment Enable Analog Input OFF: Adjustm ent disabl ed.
355 A uxiliary Area Alloca tions Appendix D A606 to A607 00 to 15 High- speed Counter 2 For f ollowing counter modes • Absolute linear (CW − ) • Absolute circ ular • Absolute linear (CW+) PV o.
356 A uxiliary Area Allocations Appendix D A610 00 High- speed counter 1 com- mand bits Star t Bit OFF: S tops counter operation. The c ounter PV will be m ain- tained.
357 A uxiliary Area Alloca tions Appendix D A612 00 to 15 High- speed counter 1 monitor data Range Compar ison Execution Results Flags Contains the CTBL(882) ex ecution results for r ange comparison.
358 A uxiliary Area Allocations Appendix D A626 00 P ulse Output 1 Com- mand Bits PV Reset B it OFF: Pulse output 1 PV not r eset. ON: Resets pulse output 1 PV .
359 A uxiliary Area Alloca tions Appendix D Detailed Ex planations on the A uxiliary Area Err or Log Area: A100 to A199 Err or Codes and Error Flags Note (1) Codes C101 to C2F F will be store d for F ALS numbers 00 1 to 511 . (2) Cod es 410 1 to 42FF will be stored for F AL numbers 001 to 511.
360 A uxiliary Area Allocations Appendix D FQM1 Memory A ddresses FQM1 mem or y a ddress es are set in Index Register s (IR0 or IR1) to indi rectly address I/O memor y . Nor mally , FQM1 me mor y addr esses a re se t into the Index Registers auto maticall y when c alling sub routi nes with JSB( 982).
361 A uxiliary Area Alloca tions Appendix D Memory Map Note Do not acc ess the areas indi cated Reserved f or system. Classification FQM1 memory addresses (hex) User addresses Area P arameter areas 00000 to 0B0FF --- System Setup Area Profile Area I/O memor y ar eas 0B100 to 0B1FF --- Reserved f or system.
362 A uxiliary Area Allocations Appendix D FQM1 Instruction Execution Times a nd Number of Step s The following table lists t he ex e cutio n times for all ins tru ctions th at are av ailable for the FQM1.
363 A uxiliary Area Alloca tions Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Sequence Contr ol Instructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e.
364 A uxiliary Area Allocations Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Data Mo vement Instructi ons Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e.
365 A uxiliary Area Alloca tions Appendix D Data Shift Inst ructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Incremen t/Decreme nt Inst ructions Inst ruction Mnemonic Code Lengt h (steps) (See note.
366 A uxiliary Area Allocations Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Symbol Math Instructions Instruction Mnemon ic Code Length (steps) (See note .) ON ex ecution tim e ( µ s) Har dwa re implementation Conditio ns SIGNED BINARY ADD WITHOUT CARR Y + 400 4 0.
367 A uxiliary Area Alloca tions Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Con v ersion Inst ructi ons Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e.
368 A uxiliary Area Allocations Appendix D Spec ial Math Inst ruc tion s Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Floating-point Math Instructions Instruction Mnemonic C ode Length (steps) (See note .
369 A uxiliary Area Alloca tions Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. T able Da ta Pr ocessing I nstructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e.
370 A uxiliary Area Allocations Appendix D Interrupt Control Instructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. High-speed Counter and Pu lse Output Instructions Inst ruction Mnemonic Code Length (steps) (See note .
371 A uxiliary Area Alloca tions Appendix D Step In stru ctio ns Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. I/O Refresh Inst ruction Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e.
372 A uxiliary Area Allocations Appendix D Serial Comm unications Instructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Deb ugging Instructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e.
373 A uxiliary Area Alloca tions Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Branching IF (input condition) 802 1 6.8 Y e s IF true 12.2 IF false Branching IF (rela y number) 802 2 11.
374 A uxiliary Area Allocations Appendix D.
375 Index A A/D conversion va lue , 222 absolute en coder absolu te circul ar coun ter , 202 absolute linea r counter , 202 absolut e offset pres et , 203 absolute pres ent value , 202 absolute PV preset , 203 output da ta acquisition , 207 format , 200 Absolute No.
376 Index RS-232C port , 66 , 134 serial data , 200 BCD data , 276 BCD-mode addressin g , 307 binar y-mode addre ssing , 307 block pr ogram s , 270 , 286 , 28 7 instructio n execution times , 372 C ca.
Index 377 current consum ption , 45 CX-Programmer , 92 , 95 Analo g Input/Outp ut Tab Page , 325 connect ing cable s , 234 , 23 8 connect ions , 23 5 methods , 237 Cycle T ime Settin gs , 312 Cycle Ti.
378 Index Equal s Flag , 285 , 30 8 error codes , 359 Error Flag , 308 error flags , 359 error log , 120 , 242 Error Log Area , 242 , 344 , 349 Error Log Po inter , 350 error processing flowchart , 24.
Index 379 Memory Error Flag , 248 , 345 , 349 Memory Not Held Flag , 345 , 350 Motion Control Module Monito r Error Flag , 249 Motion Cont rol Module Monitorin g Error Flag , 345 , 34 9 Negative Flag .
END refresh , 303 immediate refresh , 30 4 Motion Con trol Module s , 98 using IORF(097) in struction , 304 I/O response time , 293 calcul ating , 29 3 Coor dinat or Modu les , 293 Motion Con trol Mod.
Index 381 Less Than or E quals Flag , 30 8 Linear Counter , 154 linear coun ter CCW rotation , 201 CW rotation , 201 Linea r Counte r Mode , 205 linear mode , 180 logic instr uctions execut ion times .
382 Index Peripheral Devices , 6 per ipher al por t connect ing a personal co mputer , 235 Peripheral Port Communications Error Flag , 346 , 350 Peripheral Port Erro r Flags , 346 , 350 Peri pheral Po.
Index 383 puls e inpu ts , 148 applicable in structions , 15 2 applicat ion exa mples , 162 connect ions , 71 high -speed c ounter , 153 internal circ uit config uration , 15 2 mode , 204 specificati .
384 Index operatio n procedure , 133 PLC Setup (Master) , 13 4 System Se tup (Slave) , 13 4 Ser vo Dr iv ers compat ible with abso lute encod er , 207 compatibl e with absolute en coders timing ch art.
Index 385 T table d ata proc essing in struc tions execut ion times , 369 Target Compariso n Flag , 357 Target Comparison In-progress Flag , 340 , 341 , 355 Target Fr equency Not Reached Fl ag , 357 t.
386 Index.
387 Revision History A manual r e vision code a ppears a s a suffi x to th e catalog number on th e front c ov er of the manual. The following table outlines the changes mad e to the manua l duri ng each re vision . P age numbers r ef er to the previous version.
388.
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Omron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001をまだ購入していないなら、この製品の基本情報を理解する良い機会です。まずは上にある説明書の最初のページをご覧ください。そこにはOmron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001の技術情報の概要が記載されているはずです。デバイスがあなたのニーズを満たすかどうかは、ここで確認しましょう。Omron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001の取扱説明書の次のページをよく読むことにより、製品の全機能やその取り扱いに関する情報を知ることができます。Omron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001で得られた情報は、きっとあなたの購入の決断を手助けしてくれることでしょう。
Omron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001を既にお持ちだが、まだ読んでいない場合は、上記の理由によりそれを行うべきです。そうすることにより機能を適切に使用しているか、又はOmron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001の不適切な取り扱いによりその寿命を短くする危険を犯していないかどうかを知ることができます。
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