Document Outline

• FQM1 Series
• FQM1-CM001 FQM1-MMP21 FQM1-MMA21
• Flexible Motion Controller
• PRECAUTIONS
  • 1 Intended Audience
  • 2 General Precautions
  • 3 Safety Precautions
    • 3-1 Operating Environment Precautions
    • 3-2 Application Precautions
  • 4 Conformance to EC Directives
    • 4-1 Applicable Directives
    • 4-2 Concepts
    • 4-3 Conformance to EC Directives
    • 4-4 EMC Directive Conformance Conditions
    • 4-5 Relay Output Noise Reduction Methods
  • 5 Data Backup
• SECTION 1 Features and System Configuration
  • 1-1 Outline of FQM1 Flexible Motion Controller
  • 1-2 FQM1 Configuration
  • 1-3 Modules
  • 1-4 CX-Programmer
  • 1-5 Expanded System Configuration
    • 1-5-1 Serial Communications
    • 1-5-2 Systems
  • 1-6 Basic Operating Procedure
    • 1-6-1 Examples
  • 1-7 Function Tables Arranged by Purpose
    • 1-7-1 Sync Cycles and Synchronized data
    • 1-7-2 Position and Speed Control
    • 1-7-3 Measuring Input Pulses
    • 1-7-4 High-speed Analog I/O Control
    • 1-7-5 Controlling Timing
• SECTION 2 Specifications and Nomenclature
  • 2-1 List of Models
  • 2-2 General Specifications
  • 2-3 Coordinator Module
  • 2-4 Motion Control Modules
  • 2-5 Dimensions
  • 2-6 Module Current Consumption
  • 2-7 Memory Block Diagram
• SECTION 3 Installation and Wiring
  • 3-1 Installation
    • 3-1-1 Installation and Wiring Precautions
    • 3-1-2 Installation in a Control Panel
    • 3-1-3 Assembled Appearance and Dimensions
    • 3-1-4 Connecting FQM1 Components
    • 3-1-5 DIN Track Installation
  • 3-2 Wiring
    • 3-2-1 Wiring Power Supply Units
    • 3-2-2 RS-232C Port Wiring
  • 3-3 Wiring Module Connectors
    • 3-3-1 Connector Pin Arrangement
    • 3-3-2 External Connection Diagrams
    • 3-3-3 Wiring Examples
    • 3-3-4 Wiring Methods
  • 3-4 Wiring Servo Relay Units
  • 3-5 List of FQM1 Connecting Cables
  • 3-6 Wiring Precautions
    • 3-6-1 Reducing Electrical Noise
    • 3-6-2 Connecting I/O Devices
• SECTION 4 Operation
  • 4-1 Coordinator Module
    • 4-1-1 Outline
    • 4-1-2 Coordinator Module Operation
    • 4-1-3 I/O Refreshing and Peripheral Servicing
    • 4-1-4 Startup Initialization
  • 4-2 Motion Control Modules
    • 4-2-1 Outline
    • 4-2-2 Description of Each Area
    • 4-2-3 Motion Control Module Operation
  • 4-3 Operating Modes
    • 4-3-1 Operating Modes
    • 4-3-2 Status and Operations in Each Operating Mode
    • 4-3-3 Operating Mode Changes and I/O Memory
  • 4-4 Power OFF Operation
    • 4-4-1 Power OFF Operation
    • 4-4-2 Instruction Execution for Power Interruptions
• SECTION 5 Module Functions and Data Exchange
  • 5-1 Synchronous Operation between Modules
  • 5-2 Data Exchange between Modules
  • 5-3 Cyclic Refresh
    • 5-3-1 Outline
    • 5-3-2 Applications
    • 5-3-3 Cyclic Refresh Area Details
    • 5-3-4 Cyclic Refresh Area Allocations
  • 5-4 Synchronous Data Refresh
    • 5-4-1 Outline
    • 5-4-2 Applications
    • 5-4-3 Synchronous Data Link Bit Area
    • 5-4-4 Settings
  • 5-5 DM Data Transfer
    • 5-5-1 Outline
    • 5-5-2 Settings Details
    • 5-5-3 Executing DM Data Transfer
  • 5-6 Cycle Time Settings
    • 5-6-1 Constant Cycle Time Function
    • 5-6-2 Watch Cycle Time Function
    • 5-6-3 Cycle Time Monitoring Function
    • 5-6-4 Clearing Constant Cycle Time Exceeded Errors
  • 5-7 Operation Settings at Startup and Maintenance Functions
    • 5-7-1 Specifying the Startup Mode
    • 5-7-2 Program Protection
    • 5-7-3 Flash Memory
  • 5-8 Diagnostic Functions
    • 5-8-1 Error Log
    • 5-8-2 Failure Alarm Functions
• SECTION 6 Coordinator Module Functions
  • 6-1 Serial Communications
    • 6-1-1 Host Link Communications
    • 6-1-2 No-protocol Communications (RS-232C Port)
    • 6-1-3 NT Link (1:N Mode)
    • 6-1-4 Serial PLC Links
    • 6-1-5 Serial Gateway
    • 6-1-6 No-protocol Communications (RS-422A Port)
• SECTION 7 Motion Control Module Functions
  • 7-1 Overview
  • 7-2 Interrupt Functions
    • 7-2-1 Overview
    • 7-2-2 Interrupt Priority
    • 7-2-3 Disabling and Enabling All Interrupts
  • 7-3 Input Interrupts
    • 7-3-1 Applicable Models
    • 7-3-2 Overview of the Input Interrupt Function
    • 7-3-3 Interrupt Modes
    • 7-3-4 Input Interrupt Specifications
    • 7-3-5 Using Input Interrupts
    • 7-3-6 Application Example
  • 7-4 Interval Timer Interrupts
    • 7-4-1 Applicable Models
    • 7-4-2 Overview
    • 7-4-3 Interval Timer Interrupt Modes
    • 7-4-4 Using Interval Timer Interrupts
    • 7-4-5 Application Example
  • 7-5 Pulse Inputs
    • 7-5-1 Applicable Models
    • 7-5-2 Outline
    • 7-5-3 Specifications
    • 7-5-4 Pulse Input Specifications
    • 7-5-5 Latch Input Specifications
    • 7-5-6 Applicable Instructions
    • 7-5-7 Internal Circuit Configurations
    • 7-5-8 Pulse Input Function Description
    • 7-5-9 Pulse Input Function Procedures
    • 7-5-10 Pulse Input Function Example Application
  • 7-6 Pulse Outputs
    • 7-6-1 Applicable Models
    • 7-6-2 Outline
    • 7-6-3 Specifications
    • 7-6-4 Pulse Output Specifications
    • 7-6-5 Applicable Instructions
    • 7-6-6 Pulse Output Function Details
    • 7-6-7 One-shot Pulse Output Function
    • 7-6-8 Time Measurement with the Pulse Counter
    • 7-6-9 Target-value Comparison Interrupts from Pulse Output PVs
    • 7-6-10 Range Comparison Bit Pattern Outputs from Pulse Output PVs
    • 7-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887) Instructions
    • 7-6-12 PLS2(887) Pulse Output Direction Priority Mode
    • 7-6-13 Pulse Output Function Procedures
    • 7-6-14 Pulse Output Function Examples
    • 7-6-15 Pulse Output Starting Conditions
  • 7-7 Functions for Servo Drivers Compatible with Absolute Encoders
    • 7-7-1 Applicable Models
    • 7-7-2 Overview
    • 7-7-3 Data Format of Absolute Encoder Output
    • 7-7-4 Counter Operation
    • 7-7-5 Absolute Number of Rotations PV (Counter 1: A604 and A605)
    • 7-7-6 Absolute Present Value
    • 7-7-7 Absolute Present Value Preset
    • 7-7-8 Absolute Offset Preset
    • 7-7-9 Related Areas
    • 7-7-10 Overview of Absolute Encoder Output Data Acquire
    • 7-7-11 Timing Chart of the Functions for Servo Drivers Compatible with Absolute Encoders
    • 7-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver)
  • 7-8 Virtual Pulse Output Function
    • 7-8-1 Applicable Models
    • 7-8-2 Overview
    • 7-8-3 AXIS Instruction (For Virtual Pulse Outputs)
    • 7-8-4 Application Example
  • 7-9 Analog Input Functions
    • 7-9-1 Applicable Models
    • 7-9-2 Overview
    • 7-9-3 Analog Input Function Specifications
    • 7-9-4 Related Areas and Settings
    • 7-9-5 Applicable Instructions
    • 7-9-6 A/D Conversion Value
    • 7-9-7 High-speed Analog Sampling (FQM1-MMA21 Only)
  • 7-10 Analog Outputs
    • 7-10-1 Applicable Models
    • 7-10-2 Outline
    • 7-10-3 Analog Output Function Specifications
    • 7-10-4 Applicable Instructions
    • 7-10-5 Procedure
    • 7-10-6 Application Example
• SECTION 8 Connecting the CX-Programmer
  • 8-1 CX-Programmer
  • 8-2 Connecting the CX-Programmer
    • 8-2-1 System Configuration
    • 8-2-2 CX-Programmer Connecting Cables
• SECTION 9 Error Processing
  • 9-1 Error Log
  • 9-2 Error Processing
    • 9-2-1 Error Categories
    • 9-2-2 Error Information
    • 9-2-3 Error Codes
    • 9-2-4 Error Processing Flowchart
    • 9-2-5 Error Tables
    • 9-2-6 Power Supply Check
    • 9-2-7 Memory Error Check
    • 9-2-8 Program Error Check
    • 9-2-9 Cycle Time Overrun Error Check
    • 9-2-10 System Setup Error Check
    • 9-2-11 I/O Setting Error Check
    • 9-2-12 I/O Check
    • 9-2-13 Environmental Conditions Check
  • 9-3 Troubleshooting Problems in Modules
• SECTION 10 Inspection and Maintenance
  • 10-1 Inspections
    • 10-1-1 Inspection Points
    • 10-1-2 Module Replacement Precautions
• Appendix A Programming
• Appendix B I/O Memory
• Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations
• Appendix D Auxiliary Area Allocations
• Index
• Revision History
• Terms and Conditions of Sale
• Certain Precautions on Specifications and Use
• Contact Information