Omron FQM1-MMA21 User Manual

Status information, general-purpose I/O, and other information for each
Motion Control Module in the Cyclic Refresh Area of the Coordinator Module
are refreshed every Coordinator Module cycle (asynchronous to the Motion
Control Module cycles).

As shown in the following diagram, 10 words per Motion Control Module (5
output words and 5 input words) are allocated according to the Motion Control
Module slot number (#1 to #4 in the following diagram) in the Cyclic Refresh
Area of the Coordinator Module (CIO 0100 to CIO 0139).

Cyclic refreshing between the Coordinator Module and Motion Control Mod-
ules is asynchronous. Information may take up to 2 cycles to be received.

In addition to the Synchronous Data Link Bit Area, normal data exchange
between the Coordinator Module and Motion Control Modules is possible
using the Cyclic Refresh Area.

Information for which high-speed data exchange between Modules is not
required can be allocated anywhere, and a ladder program written for the
Coordinator Module and Motion Control Modules to access these areas dur-
ing operation can be created.

CIO 0000

CIO 0099
CIO 0100

CIO 0104

CIO 0105

CIO 0109

CIO 0110

CIO 0114
CIO 0115

CIO 0119
CIO 0120

CIO 0124
CIO 0125

CIO 0129
CIO 0130

CIO 0134
CIO 0135

CIO 0139

CIO 0100

CIO 0104

CIO 0105

CIO 0109

CIO 0100

CIO 0104
CIO 0105

CIO 0109

CIO 0100

CIO 0104
CIO 0105

CIO 0109

CIO 0100

CIO 0104
CIO 0105

CIO 0109

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Coordinator 
Module 

Motion Control 
Module #1

Motion Control 
Module #4

Motion Control 
Module #3

Motion Control 
Module #2