Omron FQM1-MMA21 User Manual

• Transferring DM Data from the Coordinator Module to a Motion Control

Module: Turn ON the DM Write Request Bit (Coordinator Module to
Motion Control Module) (A530.00).

• Transferring DM Data from a Motion Control Module to the Coordinator

Module: Turn ON the DM Read Request Bit (Motion Control Module to
Coordinator Module) (A530.01).

The following diagram shows a programming example for the Coordinator
Module when transferring DM data from the Coordinator Module (CM) to the
Motion Control Module mounted to slot #1 (MM).

When executing a DM data transfer from a Motion Control Module to the
Coordinator Module (DM read request), do not set the First DM Transfer
Source Word to D30000 or higher

This section describes the constant cycle time function, the watch cycle time
function, and the cycle time monitoring function.

A constant cycle time can be set with the FQM1 Series. Programs are exe-
cuted at standard intervals, which allows the control cycles for Servomotors to
be constant.

The constant cycle time is set using the Cycle Time setting in the System
Setup (0.1 to 100.0 ms, unit: 0.1 ms).

If the real cycle time is longer than the set cycle time, the constant cycle time
function will be ignored and operation will be based on the real cycle time.

CM
D00200 to D00299

MM
D00100 to D00199

@MOV

#0001

A531

@MOV

#0064

A534

@MOV

#00C8

A533

@MOV

#0064

A532

㨃000.00

Transfer of 100 words 
of DM data

Set to slot #1, the slot for 
the Motion Control 
Module for the DM data 
transfer.

DM Transfer Size:
Set to 100 (64 hex).

First DM Transfer 
Source Word (in CM):
Set to C8 Hex (D00200).

First DM Transfer 
Destination Word (in 
MM):
Set to 64 Hex (D00100).

A530.00 (CM to MM 
transfer request)

Constant cycle 
time (enabled)

Constant cycle 
time (enabled)

Constant cycle 
time (enabled)

Real cycle time

Real cycle time

Real cycle time