Omron FQM1-MMA21 User Manual

The format of data from a Servo Driver compatible with an absolute encoder
supported by the Motion Control Module is as follows:

(1) The “P” is in ASCII. It is 50 hex in hexadecimal.

(2) The range of No. of rotations that can be received by the Motion Control

Module is between +65,535 to 

−65,535.

(3) For details of the data on the number of multi-turns received from a Servo

Driver, please check the manual of the Servo Driver in use.

(4) Set the System Setup’s Counter 1 Counter operation to either an abso-

lute linear (CW

−) or absolute linear (CW+) counter corresponding to the

setting of reverse rotation mode on the Servo Driver in use.

(5) When the mode where the data on the number of rotations is output only

in the + direction is set in the absolute encoder multi-turn limit setting, the
data received by the Motion Control Module is handled as described be-
low according to the setting of Counter 1 Counter operation in the System
Setup.

 

Motion Control Module

Servo driver

Speed 
control

Position control, 
(SPED, ACC, 
PULS or PLS2 
instruction)

SEN signal

Power cable
(U, V, W)

Absolute encoder 
signal (line driver)

Servomotor 
with Absolute encoder 

Analog output
(Speed command)

−10 to 10 V, etc.

Absolute 
encoder data

Pulse output

The number of digits for rotation data

5 digits

Data transmitting method

Asynchronous

Baud rate

9,600 bits/s

Start bit

1 bit

Stop bit

1 bit

Parity

Even numbers

Character code

ASCII 7 bits

Data format

8 characters

P (See 
note 1.)

Rotation data

CR

Sign
(+ or 

−)

Integer (5-digit decimal)