Omron FQM1-MMA21 User Manuals

Table of Contents

• FQM1 Series

  2
• FQM1-CM001 FQM1-MMP21 FQM1-MMA21

  2
• Flexible Motion Controller

  2
• PRECAUTIONS

  12
  • 1 Intended Audience

    13
  • 2 General Precautions

    13
  • 3 Safety Precautions

    13
    • 3-1 Operating Environment Precautions

      14
    • 3-2 Application Precautions

      15
  • 4 Conformance to EC Directives

    18
    • 4-1 Applicable Directives

      18
    • 4-2 Concepts

      18
    • 4-3 Conformance to EC Directives

      18
    • 4-4 EMC Directive Conformance Conditions

      18
    • 4-5 Relay Output Noise Reduction Methods

      19
  • 5 Data Backup

    21
• SECTION 1 Features and System Configuration

  24
  • 1-1 Outline of FQM1 Flexible Motion Controller

    25
  • 1-2 FQM1 Configuration

    27
  • 1-3 Modules

    29
  • 1-4 CX-Programmer

    31
  • 1-5 Expanded System Configuration

    32
    • 1-5-1 Serial Communications

      32
    • 1-5-2 Systems

      32
  • 1-6 Basic Operating Procedure

    36
    • 1-6-1 Examples

      38
  • 1-7 Function Tables Arranged by Purpose

    42
    • 1-7-1 Sync Cycles and Synchronized data

      42
    • 1-7-2 Position and Speed Control

      44
    • 1-7-3 Measuring Input Pulses

      48
    • 1-7-4 High-speed Analog I/O Control

      49
    • 1-7-5 Controlling Timing

      51
• SECTION 2 Specifications and Nomenclature

  54
  • 2-1 List of Models

    55
  • 2-2 General Specifications

    55
  • 2-3 Coordinator Module

    57
  • 2-4 Motion Control Modules

    60
  • 2-5 Dimensions

    66
  • 2-6 Module Current Consumption

    68
  • 2-7 Memory Block Diagram

    70
• SECTION 3 Installation and Wiring

  72
  • 3-1 Installation

    73
    • 3-1-1 Installation and Wiring Precautions

      73
    • 3-1-2 Installation in a Control Panel

      76
    • 3-1-3 Assembled Appearance and Dimensions

      77
    • 3-1-4 Connecting FQM1 Components

      79
    • 3-1-5 DIN Track Installation

      80
  • 3-2 Wiring

    83
    • 3-2-1 Wiring Power Supply Units

      83
    • 3-2-2 RS-232C Port Wiring

      87
  • 3-3 Wiring Module Connectors

    90
    • 3-3-1 Connector Pin Arrangement

      90
    • 3-3-2 External Connection Diagrams

      93
    • 3-3-3 Wiring Examples

      94
    • 3-3-4 Wiring Methods

      97
  • 3-4 Wiring Servo Relay Units

    98
  • 3-5 List of FQM1 Connecting Cables

    106
  • 3-6 Wiring Precautions

    108
    • 3-6-1 Reducing Electrical Noise

      108
    • 3-6-2 Connecting I/O Devices

      110
• SECTION 4 Operation

  114
  • 4-1 Coordinator Module

    115
    • 4-1-1 Outline

      115
    • 4-1-2 Coordinator Module Operation

      116
    • 4-1-3 I/O Refreshing and Peripheral Servicing

      117
    • 4-1-4 Startup Initialization

      117
  • 4-2 Motion Control Modules

    118
    • 4-2-1 Outline

      118
    • 4-2-2 Description of Each Area

      118
    • 4-2-3 Motion Control Module Operation

      119
  • 4-3 Operating Modes

    122
    • 4-3-1 Operating Modes

      122
    • 4-3-2 Status and Operations in Each Operating Mode

      122
    • 4-3-3 Operating Mode Changes and I/O Memory

      123
  • 4-4 Power OFF Operation

    123
    • 4-4-1 Power OFF Operation

      123
    • 4-4-2 Instruction Execution for Power Interruptions

      125
• SECTION 5 Module Functions and Data Exchange

  126
  • 5-1 Synchronous Operation between Modules

    127
  • 5-2 Data Exchange between Modules

    128
  • 5-3 Cyclic Refresh

    129
    • 5-3-1 Outline

      129
    • 5-3-2 Applications

      129
    • 5-3-3 Cyclic Refresh Area Details

      130
    • 5-3-4 Cyclic Refresh Area Allocations

      131
  • 5-4 Synchronous Data Refresh

    132
    • 5-4-1 Outline

      132
    • 5-4-2 Applications

      132
    • 5-4-3 Synchronous Data Link Bit Area

      133
    • 5-4-4 Settings

      134
  • 5-5 DM Data Transfer

    135
    • 5-5-1 Outline

      135
    • 5-5-2 Settings Details

      136
    • 5-5-3 Executing DM Data Transfer

      136
  • 5-6 Cycle Time Settings

    137
    • 5-6-1 Constant Cycle Time Function

      137
    • 5-6-2 Watch Cycle Time Function

      139
    • 5-6-3 Cycle Time Monitoring Function

      139
    • 5-6-4 Clearing Constant Cycle Time Exceeded Errors

      140
  • 5-7 Operation Settings at Startup and Maintenance Functions

    141
    • 5-7-1 Specifying the Startup Mode

      141
    • 5-7-2 Program Protection

      141
    • 5-7-3 Flash Memory

      142
  • 5-8 Diagnostic Functions

    143
    • 5-8-1 Error Log

      143
    • 5-8-2 Failure Alarm Functions

      144
• SECTION 6 Coordinator Module Functions

  146
  • 6-1 Serial Communications

    147
    • 6-1-1 Host Link Communications

      149
    • 6-1-2 No-protocol Communications (RS-232C Port)

      152
    • 6-1-3 NT Link (1:N Mode)

      154
    • 6-1-4 Serial PLC Links

      155
    • 6-1-5 Serial Gateway

      157
    • 6-1-6 No-protocol Communications (RS-422A Port)

      159
• SECTION 7 Motion Control Module Functions

  160
  • 7-1 Overview

    162
  • 7-2 Interrupt Functions

    163
    • 7-2-1 Overview

      163
    • 7-2-2 Interrupt Priority

      163
    • 7-2-3 Disabling and Enabling All Interrupts

      164
  • 7-3 Input Interrupts

    165
    • 7-3-1 Applicable Models

      165
    • 7-3-2 Overview of the Input Interrupt Function

      165
    • 7-3-3 Interrupt Modes

      165
    • 7-3-4 Input Interrupt Specifications

      165
    • 7-3-5 Using Input Interrupts

      166
    • 7-3-6 Application Example

      168
  • 7-4 Interval Timer Interrupts

    169
    • 7-4-1 Applicable Models

      169
    • 7-4-2 Overview

      169
    • 7-4-3 Interval Timer Interrupt Modes

      169
    • 7-4-4 Using Interval Timer Interrupts

      169
    • 7-4-5 Application Example

      170
  • 7-5 Pulse Inputs

    171
    • 7-5-1 Applicable Models

      171
    • 7-5-2 Outline

      171
    • 7-5-3 Specifications

      171
    • 7-5-4 Pulse Input Specifications

      173
    • 7-5-5 Latch Input Specifications

      175
    • 7-5-6 Applicable Instructions

      175
    • 7-5-7 Internal Circuit Configurations

      175
    • 7-5-8 Pulse Input Function Description

      176
    • 7-5-9 Pulse Input Function Procedures

      183
    • 7-5-10 Pulse Input Function Example Application

      185
  • 7-6 Pulse Outputs

    190
    • 7-6-1 Applicable Models

      190
    • 7-6-2 Outline

      190
    • 7-6-3 Specifications

      191
    • 7-6-4 Pulse Output Specifications

      192
    • 7-6-5 Applicable Instructions

      193
    • 7-6-6 Pulse Output Function Details

      194
    • 7-6-7 One-shot Pulse Output Function

      199
    • 7-6-8 Time Measurement with the Pulse Counter

      201
    • 7-6-9 Target-value Comparison Interrupts from Pulse Output PVs

      202
    • 7-6-10 Range Comparison Bit Pattern Outputs from Pulse Output PVs

      205
    • 7-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887) Instructions

      205
    • 7-6-12 PLS2(887) Pulse Output Direction Priority Mode

      206
    • 7-6-13 Pulse Output Function Procedures

      207
    • 7-6-14 Pulse Output Function Examples

      212
    • 7-6-15 Pulse Output Starting Conditions

      217
  • 7-7 Functions for Servo Drivers Compatible with Absolute Encoders

    222
    • 7-7-1 Applicable Models

      222
    • 7-7-2 Overview

      222
    • 7-7-3 Data Format of Absolute Encoder Output

      223
    • 7-7-4 Counter Operation

      224
    • 7-7-5 Absolute Number of Rotations PV (Counter 1: A604 and A605)

      225
    • 7-7-6 Absolute Present Value

      225
    • 7-7-7 Absolute Present Value Preset

      226
    • 7-7-8 Absolute Offset Preset

      226
    • 7-7-9 Related Areas

      227
    • 7-7-10 Overview of Absolute Encoder Output Data Acquire

      230
    • 7-7-11 Timing Chart of the Functions for Servo Drivers Compatible with Absolute Encoders

      232
    • 7-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver)

      232
  • 7-8 Virtual Pulse Output Function

    235
    • 7-8-1 Applicable Models

      235
    • 7-8-2 Overview

      235
    • 7-8-3 AXIS Instruction (For Virtual Pulse Outputs)

      236
    • 7-8-4 Application Example

      238
  • 7-9 Analog Input Functions

    238
    • 7-9-1 Applicable Models

      238
    • 7-9-2 Overview

      238
    • 7-9-3 Analog Input Function Specifications

      240
    • 7-9-4 Related Areas and Settings

      241
    • 7-9-5 Applicable Instructions

      245
    • 7-9-6 A/D Conversion Value

      245
    • 7-9-7 High-speed Analog Sampling (FQM1-MMA21 Only)

      246
  • 7-10 Analog Outputs

    248
    • 7-10-1 Applicable Models

      248
    • 7-10-2 Outline

      248
    • 7-10-3 Analog Output Function Specifications

      249
    • 7-10-4 Applicable Instructions

      251
    • 7-10-5 Procedure

      252
    • 7-10-6 Application Example

      253
• SECTION 8 Connecting the CX-Programmer

  256
  • 8-1 CX-Programmer

    257
  • 8-2 Connecting the CX-Programmer

    258
    • 8-2-1 System Configuration

      258
    • 8-2-2 CX-Programmer Connecting Cables

      261
• SECTION 9 Error Processing

  264
  • 9-1 Error Log

    265
  • 9-2 Error Processing

    266
    • 9-2-1 Error Categories

      266
    • 9-2-2 Error Information

      266
    • 9-2-3 Error Codes

      267
    • 9-2-4 Error Processing Flowchart

      268
    • 9-2-5 Error Tables

      269
    • 9-2-6 Power Supply Check

      274
    • 9-2-7 Memory Error Check

      275
    • 9-2-8 Program Error Check

      275
    • 9-2-9 Cycle Time Overrun Error Check

      276
    • 9-2-10 System Setup Error Check

      276
    • 9-2-11 I/O Setting Error Check

      277
    • 9-2-12 I/O Check

      278
    • 9-2-13 Environmental Conditions Check

      279
  • 9-3 Troubleshooting Problems in Modules

    279
• SECTION 10 Inspection and Maintenance

  282
  • 10-1 Inspections

    283
    • 10-1-1 Inspection Points

      283
    • 10-1-2 Module Replacement Precautions

      284
• Appendix A Programming

  286
• Appendix B I/O Memory

  322
• Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations

  334
• Appendix D Auxiliary Area Allocations

  372
• Index

  398
• Revision History

  410
• Terms and Conditions of Sale

  413
• Certain Precautions on Specifications and Use

  413
• Contact Information

  414