Manual De UsuarioTabla de contenidosFQM1 Series2FQM1-CM001 FQM1-MMP21 FQM1-MMA212Flexible Motion Controller2PRECAUTIONS121 Intended Audience132 General Precautions133 Safety Precautions133-1 Operating Environment Precautions143-2 Application Precautions154 Conformance to EC Directives184-1 Applicable Directives184-2 Concepts184-3 Conformance to EC Directives184-4 EMC Directive Conformance Conditions184-5 Relay Output Noise Reduction Methods195 Data Backup21SECTION 1 Features and System Configuration241-1 Outline of FQM1 Flexible Motion Controller251-2 FQM1 Configuration271-3 Modules291-4 CX-Programmer311-5 Expanded System Configuration321-5-1 Serial Communications321-5-2 Systems321-6 Basic Operating Procedure361-6-1 Examples381-7 Function Tables Arranged by Purpose421-7-1 Sync Cycles and Synchronized data421-7-2 Position and Speed Control441-7-3 Measuring Input Pulses481-7-4 High-speed Analog I/O Control491-7-5 Controlling Timing51SECTION 2 Specifications and Nomenclature542-1 List of Models552-2 General Specifications552-3 Coordinator Module572-4 Motion Control Modules602-5 Dimensions662-6 Module Current Consumption682-7 Memory Block Diagram70SECTION 3 Installation and Wiring723-1 Installation733-1-1 Installation and Wiring Precautions733-1-2 Installation in a Control Panel763-1-3 Assembled Appearance and Dimensions773-1-4 Connecting FQM1 Components793-1-5 DIN Track Installation803-2 Wiring833-2-1 Wiring Power Supply Units833-2-2 RS-232C Port Wiring873-3 Wiring Module Connectors903-3-1 Connector Pin Arrangement903-3-2 External Connection Diagrams933-3-3 Wiring Examples943-3-4 Wiring Methods973-4 Wiring Servo Relay Units983-5 List of FQM1 Connecting Cables1063-6 Wiring Precautions1083-6-1 Reducing Electrical Noise1083-6-2 Connecting I/O Devices110SECTION 4 Operation1144-1 Coordinator Module1154-1-1 Outline1154-1-2 Coordinator Module Operation1164-1-3 I/O Refreshing and Peripheral Servicing1174-1-4 Startup Initialization1174-2 Motion Control Modules1184-2-1 Outline1184-2-2 Description of Each Area1184-2-3 Motion Control Module Operation1194-3 Operating Modes1224-3-1 Operating Modes1224-3-2 Status and Operations in Each Operating Mode1224-3-3 Operating Mode Changes and I/O Memory1234-4 Power OFF Operation1234-4-1 Power OFF Operation1234-4-2 Instruction Execution for Power Interruptions125SECTION 5 Module Functions and Data Exchange1265-1 Synchronous Operation between Modules1275-2 Data Exchange between Modules1285-3 Cyclic Refresh1295-3-1 Outline1295-3-2 Applications1295-3-3 Cyclic Refresh Area Details1305-3-4 Cyclic Refresh Area Allocations1315-4 Synchronous Data Refresh1325-4-1 Outline1325-4-2 Applications1325-4-3 Synchronous Data Link Bit Area1335-4-4 Settings1345-5 DM Data Transfer1355-5-1 Outline1355-5-2 Settings Details1365-5-3 Executing DM Data Transfer1365-6 Cycle Time Settings1375-6-1 Constant Cycle Time Function1375-6-2 Watch Cycle Time Function1395-6-3 Cycle Time Monitoring Function1395-6-4 Clearing Constant Cycle Time Exceeded Errors1405-7 Operation Settings at Startup and Maintenance Functions1415-7-1 Specifying the Startup Mode1415-7-2 Program Protection1415-7-3 Flash Memory1425-8 Diagnostic Functions1435-8-1 Error Log1435-8-2 Failure Alarm Functions144SECTION 6 Coordinator Module Functions1466-1 Serial Communications1476-1-1 Host Link Communications1496-1-2 No-protocol Communications (RS-232C Port)1526-1-3 NT Link (1:N Mode)1546-1-4 Serial PLC Links1556-1-5 Serial Gateway1576-1-6 No-protocol Communications (RS-422A Port)159SECTION 7 Motion Control Module Functions1607-1 Overview1627-2 Interrupt Functions1637-2-1 Overview1637-2-2 Interrupt Priority1637-2-3 Disabling and Enabling All Interrupts1647-3 Input Interrupts1657-3-1 Applicable Models1657-3-2 Overview of the Input Interrupt Function1657-3-3 Interrupt Modes1657-3-4 Input Interrupt Specifications1657-3-5 Using Input Interrupts1667-3-6 Application Example1687-4 Interval Timer Interrupts1697-4-1 Applicable Models1697-4-2 Overview1697-4-3 Interval Timer Interrupt Modes1697-4-4 Using Interval Timer Interrupts1697-4-5 Application Example1707-5 Pulse Inputs1717-5-1 Applicable Models1717-5-2 Outline1717-5-3 Specifications1717-5-4 Pulse Input Specifications1737-5-5 Latch Input Specifications1757-5-6 Applicable Instructions1757-5-7 Internal Circuit Configurations1757-5-8 Pulse Input Function Description1767-5-9 Pulse Input Function Procedures1837-5-10 Pulse Input Function Example Application1857-6 Pulse Outputs1907-6-1 Applicable Models1907-6-2 Outline1907-6-3 Specifications1917-6-4 Pulse Output Specifications1927-6-5 Applicable Instructions1937-6-6 Pulse Output Function Details1947-6-7 One-shot Pulse Output Function1997-6-8 Time Measurement with the Pulse Counter2017-6-9 Target-value Comparison Interrupts from Pulse Output PVs2027-6-10 Range Comparison Bit Pattern Outputs from Pulse Output PVs2057-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887) Instructions2057-6-12 PLS2(887) Pulse Output Direction Priority Mode2067-6-13 Pulse Output Function Procedures2077-6-14 Pulse Output Function Examples2127-6-15 Pulse Output Starting Conditions2177-7 Functions for Servo Drivers Compatible with Absolute Encoders2227-7-1 Applicable Models2227-7-2 Overview2227-7-3 Data Format of Absolute Encoder Output2237-7-4 Counter Operation2247-7-5 Absolute Number of Rotations PV (Counter 1: A604 and A605)2257-7-6 Absolute Present Value2257-7-7 Absolute Present Value Preset2267-7-8 Absolute Offset Preset2267-7-9 Related Areas2277-7-10 Overview of Absolute Encoder Output Data Acquire2307-7-11 Timing Chart of the Functions for Servo Drivers Compatible with Absolute Encoders2327-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver)2327-8 Virtual Pulse Output Function2357-8-1 Applicable Models2357-8-2 Overview2357-8-3 AXIS Instruction (For Virtual Pulse Outputs)2367-8-4 Application Example2387-9 Analog Input Functions2387-9-1 Applicable Models2387-9-2 Overview2387-9-3 Analog Input Function Specifications2407-9-4 Related Areas and Settings2417-9-5 Applicable Instructions2457-9-6 A/D Conversion Value2457-9-7 High-speed Analog Sampling (FQM1-MMA21 Only)2467-10 Analog Outputs2487-10-1 Applicable Models2487-10-2 Outline2487-10-3 Analog Output Function Specifications2497-10-4 Applicable Instructions2517-10-5 Procedure2527-10-6 Application Example253SECTION 8 Connecting the CX-Programmer2568-1 CX-Programmer2578-2 Connecting the CX-Programmer2588-2-1 System Configuration2588-2-2 CX-Programmer Connecting Cables261SECTION 9 Error Processing2649-1 Error Log2659-2 Error Processing2669-2-1 Error Categories2669-2-2 Error Information2669-2-3 Error Codes2679-2-4 Error Processing Flowchart2689-2-5 Error Tables2699-2-6 Power Supply Check2749-2-7 Memory Error Check2759-2-8 Program Error Check2759-2-9 Cycle Time Overrun Error Check2769-2-10 System Setup Error Check2769-2-11 I/O Setting Error Check2779-2-12 I/O Check2789-2-13 Environmental Conditions Check2799-3 Troubleshooting Problems in Modules279SECTION 10 Inspection and Maintenance28210-1 Inspections28310-1-1 Inspection Points28310-1-2 Module Replacement Precautions284Appendix A Programming286Appendix B I/O Memory322Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations334Appendix D Auxiliary Area Allocations372Index398Revision History410Terms and Conditions of Sale413Certain Precautions on Specifications and Use413Contact Information414Tamaño: 7 MBPáginas: 414Language: EnglishManuales abiertas