Omron FQM1-MMA21 Manuel D’Utilisation

Speed control

Torque control 
(position + 
torque control)

Individual axis 
control for mold-
ing equipment 
and similar 
applications

Switching 
between posi-
tion and torque 
control modes.

During torque 
control, perform-
ing speed con-
trol using high-
speed control 
loops based on 
feedback from 
torque sensors.

• Analog input
• Pulse input (for 

Servo Drivers 
compatible 
with Absolute 
Encoders)

• Analog output
• Feedback cal-

culations using 
ladder pro-
grams

Uses 2 analog outputs for speed and torque 
commands for Servo Driver.

Can switch freely between position and torque 
control modes in ladder program, allowing for 
operations such as position control 

→ torque 

control 

→ position control.

Speed and torque commands to Servo Drivers 
can be freely controlled during torque control 
based on feedback from torque sensors via ana-
log inputs.

Fine speed control is possible in FQM1 high-
speed cycle.

Line control 
(winding/feed-
ing control)

Tension control, 
etc.

Performing ana-
log output con-
trol based on 
feedback using 
analog inputs

• Analog input
• Analog output
• Feedback cal-

culations using 
ladder pro-
grams

Performs speed control of winding and feeding 
motors while executing feedback calculations in 
ladder programs based on analog input informa-
tion from dancer rollers or tension detectors.

High-speed feedback loops can be created 
using FQM1 high-speed cycles and analog I/O 
conversion (approx. 40 

µs).

Simple speed 
control corre-
sponding to time 
axis using 
inverter

Controlling 
stepped or trap-
ezoidal analog 
outputs based 
on time

• Timer instruc-

tions

• Analog output 

instructions 
(SPED(885) 
and ACC(888) 
instructions)

Used to create any speed change pattern using 
an inverter.

The speed pattern is based on the time axis, 
and the speed can be changed to any value 
once a set time has passed.

Detecting posi-
tion and length 
using rotary 
encoder inputs

High-precision 
positioning

Counts high-
speed encoder 
output using 
high-speed 
counter

Counting at 
2 MHz  (phase 
differential 

× 4)

Set counter operation to phase differential 

× 4 

and counting speed to 500 kHz.

Can be used when high-speed pulse inputs 
need to be counted using high-speed counter for 
positioning in 

µm-units.

Reading high-
speed counter 
PV when mark 
has gone past 
mark sensor 

Latching high-
speed counter 
PV when sen-
sor turns ON for 
latch input

High-speed 
counter PV latch 

High-speed counter PV captured to latch regis-
ter when external latch inputs change from OFF 
to ON.

The values can be read using the PRV(881) 
instruction.

Can be quickly read using hardware latch cir-
cuits.