Omron FQM1-MMP21 Manuale Utente

PTP positioning 
using analog I/O

Simple position-
ing using invert-
ers

Stepped or 
sloped analog 
output corre-
sponding to the 
high-speed 
counter PV

• Target value 

match instruc-
tion 
(CTBL(882) 
instruction) for 
high-speed 
counter

• Analog output 

instruction 
(SPED(885) 
instruction) or 
analog output 
slope variation 
(ACC(888) 
instruction) in 
interrupt tasks

Used when positioning only using speed com-
mand according to analog output. 

Applicable when speed patterns have been 
determined based on specified positions.

An instruction to change the output variable 
every time instructions are executed 
(SPED(885) instruction) and an instruction to 
change analog outputs at a specified rate of 
change every 2 ms (ACC(888) instruction) are 
available for analog outputs.

Fine speed control loops can be included using 
the FQM1 high-speed cycle time and analog 
output conversion functions (approx. 40 

µs).

Path control

Drawing path 
with linear inter-
polation

Executing elec-
tronic cam con-
trol for 2 axes 
synchronized to 
virtual axis

• Virtual axis 

(AXIS instruc-
tion)

• Create path 

tables using 
ladder program 
(APR instruc-
tion)

• Electronic cam 

pulse output 
(PULS(886) 
instruction)

Pulse output operation mode set to electronic 
cam control mode (linear).

Virtual axis used as basic axis. Path can be 
drawn by synchronizing 2 pulse output axes 
(controlled as slave axes) with the basic axis.

Set the desired path pattern to the broken-line 
approximation instruction (APR instruction) table 
data, and execute pulse output control based on 
the APR instruction calculation result for the 
basic axis.

The maximum number of line points for one APR 
instruction is 256, but multiple APR instructions 
can be used in ladder programs so the number 
of curve points can be increased by setting the 
table data across multiple APR instructions.

Drawing path 
with circular 
interpolation

As above

As above

Drawing ellipti-
cal and other 
special locus

As above

As above

Synchronous 
control

Slave axis con-
trol synchro-
nized to real 
axis.

Electronic cam: 
Changing target 
position and 
speed every 
cycle based on 
input pulse 
(position or 
angle for one 
rotation, etc.) to 
execute posi-
tioning.

• High-speed 

counter PV

• Cam  curve 

generation or 
cam curve 
table every 
cycle based on 
ladder pro-
gramming 
(APR instruc-
tion)

• Pulse output 

with specified 
target position 
and frequency 
(PULS(886) 
instruction)

• Constant cycle 

time

Set pulse output operation mode to electronic 
cam control mode (linear) or electronic cam con-
trol mode (circular).

Makes Motion Control Module cycle times con-
stant, specifies target position and speed, and 
executes pulse outputs to Servo Driver for the 
slave axis according to high-speed counter PV.

If cam curves are generated using ladder pro-
gramming, the cam curves can be changed dur-
ing operation.

High-precision, synchronized control with exter-
nal axes is possible with FQM1 high-speed 
cycle.