Omron FQM1-MMP21 Manuale Utente

Synchronous 
control

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

Electronic cam: 
Changing target 
position and 
speed every 
cycle based on 
virtual pulse out-
put (position or 
speed) to exe-
cute positioning.

• Virtual axis 

(AXIS instruc-
tion)

• 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

Execute pulse output control of slave axis based 
on virtual axis position and speed using AXIS 
instruction, instead of high-speed counter PV for 
real axis outlined above.

Instead of the slave axis operation reflecting the 
real machinery operation outlined above, this 
method is used to operate position control for 
multiple axes using the same timing.

Control of a par-
ticular axis oper-
ation at a speed 
with a uniform 
ratio applied

Electronic gear 
operation: Pulse 
outputs based 
on input pulses 
multiplied by a 
set factor.

• High-speed 

counter PV

• Straight-line 

table (APR 
instruction)

• Pulse outputs 

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

• Constant cycle 

time

Set pulse output operating mode to electronic 
cam control (circular).

Prepare a straight line table whose slope 
becomes the multiplier for APR instruction and 
use APR instructions to calculate the pulse out-
put target position for slave axis corresponding 
to high-speed counter PV and executes pulse 
output control.

Speed is set and controlled to enable distribution 
of specified number of pulses within FQM1 con-
trol cycle.

Speed control

Creating any 
trapezoidal 
speed control 
pattern (e.g., S-
curve accelera-
tion/decelera-
tion) (fine 
control of accel-
eration/deceler-
ation using time)

Electronic cam 
operation: 
Changing target 
position and 
speed every 
cycle according 
to time axis and 
perform posi-
tioning.

• 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).

Used for applications such as creating ideal Ser-
vomotor control patterns.

Makes the Motion Control Module cycle time 
constant, generates a time axis using ladder 
programming, specifies the target position and 
speed for the Servo Driver of the slave axis 
based on that time axis and gives pulse outputs.

The time unit can be set to milliseconds, allow-
ing fine control in FQM1 high-speed cycles.