Omron FQM1-MMP21 用户手册
108
Cyclic Refresh
Section 5-3
5-3-4
Cyclic Refresh Area Allocations
CM: Coordinator Module
MM: Motion Control Module
MM: Motion Control Module
CIO 0105
00 to 07 MM Output Refresh Area
(This MM to CM)
Data from this area is allo-
cated to the Coordinator Mod-
ule's CM Input Refresh Area
(MM to CM).
cated to the Coordinator Mod-
ule's CM Input Refresh Area
(MM to CM).
Reserved
08
Reserved
09
Cycle time over warning
OFF: No error
ON: MM cycle time exceeded 10 ms.
ON: MM cycle time exceeded 10 ms.
10
Non-fatal error for this Motion Control Module (including FAL
instructions)
instructions)
OFF: No non-fatal error
ON: Non-fatal error
ON: Non-fatal error
11
Fatal error for this Motion Control Module (including FALS instruc-
tions)
tions)
OFF: No fatal error
ON: Fatal error
ON: Fatal error
12 to 14
Reserved
15
Program status for this Motion Control Module
OFF: Stopped (PROGRAM mode)
ON: Executing (RUN or MONITOR mode)
ON: Executing (RUN or MONITOR mode)
CIO 0106
00 to 15
General-purpose refresh data from MM to CM
CIO 0107
00 to 15
CIO 0108
00 to 15
CIO 0109
00 to 15
Word
address
Bits
Details
Direc-
tion
Motion Control Module
allocation
Coordinator Module allocation
Word
address
Bits
Details
#1
#2
#3
#4
Word
address
Bit
Word
address
Bit
Word
address
Bit
Word
address
Bit
CM to
MM
MM
CIO 0100 00 to 15 General-pur-
pose refresh
data from CM
to MM
data from CM
to MM
CIO 0100 00 to 15 CIO 0110 00 to 15 CIO 0120 00 to 15 CIO 0130 00 to 15
CIO 0101 00 to 15
CIO 0101 00 to 15 CIO 0111 00 to 15 CIO 0121 00 to 15 CIO 0131 00 to 15
CIO 0102 00 to 15
CIO 0102 00 to 15 CIO 0112 00 to 15 CIO 0122 00 to 15 CIO 0132 00 to 15
CIO 0103 00 to 15
CIO 0103 00 to 15 CIO 0113 00 to 15 CIO 0123 00 to 15 CIO 0133 00 to 15
CIO 0104 00 to 15
CIO 0104 00 to 15 CIO 0114 00 to 15 CIO 0124 00 to 15 CIO 0134 00 to 15
MM to
CM
CM
CIO 0105 00 to 07 Reserved
CIO 0105 00 to 07 CIO 0115 00 to 07 CIO 0125 00 to 07 CIO 0135 00 to 07
08
Reserved
08
08
08
08
09
Cycle time
over warning
over warning
09
09
09
09
10
Non-fatal
error
error
10
10
10
10
11
Fatal error
11
11
11
11
12 to 14 Reserved
12 to 14
12 to 14
12 to 14
12 to 14
15
Program sta-
tus
tus
15
15
15
15
CIO 0106 00 to 15 General-pur-
pose refresh
data from
MM to CM
data from
MM to CM
CIO 0106 00 to 15 CIO 0116 00 to 15 CIO 0126 00 to 15 CIO 0136 00 to 15
CIO 0107 00 to 15
CIO 0107 00 to 15 CIO 0117 00 to 15 CIO 0127 00 to 15 CIO 0137 00 to 15
CIO 0108 00 to 15
CIO 0108 00 to 15 CIO 0118 00 to 15 CIO 0128 00 to 15 CIO 0138 00 to 15
CIO 0109 00 to 15
CIO 0109 00 to 15 CIO 0119 00 to 15 CIO 0129 00 to 15 CIO 0139 00 to 15