Omron FQM1-MMA21, FQM1-MMP21, FQM1-CM001 User Manual

Cat. No. O010-E1-01

FQM1 Series

FQM1-CM001 FQM1-MMP21 FQM1-MMA21

Flexible Motion Controller

OPERATION MANUAL

FQM1 Series

FQM1-CM001 FQM1-MMP21 FQM1-MMA21

Flexible Motion Controller

Operation Manual

Produced November 2004

Notice:

r f

OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual.

The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed precautions can result in injury to people or damage to property.

!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or

serious injury.

!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or

serious injury.

!Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or

moderate injury, or property damage.

OMRON Product References

All OMRON products are capitalized in this manual. The word “Unit” is also capitalized when it refers to an OMRON product, regardless of whether or not it appears in the proper name of the product.

The abbreviation “Ch,” which appears in some displays and on some OMRON products, often means “word” and is abbreviated “Wd” in documentation in this sense.

The abbreviation “CM” means Coordinator Module and the abbreviation “MM” means Motion Control Module.

Visual Aids

 OMRON, 2004

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o OMRON.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

The following headings appear in the left column of the manual to help you locate different types of information.

Note Indicates information of particular interest for efficient and convenient opera-

tion of the product.

1,2,3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.

TABLE OF CONTENTS

PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii

1 Intended Audience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

2 General Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

4 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

5 Data Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

SECTION 1

Features and System Configuration . . . . . . . . . . . . . . . . . . . 1

1-1 Outline of FQM1 Flexible Motion Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 FQM1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-3 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-4 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-5 Expanded System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1-6 Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

1-7 Function Tables Arranged by Purpose. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

SECTION 2

Specifications and Nomenclature . . . . . . . . . . . . . . . . . . . . . 31

2-1 List of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2-2 General Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

2-3 Coordinator Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

2-4 Motion Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37

2-5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

2-6 Module Current Consumption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

2-7 Memory Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

SECTION 3

Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

3-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

3-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

3-3 Wiring Module Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

3-4 Wiring Servo Relay Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75

3-5 List of FQM1 Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

3-6 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

SECTION 4

Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

4-1 Coordinator Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

4-2 Motion Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95

4-3 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

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TABLE OF CONTENTS

4-4 Power OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

SECTION 5

Module Functions and Data Exchange . . . . . . . . . . . . . . . . . 103

5-1 Synchronous Operation between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5-2 Data Exchange between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

5-3 Cyclic Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5-4 Synchronous Data Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

5-5 DM Data Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

5-6 Cycle Time Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

5-7 Operation Settings at Startup and Maintenance Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5-8 Diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

SECTION 6

Coordinator Module Functions . . . . . . . . . . . . . . . . . . . . . . . 123

6-1 Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

SECTION 7

Motion Control Module Functions . . . . . . . . . . . . . . . . . . . . 137

7-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

7-2 Interrupt Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

7-3 Input Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

7-4 Interval Timer Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

7-5 Pulse Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

7-6 Pulse Outputs. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

7-7 Functions for Servo Drivers Compatible with Absolute Encoders . . . . . . . . . . . . . . . . . . . . 199

7-8 Virtual Pulse Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

7-9 Analog Input Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

7-10 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

SECTION 8

Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . 233

8-1 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

8-2 Connecting the CX-Programmer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

SECTION 9

Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

9-1 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

9-2 Error Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

9-3 Troubleshooting Problems in Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

viii

TABLE OF CONTENTS

SECTION 10

Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 259

10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

Appendices

Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

I/O Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations . . . . . . . . . . . . . . . . . . 311

Auxiliary Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

TABLE OF CONTENTS

About this Manual:

This manual describes the operation of the Coordinator Module and Motion Control Modules of the FQM1-series Flexible Motion Controller.

Please read this manual and all related manuals listed in the table below and be sure you understand information provided before attempting to program or use FQM1-series Flexible Motion Controllers in a control system.

Name Cat. No. Contents

FQM1 Series FQM1-CM001, FQM1-MMP21, FQM1-MMA21 Flexible Motion Controller Operation Manual (this manual)

FQM1 Series FQM1-CM001, FQM1-MMP21, FQM1-MMA21 Flexible Motion Controller Instructions Reference Manual SYSMAC WS02-CXP@@-E CX-Programmer Operation Manual Version 5.@

Section 1 describes the features of the FQM1 and its system configuration.

Section 2 provides the specifications of the FQM1 and describes the parts and their functions on the

Coordinator Module and Motion Control Modules.

Section 3 describes how to install and wire the FQM1

Section 4 describes the operation of the FQM1.

Section 5 describes the functions common to both the Coordinator Module and Motion Control Mod-

ules and the methods to transfer data between the Coordinator Module and Motion Control Modules.

Section 6 describes the serial communications functions, which are supported only by the Coordinator Module.

Section 7 describes the various functions supported by the Motion Control Module.

Section 8 explains how to connect a personal computer running the CX-Programmer to the FQM1.

Section 9 provides information on identifying and correcting errors that occur during FQM1 operation.

Section 10 provides inspection and maintenance information.

The Appendices provide information on programming, I/O Memory, System Setup, and built-in I/O allocations, and Auxiliary Area allocations.

O010 This manual provides an overview of and describes

the following information for the FQM1-series Flexible Motion Controller: features, system configuration, system design, installation, wiring, maintenance, I/O memory allocation, troubleshooting, etc.

O011 Describes the ladder diagram programming instruc-

tions supported by FQM1-series Flexible Motion Controller. Use this manual together with the Operation Manual (Cat. No. O010).

W437 Provides information on how to use the CX-Program-

mer, a Windows-based programming and monitoring package for OMRON PLCs.

xii

PRECAUTIONS

This section provides general precautions for using the FQM1-series Flexible Motion Controller and related devices.

The information contained in this section is important for the safe and reliable application of the FQM1-series Flexible Motion Controller. You must read this section and understand the information contained before attempting to set up or operate a control system using the FQM1-series Flexible Motion Controller.

1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv

4 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

4-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

4-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

4-3 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix

4-5 Relay Output Noise Reduction Methods . . . . . . . . . . . . . . . . . . . . . xx

5 Data Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii

xiii

Intended Audience 1

1 Intended Audience

This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent).

• Personnel in charge of installing FA systems.

• Personnel in charge of designing FA systems.

• Personnel in charge of managing FA systems and facilities.

2 General Precautions

The user must operate the product according to the performance specifications described in the operation manuals.

Before using the product under conditions which are not described in the manual or applying the product to nuclear control systems, railroad systems, aviation systems, vehicles, combustion systems, medical equipment, amusement machines, safety equipment, petrochemical plants, and other systems, machines, and equipment that may have a serious influence on lives and property if used improperly, consult your OMRON representative.

Make sure that the ratings and performance characteristics of the product are sufficient for the systems, machines, and equipment, and be sure to provide the systems, machines, and equipment with double safety mechanisms.

!WARNING It is extremely important that the FQM1 be used for the specified purpose and

under the specified conditions, especially in applications that can directly or indirectly affect human life. You must consult with your OMRON representative before applying a FQM1 System to the above-mentioned applications.

3 Safety Precautions

!WARNING Do not attempt to take any Modules apart while the power is being supplied.

Doing so may result in electric shock.

!WARNING Do not touch any of the terminals or terminal blocks while the power is being

supplied. Doing so may result in electric shock.

!WARNING Do not attempt to disassemble, repair, or modify any Modules. Any attempt to

do so may result in malfunction, fire, or electric shock.

!WARNING Provide safety measures in external circuits, i.e., not in the Flexible Motion

Controller (referred to as the “FQM1”), to ensure safety in the system if an abnormality occurs due to malfunction of the FQM1 or another external factor affecting the FQM1 operation. Not doing so may result in serious accidents.

• Emergency stop circuits, interlock circuits, limit circuits, and similar safety measures must be provided in external control circuits.

• The FQM1 will turn OFF all outputs when its self-diagnosis function detects any error or when a severe failure alarm (FALS) instruction is executed. As a countermeasure for such errors, external safety measures must be provided to ensure safety in the system.

• The FQM1 outputs may remain ON or OFF due to destruction of the output transistors. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

xiv

Safety Precautions 3

• When the 24-VDC output (service power supply to the FQM1) is overloaded or short-circuited, the voltage may drop and result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system.

!WARNING Fail-safe measures must be taken by the customer to ensure safety in the

event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other causes. Not doing so may result in serious accidents.

!Caution Execute online edit only after confirming that no adverse effects will be

caused by extending the cycle time. Otherwise, the input signals may not be readable.

!Caution User programs and parameters written to the Coordinator Module or Motion

Control Module will be automatically backed up in the FQM1 flash memory (flash memory function). The contents of I/O memory (including the DM Area), however, are not written to flash memory. Part of the DM Area used as a holding area when recovering from a power interruption is backed up using a super capacitor, but correct values will not be maintained if an error occurs that prevents memory backup. As a countermeasure for such problems, take appropriate measures in the program using the Memory Not Held Flag (A404.14) when externally outputting the contents of the DM Area.

!Caution Confirm safety at the destination Module before transferring a program to

another Module or editing the I/O area. Doing either of these without confirming safety may result in injury.

!Caution Tighten the screws on the terminal block of the AC Power Supply Unit to the

torque specified in the operation manual. The loose screws may result in burning or malfunction.

!Caution Do not touch the Power Supply Unit while the power is ON, and immediately

after turning OFF the power. Touching hot surfaces may result in burning.

!Caution Pay careful attention to the polarities (+/-) when wiring the DC power supply.

A wrong connection may cause malfunction of the system.

3-1 Operating Environment Precautions

!Caution Do not operate the control system in the following places:

• Locations subject to direct sunlight

• Locations subject to temperatures or humidity outside the range specified in the specifications

• Locations subject to condensation as the result of severe changes in temperature

• Locations subject to corrosive or flammable gases

• Locations subject to dust (especially iron dust) or salts

• Locations subject to exposure to water, oil, or chemicals

• Locations subject to shock or vibration

!Caution Take appropriate and sufficient countermeasures when installing systems in

the following locations:

Safety Precautions 3

• Locations subject to static electricity or other forms of noise

• Locations subject to strong electromagnetic fields

• Locations subject to possible exposure to radioactivity

• Locations close to power supplies

!Caution The operating environment of the FQM1 System can have a large effect on

the longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the FQM1 System. Make sure that the operating environment is within the specified conditions at installation and remains within the specified conditions during the life of the system.

3-2 Application Precautions

!WARNING Always heed these precautions. Failure to abide by the following precautions

could lead to serious or possibly fatal injury.

• Always connect to a ground of 100 Not doing so may result in electric shock.

• Always connect to a ground of 100 functional ground and line ground terminals of the Power Supply Unit, in particular.

• Always turn OFF the power supply to the FQM1 before attempting any of the following. Not turning OFF the power supply may result in malfunction or electric shock.

• Mounting or dismounting Power Supply Unit, Coordinator Module, Motion Control Module, and End Module

• Assembling the Modules

• Setting DIP switches

• Connecting or wiring the cables

• Connecting or disconnecting the connectors

!Caution Failure to abide by the following precautions could lead to faulty operation of

the FQM1 or the system, or could damage the FQM1. Always heed these precautions.

• Always use the CX-Programmer (Programming Device for Windows) to create new cyclic tasks and interrupt tasks.

• The user program and parameter area data in Coordinator Module and Motion Control Modules is backed up in the built-in flash memory. Do not turn OFF the power supply to the FQM1 while the user program or parameter area data is being transferred. The data will not be backed up if the power is turned OFF.

• The FQM1 will start operating in RUN mode when the power is turned ON with the default settings (i.e., if the operating mode at power ON (startup mode) setting in the System Setup is disabled).

• Configure the external circuits so that the control power supply turns ON after the power supply to the FQM1 turns ON. If the power is turned ON in the opposite order, the built-in outputs and other outputs may momentarily malfunction and the control outputs may temporarily not operate correctly.

Ω or less when installing the FQM1.

Ω or less when short-circuiting the

xvi

Safety Precautions 3

• Outputs may remain ON due to a malfunction in the built-in transistor outputs or other internal circuits. As a countermeasure for such problems, external safety measures must be provided to ensure the safety of the system.

• Part of the DM Area (data memory) in the Motion Control Module is held using the super capacitor. Corrupted memory may prevent the correct values from being saved, however. Take appropriate measures in the ladder program whenever the Memory Not Held Flag (A404.14) turns ON, such as resetting the data in the DM Area.

• Part of the DM Area in the Coordinator Module is backed up in the built-in flash memory when transferring data from the CX-Programmer. Do not turn OFF the power to the FQM1 while data is being transferred. The data will not be backed up if the power is turned OFF.

• Confirm that no adverse effect will occur in the system before attempting any of the following. Not doing so may result in an unexpected operation.

• Changing the operating mode of the FQM1

• Force-setting/force-resetting any bit in memory

• Changing the present value of any word or any set value in memory

• Install external breakers and take other safety measures against short-circuiting in external wiring. Insufficient safety measures against short-circuiting may result in burning.

• Be sure that all the terminal screws and cable connector screws are tightened to the torque specified in the relevant manuals. Incorrect tightening torque may result in malfunction.

• Mount the Modules only after checking the connectors and terminal blocks completely.

• Before touching the Module, be sure to first touch a grounded metallic object in order to discharge any static built-up. Not doing so may result in malfunction or damage.

• Be sure that the terminal blocks, connectors, and other items with locking devices are properly locked into place. Improper locking may result in malfunction.

• Wire correctly according to the specified procedures.

• Always use the power supply voltage specified in the operation manuals. An incorrect voltage may result in malfunction or burning.

• Take appropriate measures to ensure that the specified power with the rated voltage and frequency is supplied. Be particularly careful in places where the power supply is unstable. An incorrect power supply may result in malfunction.

• Leave the dust protective label attached to the Module when wiring. Removing the label may result in malfunction.

• Remove the dust protective label after the completion of wiring to ensure proper heat dissipation. Leaving the label attached may result in malfunction.

• Use crimp terminals for wiring. Do not connect bare stranded wires directly to terminals. Connection of bare stranded wires may result in burning.

• Do not apply voltages to the built-in inputs in excess of the rated input voltage. Excess voltages may result in burning.

xvii

Safety Precautions 3

• Do not apply voltages or connect loads to the built-in outputs in excess of the maximum switching capacity. Excess voltage or loads may result in burning.

• Disconnect the functional ground terminal when performing withstand voltage tests. Not disconnecting the functional ground terminal may result in burning.

• Wire correctly and double-check all the wiring or the setting switches before turning ON the power supply. Incorrect wiring may result in burning.

• Check that the DIP switches and data memory (DM) are properly set before starting operation.

• Check the user program for proper execution before actually running it on the Module. Not checking the program may result in an unexpected operation.

• Resume operation only after transferring to the new Module the contents of the DM Areas, programs, parameters, and data required for resuming operation. Not doing so may result in an unexpected operation.

• Do not pull on the cables or bend the cables beyond their natural limit. Doing either of these may break the cables.

• Do not place objects on top of the cables. Doing so may break the cables.

• Use the dedicated connecting cables specified in operation manuals to connect the Modules. Using commercially available RS-232C computer cables may cause failures in external devices or the Coordinator Module.

• Do not connect pin 6 (+5V) on the RS-232C port on the Coordinator Module to any external device other than the NT-AL001 or CJ1W-CIF11 Conversion Adapter. Doing so may result in damage to the external device and the Coordinator Module.

• When replacing parts, be sure to confirm that the rating of a new part is correct. Not doing so may result in malfunction or burning.

• When transporting or storing the product, cover the PCBs with electrically conductive materials to prevent LSIs and ICs from being damaged by static electricity, and also keep the product within the specified storage temperature range.

• Do not touch the mounted parts or the rear surface of PCBs because PCBs have sharp edges such as electrical leads.

• When connecting the Power Supply Unit, Coordinator Module, Motion Control Module, and End Module, slide the upper and lower sliders until a click sound is heard to lock them securely. Desired functionality may not be achieved unless Modules are securely locked in place.

• Be sure to mount the End Module supplied with the Coordinator Module to the rightmost Module. Unless the End Module is properly mounted, the FQM1 will not function properly.

• Make sure that parameters are set correctly. Incorrect parameter settings may result in unexpected operations. Make sure that equipment will not be adversely affected by the parameter settings before starting or stopping the FQM1.

xviii

Conformance to EC Directives 4

4 Conformance to EC Directives

4-1 Applicable Directives

•EMC Directives

• Low Voltage Directive

4-2 Concepts

EMC Directives

OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards (see the following note). Whether the products conform to the standards in the system used by the customer, however, must be checked by the customer.

EMC-related performance of the OMRON devices that comply with EC Directives will vary depending on the configuration, wiring, and other conditions of the equipment or control panel on which the OMRON devices are installed. The customer must, therefore, perform the final check to confirm that devices and the overall machine conform to EMC standards.

Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:

EMS (Electromagnetic Susceptibility): EN61000-6-2 EMI (Electromagnetic Interference): EN61000-6-4

Low Voltage Directive

Always ensure that devices operating at voltages of 50 to 1,000 V AC and 75 to 1,500 V DC meet the required safety standards for the Motion Controller (EN61131-2).

4-3 Conformance to EC Directives

The FQM1-series Flexible Motion Controllers comply with EC Directives. To ensure that the machine or device in which the Motion Controller is used complies with EC Directives, the Motion Controller must be installed as follows:

1,2,3... 1. The Motion Controller must be installed within a control panel.

2. You must use reinforced insulation or double insulation for the DC power supplies used for the communications power supply and I/O power supplies.

3. Motion Controllers complying with EC Directives also conform to the Common Emission Standard (EN61000-6-4). Radiated emission characteristics (10-m regulations) may vary depending on the configuration of the control panel used, other devices connected to the control panel, wiring, and other conditions. You must therefore confirm that the overall machine or equipment complies with EC Directives.

(Radiated emission: 10-m regulations)

4-4 EMC Directive Conformance Conditions

The immunity testing condition of the Motion Control Modules is as follows: Overall accuracy of FQM1-MMA21 analog I/O: +4%/

−2%

xix

Conformance to EC Directives 4

4-5 Relay Output Noise Reduction Methods

The FQM1-series Flexible Motion Controller conforms to the Common Emission Standards (EN61000-6-4) of the EMC Directives. However, noise generated by relay output switching may not satisfy these Standards. In such a case, a noise filter must be connected to the load side or other appropriate countermeasures must be provided external to the Motion Controller.

Countermeasures taken to satisfy the standards vary depending on the devices on the load side, wiring, configuration of machines, etc. Following are examples of countermeasures for reducing the generated noise.

Countermeasures

(Refer to EN61000-6-4 for more details.) Countermeasures are not required if the frequency of load switching for the

whole system with the Motion Controller included is less than 5 times per minute.

Countermeasures are required if the frequency of load switching for the whole system with the Motion Controller included is more than 5 times per minute.

Countermeasure Examples

When switching an inductive load, connect an surge protector, diodes, etc., in parallel with the load or contact as shown below.

Circuit Current Characteristic Required element

CR method

Power supply

AC DC

Yes Yes If the load is a relay or solenoid, there

Inductive

load

is a time lag between the moment the circuit is opened and the moment the load is reset.

If the supply voltage is 24 or 48 V, insert the surge protector in parallel with the load. If the supply voltage is 100 to 200 V, insert the surge protector between the contacts.

The capacitance of the capacitor must be 1 to 0.5 µF per contact current of 1 A and resistance of the resistor must be 0.5 to 1 Ω per contact voltage of 1 V. These values, however, vary with the load and the characteristics of the relay. Decide these values from experiments, and take into consideration that the capacitance suppresses spark discharge when the contacts are separated and the resistance limits the current that flows into the load when the circuit is closed again.

The dielectric strength of the capacitor must be 200 to 300 V. If the circuit is an AC circuit, use a capacitor with no polarity.

Conformance to EC Directives 4

Circuit Current Characteristic Required element

AC DC

Diode method

Power supply

Varistor method

Power supply

No Yes The diode connected in parallel with

the load changes energy accumulated by the coil into a current, which then flows into the coil so that the current will be converted into Joule heat by the

Inductive

load

resistance of the inductive load. This time lag, between the moment the

circuit is opened and the moment the load is reset, caused by this method is longer than that caused by the CR method.

Yes Yes The varistor method prevents the impo-

sition of high voltage between the contacts by using the constant voltage characteristic of the varistor. There is time lag between the moment the cir-

Inductive

load

cuit is opened and the moment the load is reset.

If the supply voltage is 24 or 48 V, insert the varistor in parallel with the load. If the supply voltage is 100 to 200 V, insert the varistor between the contacts.

The reversed dielectric strength value of the diode must be at least 10 times as large as the circuit voltage value. The forward current of the diode must be the same as or larger than the load current.

The reversed dielectric strength value of the diode may be two to three times larger than the supply voltage if the surge protector is applied to electronic circuits with low circuit voltages.

---

When switching a load with a high inrush current such as an incandescent lamp, suppress the inrush current as shown below.

Countermeasure 2Countermeasure 1

OUT

COM

Providing a dark current of approx. one-third of the rated value through an incandescent lamp

OUT

COM

Providing a limiting resistor

The following Unit and Cables can be used with the FQM1-series Flexible Motion Controller.

Name Model Cable length

Relay Unit XW2B-80J7-1A --Controller Connect-

ing Cables

XW2Z-050J-A28 0.5 m XW2Z-100J-A28 1 m XW2Z-050J-A30 0.5 m XW2Z-100J-A30 1 m XW2Z-050J-A31 0.5 m XW2Z-100J-A31 1 m

xxi

Data Backup 5

5Data Backup

The user programs, I/O memories, and other data in the Coordinator Module and Motion Control Modules is backed up either by a super capacitor or flash memory, as listed in the following table.

Module Data Data backup

Coordinator Module Error log RAM with super Motion Control Module DM Area words D30000 to D32767

Error log

Coordinator Module User program

System Setup DM Area words D30000 to D32767

Motion Control Module User program

System Setup

The data backup time of the super capacitor is given in the following table and shown in the following graph.

Temperature Initial After 5 years After 10 years

Ta = 2 5°C 101.61 hours

(4.23 days)

Ta = 4 0°C 26.39 hours

(1.09 days)

96.2 hours (4.01days)

15.28 hours 4.16 hours

capacitor

Flash memory

90.8 hours (3.78 days)

Super Capacitor Backup Times

120

25°C: 101.61 h 25°C: 96.20 h

Backup time (h)

25°C: 90.80 h

40°C: 26.39 h

40°C: 15.28 h

25 35 45 55 65 75

Initial value,

40°C: 4.16 h

Ambient temperature (°C)

After 5 years, After 10 years

xxii

Note 1. The times give above assume that the capacitor is completely charged.

Power must be supply to the FQM1 for at least 20 minutes to completely charge the capacitor.

2. The backup time of the super capacitor is reduced as the capacitor ages. It is also affected by the ambient temperature. Use portion of the DM Area backed up by the super capacitor only for data that is to be held during mo-

Data Backup 5

mentary power interruptions. For operating parameters and other longterm data, use the portion of DM Area stored in flash memory in the Coordinator Module and transfer it to the Motion Control Modules before starting operation.

The data in the DM Area and error log will become unstable or corrupted if the power to the system is OFF for longer than the backup time.

If the power supply is to be turned OFF for an extended period of time, use D30000 to D32767 in the Coordinator Module, which is backed up in flash memory, to store data.

Otherwise, the Memory Not Held Flag (A404.14) can be used as the input condition for programming using data in areas stored for power interruptions to perform suitable processing.

A404.14: Turns ON when power is turned ON if data stored for power interruptions in the DM Area or error log is corrupted.

A404.14

Processing for corruption of data backed up for power interruptions

DM Area words D30000 to D32767 in the Coordinator Module are backed up in flash memory as described in the next section.

Backing Up DM Area Data in Flash Memory

DM Area words D30000 to D32767 in the Coordinator Module is read from flash memory when the power supply is turned ON. We recommend using DM Area words D30000 to D32767 in the Coordinator Module to store operating parameters and other data required for system operation and then using the DM transfer function to transfer the data from the Coordinator Module to the Motion Control Modules at the start of operation.

xxiii

Data Backup 5

xxiv

Features and System Configuration

This section describes the features of the FQM1 and its system configuration.

1-1 Outline of FQM1 Flexible Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . 2

1-2 FQM1 Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1-3 Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1-4 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

1-5 Expanded System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1-5-1 Serial Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1-5-2 Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1-6 Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

1-6-1 Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

1-7 Function Tables Arranged by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1-7-1 Sync Cycles and Synchronized data. . . . . . . . . . . . . . . . . . . . . . . . . 19

1-7-2 Position and Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1-7-3 Measuring Input Pulses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

1-7-4 High-speed Analog I/O Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1-7-5 Controlling Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

SECTION 1

Outline of FQM1 Flexible Motion Controller Section 1-1

1-1 Outline of FQM1 Flexible Motion Controller

The FQM1 (Flexible Quick Motion) is a stand-alone Flexible Motion Controller that can be used to create flexible high-speed, high-precision motion control systems for 2 to 8 axes.

PT (Monitor parameter settings)

Power Supply Unit

Peripheral port

CX-Programmer

Coordinator Module

RS-232C port

Servo Relay Units

Motion Control Modules

RS-422A

Host Controller

End Module

Servomotors and Servo Drivers

Flexible Configurations of Up To 8 Axes

An FQM1 Flexible Motion Controller System is made up of a Power Supply Unit, a Coordinator Module, one or more Motion Control Modules, and an End Module.

Motion Control Modules are available with either pulse I/O or analog I/O, and a mixture of up to four Motion Control Modules can be included in one system (up to three if only analog I/O Motion Control Modules are used.) A flexible system ideal for the application can be created because each Motion Control Module controls two axes, giving total motion control of eight axes when four Motion Control Modules are connected.

High-speed Processing Each Motion Control Module and Coordinator Module has independent ladder

programming, allowing high-speed independent control of pulse and analog I/O. Data can be shared between all Modules. The Coordinator Module performs general-purpose I/O control and manages overall system operation.

Outline of FQM1 Flexible Motion Controller Section 1-1

Coordinator Module

CXProgrammer

PT, host computer, etc.

Peripheral port

RS-232C

Normal I/O

Built-in RS-232C Port in Coordinator Module

Ladder program

RS-422A

Servo Driver

Motion Control Module #1

Ladder program

Special I/O (pulse or analog I/O) Basic I/O

Motion Control Module #2

Ladder program

Special I/O (pulse or analog I/O) Basic I/O

Motion Control Module #3

Ladder program

Special I/O (pulse or analog I/O) Basic I/O

Motion Control Module #4

Ladder program

Special I/O (pulse or analog I/O) Basic I/O

A Programmable Terminal (PT) can be connected to the Coordinator Module to monitor present values on the PT or make parameter settings for Servomotors from the PT.

The RS-232C port is useful for a variety of applications. It can be used, for example, to connect to a host computer or for a Serial PLC Link connection to a SYSMAC CJ1M Programmable Controller.

Built-in RS-422A Port in Coordinator Module

Motion Control with Familiar Ladder Programming

Built-in General-purpose I/O in Coordinator Module

Built-in General-purpose I/O in Motion Control Modules

Connections for Absolute Servomotors

High-speed Counter Latch Function

Pulse Input Sampling Function

A PT can be connected to the Coordinator Module so that Servo parameters can be read from and written to Servomotors/Servo Drivers using a Serial Gateway Function.

Commands can also be sent from the Coordinator Module ladder program to Servomotors/Servo Drivers.

The Coordinator Module and Motion Control Modules each have their own ladder program, which perform basic I/O and special I/O (pulse I/O and analog I/O).

The Coordinator Module has 24 built-in I/O (16 inputs and 8 outputs) for communications with host controllers and 12 inputs and 8 outputs for Motion Control Modules.

Motion Control Modules have 12 contact inputs and 8 contact outputs for I/O with peripheral devices.

Motion Control Modules can read absolute position data from W-series Absolute Servomotors/Servo Drivers.

The high-speed counter latch function latches the high-speed counter's PV using 2 external signals. Ladder programs can then be used to read the latched values.

The number of pulse inputs within a specified time can be measured.

FQM1 Configuration Section 1-2

Pulse Input Frequency Measurement Function

Wide Variety of Interrupt Functions

The speed of pulse inputs can be measured at the same time as the number of pulse inputs is counted.

The FQM1 can provide high-speed I/O responses because it has a wide variety of functions for starting interrupt tasks, in addition to input interrupts, interval timer interrupts, high-speed counter interrupts, and pulse output interrupts.

High-speed Analog I/O Supported

Motion Control Modules with analog I/O support linear (displacement/length measurement) sensor input, inverter control, and control of Servomotors with analog-input Servo Drivers. This gives flexibility for a great variety of motion applications.

Writing and Monitoring Ladder Programs

The ladder program for each Module is written using CX-Programmer Ver.

5.01 or later (see note) and then written to each Module via the peripheral

port on the Coordinator Module.The ladder program is saved in each Module and operation of the program can be monitored from the CX-Programmer.

Note FQM1 Patch Software must be installed for CX-Programmer Ver. 5.0.

1-2 FQM1 Configuration

Coordinator Module

Power Supply Unit

Peripheral port

Motion Control Modules

End Module

CX-Programmer

Note The number of Motion Control Modules with Analog I/O that can be connected

RS-232C port

Servo Relay Units

Servomotors/ Servo Drivers

RS-422A

The FQM1 consists of a Power Supply Unit, a Coordinator Module, one or more Motion Control Modules, and an End Module. Motion Control Modules are available with either pulse I/O or analog I/O and up to four Motion Control Modules can be connected in one system. (See note.)

is limited by the output capacity of the Power Supply Unit.

FQM1 Configuration Section 1-2

FQM1-CM001 Coordinator Module

FQM1-MMP21/MMA21 Motion Control Modules

One Coordinator Module is required in an FQM1. The Coordinator Module provides the following:

I/O: 16 inputs, 8 outputs Program capacity: 5 Ksteps DM Area capacity: 32 Kwords (DM)

• The CX-Programmer (Ver. 5.01 or later) is connected to the peripheral port on the Coordinator Module, and a PT (Programmable Terminal) or other device is connected to the RS-232C port.

• The Coordinator Module has its own ladder program, which is used to coordinate Motion Control Module data.

• The Coordinator Module has 24 general-purpose I/O (16 inputs and 8 outputs).

• The Coordinator Module has a Cyclic Refresh Bit Area, in which 10 words are allocated for cyclic refreshing with each Motion Control Module. This area is refreshed each Coordinator Module cycle.

• The Coordinator Module has a Synchronous Data Link Bit Area, in which 4 words are allocated for sharing with the Synchronous Data Link Bit Area of each Motion Control Module.

Each Motion Control Module provides the following:

Pulse I/O Motion Control Module

Analog I/O Motion Control Module

FQM1-MMP21 Program capacity: 5 Ksteps

Pulse inputs: 2 Pulse outputs: 2 General-purpose inputs: 12 General-purpose outputs:8

FQM1-MMA21 Program capacity: 5 Ksteps

Pulse inputs: 2 Analog inputs: 1 Analog outputs: 2 General-purpose inputs: 12 General-purpose outputs: 8

CJ1W-PA202/PA205R Power Supply Units

• Rotary Encoders, Linear Sensors, Servos, Inverters, etc., can be connected to the special I/O.

• Each Motion Control Module has a ladder program for executing motion control and other functions.

• Each Motion Control Module has 20 general-purpose I/O (12 inputs and 8 outputs).

• Each Motion Control Module has 10 words allocated in the Coordinator Module's Cyclic Refresh Bit Area that is refreshed every Coordinator Module cycle.

• Each Module cycle, 4 words of Motion Control Module Synchronous Data Link Bit Area data is shared with the Coordinator Module's Synchronous Data Link Bit Area.

SYSMAC CJ-series Power Supply Units are used.

CJ1W-PA202 100 to 240 V AC, output capacity: 5 V DC, 2.8 A, 24 V DC, 0.4 A,

up to 14 W total.

CJ1W-PA205R 100 to 240 V AC, output capacity: 5 V DC, 5.0 A, 24 V DC, 0.8 A,

up to 25 W total.

Select a Power Supply Unit with a capacity greater than the total current consumption of the connected Modules.

Modules Section 1-3

FQM1-TER01 End Module One End Module is supplied with the Coordinator Module. Always attach the

End Module because it acts as a terminator for the system. A fatal error will occur if no End Module is attached.

Other Peripheral Devices Special Servo Relay Units are available for connecting the FQM1 Flexible

Motion Control system to OMRON W-series and SMARTSTEP Servo Drivers. Specific cables suitable for the connected Servomotor/Servo Driver models and the FQM1 Motion Control Module models are also available.

1-3 Modules

The Coordinator Module acts as the interface between the FQM1 system and peripheral devices, shares data with each Motion Control Module, and synchronizes specific data (e.g., virtual axis data) between Modules.

Item Details

Functions Interfaces for

peripheral devices

Sharing data with each Motion Control Module (each Coordinator Module cycle)

Synchronized sharing of special data between Modules (broadcast at specified sync cycle)

DM data transfer with specific Motion Control Modules (as required)

I/O Serial communi-

cations

General-purpose I/O

Programs Program capacity 5 Ksteps (for data exchange with host computer, coordination of Motion Control Modules,

Connection with the CX-Programmer (peripheral port) Connection with PT for monitoring and parameter settings (RS-232C port) Connections with Servo Drivers (RS-422A port)

The 10 words are allocated for each Motion Control Module in the Cyclic Refresh Bit Area of the Coordinator Module (CIO 0100 to CIO 0139), based on the Motion Control Module slot number. These words correspond to CIO 0100 to CIO 0109 in the Cyclic Refresh Bit Area of each Motion Control Module.

• Coordinator Module to Motion Control Module: 5 words (General-purpose output)

• Motion Control Module to Coordinator Module: 5 words (General-purpose input: 4 words, program RUN, fatal errors, non-fatal errors)

This cyclic refresh data is refreshed every Coordinator Module cycle. User-specified synchronous data (see following list) can be allocated to CIO 0200 to CIO

0219 in the Synchronous Data Link Bit Area of the Coordinator Module and each Motion Control Module, 4 words at a time (2 types of data × 2 words). The allocations are fixed, starting with the Coordinator Module and followed by Motion Control Modules in order of slot number.

• Any ladder program data

• High-speed counter PV

• Pulse output PV

• Analog input PV

• Analog output PV

• Built-in I/O input values

The synchronous data is broadcast each specified sync cycle and all other Modules receive this data in essentially real-time.

DM data (499 words max.) can be transferred in the specified direction between the specified words in the DM Area in the specified Motion Control Module and the specified DM Area words in the Coordinator Module when the DM Write Request Bit (A530.00) or DM Read Request Bit (A530.01) in the Auxiliary Area of the Coordinator Module turns ON.

• Peripheral port: Peripheral bus (for CX-Programmer)

• One RS-232C port: NT Link (for OMRON PTs), Host Link (for host computers), or no protocol (for PLCs)

• One RS-422A port (Same connector as general-purpose I/O): 1:N communications with Servo Drivers (for transferring parameters to Servo Drivers)

General-purpose inputs: 16 General-purpose outputs: 8

and other peripheral programming)

40-pin connector (including RS-422A)

Modules Section 1-3

Outline of Internal Data Exchange and I/O

Coordinator Module

Ladder program Ladder program Ladder program Ladder program Ladder program

CX-Programmer

Motion Control Module #1

Motion Control Module #2

Motion Control Module #3

Motion Control Module #4

Cyclic Refresh Bit Area (refreshed each Coordinator Module cycle)

Sync Data Link Bit Area (Broadcast each Motion Control Module cycle)

Peripheral port

RS-232C

PLC

Coordinator Module

Motion Control Modules

DM DM

DM data transfer (as required)

16 inputs 8 outputs

RS-422A

(for parameter settings)

12 inputs 8 outputs

Special I/O 12 inputs

W-series/ SMART STEP Servo Driver

8 outputs

Special I/O 12 inputs

W-series/ SMART STEP Servo Driver

8 outputs

Special I/O 12 inputs

8 outputs

Special I/O

• Peripheral port for connecting CX-Programmer and RS-232C port for connecting PTs and other devices

• Ladder program for coordinating Motion Control Module data and other functions

• 24 general-purpose I/O

• 10 words of cyclic refresh data for each Motion Control Module allocated in Cyclic Refresh Bit Area, which is refreshed each Coordinator Module cycle

• 4 synchronous data link words allocated for each Motion Control Module in Coordinator Module's Synchronous Data Link Bit Area, which is shared each Module cycle

• Linear Sensors, Servo Drivers, Inverters, etc., connected to special I/O

• Ladder program for executing motion control and other functions

• 20 general-purpose I/O

• 10 words of cyclic refresh data for each Motion Control Module allocated in its Cyclic Refresh Bit Area, which is refreshed each Coordinator Module cycle

• 4 synchronous data link words allocated for each Motion Control Module in Coordinator Module's Synchronous Data Link Bit Area, which is shared each Module cycle

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