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

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Cat. No. O010-E1-01

FQM1 Series

FQM1-CM001 FQM1-MMP21 FQM1-MMA21

Flexible Motion Controller

OPERATION MANUAL

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FQM1 Series

FQM1-CM001 FQM1-MMP21 FQM1-MMA21

Flexible Motion Controller

Operation Manual

Produced November 2004

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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.

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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

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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

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TABLE OF CONTENTS

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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.

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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

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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.

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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:

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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

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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

Page 17

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

Page 18

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%

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Page 19

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.

Page 20

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

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Page 21

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-

Page 22

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

Page 23

Data Backup 5

xxiv

Page 24

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

Page 25

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.

Page 26

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.

Page 27

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.

Page 28

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.

Page 29

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)

Page 30

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

Page 31

CX-Programmer Section 1-4

1-4 CX-Programmer

The CX-Programmer provides software functions for programming and debugging.

FQM1 Patch Software must be installed for the CX-Programmer Ver. 5.0 (Model: WS02-CXPC1-E-V50) to use it to create ladder programs, make settings in the System Setup, and monitor operation. The FQM1 Patch Software can be installed for CX-Programmer Ver. 5.0 or later, but not to Ver. 4.0 or earlier versions. Refer to 8-1 CX-Programmer.

CX-Programmer

Item Details

Applicable Motion Controllers

OS Microsoft Windows

Personal computers IBM PC/AT or com-

Connection method Peripheral port or built-in RS-232C port on the Coordinator

Communications protocol with FQM1

Offline functions Programming, editing of I/O memory, System Setup, printing Online functions Transferring comparing data, monitoring, System Setup Main functions 1. Programming functions: Creating and editing of applicable

FQM1 Series

Note CX-Programmer can also be used for SYSMAC CS/CJ-

series PLCs.

95, 98, or NT4.0 Service Pack 6

patible

Module Peripheral Bus or Host Link

FQM1 ladder or mnemonic programs.

2. Changing operating modes for each Module.

3. Transfer functions: Transferring programs, I/O memory data, and System Setup between computer and Modules.

4. Monitoring program execution status: Monitoring I/O bit status and PV using ladder display, monitoring I/O bit status and PV using mnemonic display, and monitoring PV using I/O memory display.

Microsoft Windows 2000 or Me

IBM PC/AT or compatible

Microsoft Windows XP

IBM PC/AT or compatible

Note The CX-Programmer can be connected online to FQM1 Coordinator Modules

and Motion Control Modules at the same time. If the default baud rate is changed when Coordinator and Motion Control Modules are connected at the same time, set the baud rate to 38.4 kpps max.

Page 32

Expanded System Configuration Section 1-5

1-5 Expanded System Configuration

1-5-1 Serial Communications

The FQM1 system can be expanded using the two serial ports built into the Coordinator Module: Peripheral port and RS-232C port.

System Configuration

Host computer

CX-Programmer

Peripheral port

Host Link

RS-232C port

Automatic detection of communications parameters

Coordinator Module

1-5-2 Systems

The serial communications port mode (protocol) can be switched in the Coordinator Module’s System Setup. Depending on the protocol selected, the following systems can be configured.

Protocols The following protocols support serial communications.

Protocol Main connection Use Applicable commands and

communications

instructions

Host Link (SYSMAC WAY)

No-protocol (custom) communications

NT Links (1: N) OMRON Programmable Termi-

Peripheral Bus (Toolbus)

Serial PLC Link Slave

Serial Gateway OMRON Programmable Termi-

Personal computer OMRON Programmable Termi-

nals (PTs) General-purpose external devices Servo Drivers Host controllers

nals (PTs)

CX-Programmer Communications between the

OMRON PLC Communications between

nals (PTs) Servo Drivers

Communications between the host computer and the Module

No-protocol communications with general-purpose devices, host controllers, and Servo Drivers

High-speed communications with Programmable Terminals via direct access

CX-Programmer running on a computer and the FQM1

OMRON PLC and the FQM1 Communications between a PT

and W-series or SMARTSTEP Servo Drivers via the FQM1

Host Link commands/ FINS commands

TXD(236) instruction and RXD(235) instruction

None

FINS commands

Page 33

Expanded System Configuration Section 1-5

Host Link System The Host Link System allows the I/O memory of the Modules to be read/writ-

ten and the operating mode to be changed from a host computer (personal computer or Programmable Terminal (PT)) by executing Host Link commands or FINS commands that are preceded by a Host Link header and followed by a terminator. A Host Link System is possible for either the peripheral port or the RS-232C port on the Coordinator Module.

Host computer

Applicable Ports

Coordinator Module

RS-232C

Host link commands or FINS commands embedded in Host Link commands

Note: Turn ON pin 2 on the DIP switch on the front of the

Coordinator Module and set the serial communications mode in the System Setup to "Host Link."

Peripheral port

Yes

(See note.)

RS-232C port

Yes

No-protocol (Custom) Communications System via RS-232C Port

NT Link System (1:N Mode, Standard)

No-protocol communications allow simple data transmissions, such as inputting bar code data and outputting printer data using communications port I/O instructions TXD(236) and RXD(235). The start and end codes can be set and, RS and CS signal control is also possible with no-protocol communications.

Coordinator Module

Applicable Ports

Coordinator Module

Peripheral

Note Set the serial communications

RXD(235) instruction

RS-232C

TXD(236) instruction

RS-232C

mode in the System Setup to "non-procedural."

Yes

RS-422A

Yes

If the FQM1 and a Programmable Terminal (PT) are connected together using the RS-232C port, the allocations for the PT’s status control area, status notify area, objects such as touch switches, indicators, and memory maps can be allocated in the I/O memory of the FQM1.

The NT Link System allows the PT to be controlled by the FQM1, and the PT can periodically read data from the status control area of the FQM1, and perform necessary operations if there are any changes in the area. The PT can communicate with the FQM1 by writing data to the status notify area of the FQM1 from the PT. The NT Link System allows the PT status to be controlled and monitored without using FQM1 ladder programming. The ratio of FQM1 Controllers to PTs is 1: n (n

≥ 1).

Page 34

Expanded System Configuration Section 1-5

Set the PT communications settings for a 1:N or Standard NT Link. An NT Link System is possible for either the peripheral port or the RS-232C port.

NT Link 1:N Mode

RS-232C

NT Link 1:N Mode

Applicable Ports

Coordinator Module

RS-232C port

Yes

RS-232C

RS-232C to RS-422A/485 Conversion Adapter

RS-422A/485

Peripheral port

Yes

(See note.)

Note Turn ON pin 2 on the DIP

switch on the front of the Coordinator Module and set the serial communications mode in the System Setup to an NT Link.

Note (1) The FQM1 can be connected to any PT port that supports 1:N NT Links.

It cannot be connected to the RS-232C ports on the NT30 or NT30C, because these ports support only 1:1 NT Links.

(2) The Programming Console functionality of a PT (Expansion Function)

cannot be used.

(3) When more than one PT is connected to the same FQM1, be sure that

each PT is assigned a unique unit number. Malfunctions will occur if the same unit number is set on more than one PT.

(4) The NT Link System includes 1:1 and 1:N modes. These two modes are

not compatible as serial communications modes.

Serial PLC Link Slave The FQM1 can be connected to a Serial PLC Link by linking to a Serial PLC

Master. (It cannot be connected by the Complete Link Method.) Program-free data exchange can be achieved between the master and slave by connecting a CJ1M CPU Unit as the master and the FQM1 as the slave. The FQM1 connection is made to the RS-232C port on the Coordinator Module.

CIO 0080 to CIO 0099 in the Serial PLC Link Bit Area in the Coordinator Module are shared with the CJ1M master as shown below

Note Use a CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapter when con-

necting more than one FQM1 to the same CJ1M CPU Unit (1:N, where N = 8 max.).

Page 35

Expanded System Configuration Section 1-5

1:N Connection between CJ1M and FQM1 Controllers

CJ1M CPU Unit (master)

CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapter connected to RS-232C port

RS-422A/485

Data sharing

FQM1 (slave)

Coordinator Module

FQM1 (slave)

CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapters connected to RS-232C ports

8 nodes max.

1:1 Connection between CJ1M and FQM1 Controller

RS-232C

Data sharing

FQM1 (slave)

Coordinator Module

FQM1 (slave)

CJ1M CPU Unit (master)

Serial Gateway Reading/writing Servo Parameters and other data in Servo Drivers connected

via RS-422A can be performed through the FQM1 Coordinator Module from an NS-series PT or computer application running on CX-Server. The serial communications mode for the RS-422A port on the FQM1 Coordinator Module is set to Serial Gateway to achieve this.

Servo Drivers

OMRON’s W-series or SMARTSTEP Servo Drivers can be connected.

Connectable to RS-422A

System Configuration Example

Smart Active Parts on an NS-series PT connected via an NT Link can be used to access W-series or SMARTSTEP Servo Drivers.

Page 36

Basic Operating Procedure Section 1-6

(

NS-series PT

Smart Active Parts

No-protocol (Custom) Communications System via RS-422A Port

NT Link

conversion

Coordinator Module

FQM1

Servo parameters Protocol

RS-422A

W-series or SMART STEP Servo Driver

Coordinator Module

Applicable Ports

Coordinator Module

Peripheral

Note Set the serial communications

RS-232C

mode in the System Setup to "non-procedural."

Yes

RS-422A

Yes

RXD(235) instruction

TXD

236) instruction

1-6 Basic Operating Procedure

The following procedure outlines the normal steps to operate the FQM1.

1,2,3... 1. Installation

Connect the Power Supply Unit, Coordinator Module, Motion Control Modules, and End Module. Refer to 3-1-4 Connecting FQM1 Components for details.

Mount the FQM1. Refer to 3-1-5 DIN Track Installation for details

2. Wiring Connect the power supply wiring and ground. Refer to 3-2-1 Wiring Power

Supply Units for details.

RS-422A

Page 37

Basic Operating Procedure Section 1-6

Wiring I/O terminals and connectors. Refer to 3-3 Wiring Module Connectors for details.

3. Initial Hardware Settings Set the DIP switch on the front of the Coordinator Module as required. Re-

fer to 2-3 Coordinator Module for details.

4. Turning ON Power and Checking Initial Operation Connect the CX-Programmer (using CX-Programmer Ver. 5.0 with the

FQM1 Patch Software installed). Refer to 3-1-4 Connecting FQM1 Com- ponents for details.

Check the power supply wiring and voltage and then turn ON the power supply. Check the RDY indicator and CX-Prorammer display. Refer to 8-2 Connecting the CX-Programmer for details.

5. System Setup Settings Using the CX-Programmer With the FQM1 in PROGRAM mode, change the settings in the System

Setup as necessary from the CX-Programmer online. (Another method is to change the System Setup in CX-Programmer offline and transfer it to the Coordinator Module and Motion Control Modules.) Set the Sync Mode under Synchronization between Modules to ASync Mode to make debugging easier. Refer to System Setup in the Coordinator Module on page 311 in

Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations for details.

6. Writing the Programs Write the programs for the Coordinator Module and Motion Control Mod-

ules with the CX-Programmer. Refer to Appendix A Programming and to the FQM1 Instructions Reference Manual (Cat. No. O011) for details.

7. Transferring the Programs Transfer the programs from CX-Programmer to the Coordinator Module

and Motion Control Modules.

8. Testing Operation a. Checking I/O Wiring

Output wiring With the FQM1 in PROGRAM mode, force-set output bits

and check the status of the corresponding outputs.

Input wiring Activate sensors and switches and either check the status

of the input indicators or check the status of the corresponding input bits with the CX-Programmer’s Bit/Word Monitor operation.

b. Trial Operation

Test operation after switching the FQM1 to MONITOR mode.

c. Monitoring and Debugging

Monitor operation from the CX-Programmer. Use functions such as force-setting/force-resetting bits, tracing, and online editing to debug the program.

Note If the Coordinator and Motion Control Modules are connected at

the same time, set the baud rate to 38.4 kpps max.

9. Saving and Printing the Programs Save the debugged ladder programs and System Setup.

10. Running the Programs Switch the FQM1 to RUN mode to run the programs.

Page 38

Basic Operating Procedure Section 1-6

1-6-1 Examples

1. Installation Connect the Power Supply Unit, Coordinator Module, Motion Control Mod-

ules, and End Module to assemble the FQM1.

AC100

-240V

INPUT

L2/N

Make sure that the total power consumption of the Modules is less than the maximum capacity of the Power Supply Unit.

Use DIN Track to mount the FQM1 to the control panel.

PA202

AC100

INPUT

-240V

COMM1 COMM2

PRPHL

CM001

RDY RUN ERR

IN OUT

OFF

1 2

0 1 2 3 4 5 6

7 8 9 10 11

CN1

RS422

4039

FLEXIBLE

POWER

L2/N

MOTION CONTROLLER

PERIPHERAL

PORT

MMP21

RDY

RUN

ERR

A2 B2

0 1 2 3 4 5 6

2526

CN2

CN1

4039

BABA

2. Wiring Connect the power supply, ground, and I/O wiring.

3. Initial Hardware Settings

Note When devices other than the CX-Programmer are connected to the peripheral

Set the DIP switch on the Coordinator Module. In particular, be sure that the settings for the peripheral port are correct.

Example: When connecting the CX-Programmer to the peripheral port, turn OFF pin 2.

port and RS-232C port, turn ON pin 2.

CM001

FLEXIBLE MOTION CONTROLLER

RDY

RUN

ERR

PRPHL COMM1 COMM2

1 2

OFF

Page 39

Basic Operating Procedure Section 1-6

4. Turning ON Power and Checking Initial Operation

Note The System Setup and user programs are backed up in built-in flash memory.

When the data is being backed up, a message indicating the data is being transferred will be displayed on the CX-Programmer. Never turn OFF the power supply to the FQM1 while data is being backed up.

5. System Setup Settings

6. Writing the Programs

These settings determine the Modules’ software configuration. Refer to

Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations for details.

Note The FQM1 is set to the Sync Mode by default. This mode must be changed on

the Coordinator Module when programming Motion Control Modules, transferring programs, or debugging. Set the mode to ASync Mode in the System Setup of the Coordinator Module to enable changing the operating modes of the Motion Control Modules and creating programs directly from the CX-Programmer.

Write each program with the CX-Programmer, including one cyclic task and the required number of interrupt tasks.

1,2,3... 1. Add Motion Control Modules to the tree by executing Insert - PC once for

each Motion Control Module connected to the Coordinator Module.

2. When going online to Motion Control Modules through the Coordinator Module, the node set for the FINS destination address in the network settings on the Change PC Type Window determines the Motion Control Module that is connected. Normally the node number is automatically allocated for the Motion Control Module when Insert - PC is executed.

Page 40

Basic Operating Procedure Section 1-6

7. Transferring the Programs

When the programs has been created in the CX-Programmer, they must be transferred to the Motion Control Modules through the Coordinator Module.

8. Testing Operation

8-a) I/O Wiring Checks Check Output Wiring

With the FQM1 in PROGRAM mode, force-set and force-reset output bits from the CX-Programmer and verify that the corresponding outputs operate properly.

Check Input Wiring

Activate input devices, such as sensors and switches, and verify that the corresponding input indicators light. Also, use the Bit/Word Monitor operation from the CX-Programmer to verify the operation of the corresponding input bits.

8-b) Trial Operation Use the CX-Programmer to switch each Module to MONITOR mode.

Using the CX-Programmer

Coordinator Module

Peripheral port

CX-Programmer

FQM1

Trial Operation

Select PC - Mode - MONITOR

Actual operation

Select PC - Mode - RUN.

8-c) Monitoring and Debugging

There are several ways to monitor and debug FQM1 operation, including the force-set and force-reset operations, differentiation monitoring, time chart monitoring, data tracing, and online editing.

Force-Set and Force-Reset

When necessary, the force-set and force-reset operations can be used to force the status of bits and check program execution.

From the CX-Programmer, select the bit to be force-set or force-reset and then select Force On or Off from the PLC menu.

Differentiation Monitor

The differentiation monitor operation can be used to monitor the up or down differentiation of particular bits. Use the following procedure from the CX-Programmer.

Page 41

Basic Operating Procedure Section 1-6

1,2,3... 1. Select the bit for differential monitoring.

2. Select Differential Monitor from the PLC Menu. The Differential Monitor Dialog Box will be displayed.

3. Select Rising or Falling.

4. Click the Start Button. The buzzer will sound when the specified change is detected and the count will be incremented.

5. Click the Stop Button. Differential monitoring will stop.

Time Chart Monitoring

The CX-Programmer’s time chart monitor operation can be used to check and debug program execution.

Data Tracing

The CX-Programmer’s data trace operation can be used to check and debug program execution.

Online Editing

When a few lines of the program in a Module have to be modified, they can be edited online with the FQM1 in MONITOR mode or PROGRAM mode from the CX-Programmer. When more extensive modifications are needed, upload the program from the Module to the CX-Programmer, make the necessary changes, and transfer the edited program back to the Module.

9. Save and Print the Programs

To save a program, select File and then Save (or Save As) from the CX-Programmer menus.

To print a program, select File and then Print from the CX-Programmer menus.

10. Run the Programs Switch the FQM1 to RUN mode to run the programs.

Page 42

Function Tables Arranged by Purpose Section 1-7

1-7 Function Tables Arranged by Purpose

1-7-1 Sync Cycles and Synchronized data

Purpose Operation Function used Details

Synchronizing 3 or more axes

Simple control of all axes operations from the Coordinator Module

Synchronizing all Motion Control Modules to Coordinator Module cycle

Sync Mode, Sync Cycle Time

Synchronous Data Link Bit Area

Constant Cycle Time (Coordinator Module)

Sync Cycle Time (matches cycle time)

Cycle Time (Motion Control Modules)

Prohibit System Interruption of the Sync Mode

5-1 Synchronous Operation between Modules

Set Sync Mode to Sync and Sync Cycle Time to 0 ms. Executes Motion Control Module ladder programs at the same time as Coordinator Module ladder program, which makes it easy to control Motion Control Module program execution from the Coordinator Module ladder program.

5-2 Data Exchange between Modules

If information to be shared between Modules every cycle is placed in the Synchronous Data Link Bit Area, it is automatically shared between Modules every cycle.

Synchronous operation is also possible because programs can handle the same data between different Modules.

Example: Sending position data for VIRTUAL AXIS (AXIS) instruction from a Module; sending high-speed counter PVs from pulse inputs, etc.

5-1 Synchronous Operation between Modules

The cycle time of the Coordinator Module can be made constant using the Constant Cycle Time function.

This constant cycle time is set as the Sync Cycle Time in the FQM1.

5-1 Synchronous Operation between Modules

The Coordinator Module's constant cycle time is set as the FQM1 Sync Cycle Time (as above). The I/O refresh interval for the Motion Control Module within that Sync Cycle Time is made constant, and the I/O cycle with external interfaces is also made constant.

5-4-4 Settings

Used to synchronize, as much as possible, the start of processing between Modules.

When system interrupts are prohibited, the variation in the start of processing between Modules is approx. 2 µs.

Page 43

Function Tables Arranged by Purpose Section 1-7

Purpose Operation Function used Details

Synchronizing 3 or more axes

Fast contro l loops

Make control cycle as short as possible with Modules synchronized

Control operation using pulse and analog data simultaneously

Synchronizing Motion Control Modules only

Synchronizing Motion Control Modules to Coordinator Module cycle or synchronizing between Motion Control Modules only

Changing to Async Mode

Sync Mode, Sync Cycle Time

Synchronous Data Link Bit Area

Cycle Time (Motion Control Modules)

Prohibit System Interruption of the Sync Mode

Synchronous Data Selection

Sync Mode 5-1 Synchronous Operation between Modules

5-1 Synchronous Operation between Modules

Set Sync Mode to Sync and Sync Cycle Time to between 0.1 and 10.0 ms.

If the Coordinator Module cycle varies or gets too long after connecting the FQM1 to peripheral devices, Motion Control Module operation can be synchronized to have short control cycles for Motion Control Modules only.

The Sync Cycle Time can be set to any value. Same as “Synchronous Data Link Bit Area,”

above.

5-1 Synchronous Operation between Modules

The Coordinator Module's constant cycle time is set as the FQM1 Sync Cycle Time (as above). The I/O refresh interval for the Motion Control Module in that Sync Cycle Time is made constant and the I/O cycle with external interfaces is also made constant.

Same as “Prohibit System Interruption of the Sync Mode” above.

5-4 Synchronous Data Refresh

Information for I/O from different Motion Control Modules can be stored within Modules and a control loop created.

Select the type of synchronous data.

• Ladder execution results

• High-speed counter PV

• Pulse output PV

• Analog input values

• Analog output values

• Built-in I/O inputs

Set the Sync Mode to Async. Each Module will no longer be synchronized,

bus refreshing will stop, and the Motion Control Module overhead time will be minimized.

The minimum overhead time for FQM1-MMP21 is 0.19 ms.

Page 44

Function Tables Arranged by Purpose Section 1-7

1-7-2 Position and Speed Control

Purpose Operation Main functions

PTP positioning using pulse I/O

Using Servo Driver compatible with an incremental encoder or stepping Servomotor/Servo Driver

Using Servo Drivers compatible with an Absolute Encoder

Controlling positioning speed

Controlling trapezoidal positioning speed control

Defining the origin

Controlling positioning speed

Controlling trapezoidal positioning speed

used

• Relative pulse output functions

• Pulse output instructions (SPED(885)(8

85), ACC(888), PULS(886), and PLS2(887))

• PLS2(887) instruction

Speed Change Cycle Selection (2 ms/1 ms)

Pulse Output PV Reset

• Absolute Pulse Output

• Pulse output instructions (SPED(885)(8

85), ACC(888), PULS(886), and PLS2(887))

PLS2(887) instruction

Pulse Output Direction/Absolute Position Priority Mode Setting

Details

7-6-6 Pulse Output Function Details

Set operating mode to Relative Pulse Output. The number of pulses is determined from the

current position. Instructions to control pulses and speed can be used, depending on what is to be controlled. Speed can be controlled between 20 Hz and 1 MHz.

• Basic I/O can be used for origin signal and other I/O, and pulse inputs can be used for encoder inputs, for Servomotors/Servo Drivers

• For stepping motors, combination with basic I/O and pulse (CW) + direction control is possible.

7-6-12 PLS2(887) Pulse Output Direction Priority Mode

Trapezoidal positioning at any acceleration/deceleration ratio.

The system will automatically switch to triangle control (trapezoidal control without constant speed interval) when acceleration/deceleration conditions with specified total output pulses do not lead to trapezoidal control.

7-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887) Instructions

The speed change cycle of ACC(888) and PLS2(887) instructions can be selected.

This is useful for fine control of time taken to reach target speed or to reduce positioning time.

7-5-8 Pulse Input Function Description

Turn ON the Pulse Output PV Reset Bit at the origin.

A626.00 (pulse output 1)/A627.00 (pulse output

2) turn ON.

7-6-6 Pulse Output Function Details

Change operating mode to Absolute Pulse Output.

The number of pulses in the command is handled as an absolute position. Everything else is the same as relative pulse output.

Same as for Servo Drivers compatible with an incremental encoder, outlined above.

7-6-12 PLS2(887) Pulse Output Direction Priority Mode

Can switch between giving priority to CW/CCW output direction specification for PLS2(887) instructions or absolute position specification to determine output direction.

Page 45

Function Tables Arranged by Purpose Section 1-7

Purpose Operation Main functions

PTP positioning using pulse I/O

PTP positioning using analog I/O

Using Servo Drivers compatible with an Absolute Encoder

Using Servo Driver compatible with an incremental encoder

Use Servo Drivers compatible with Absolute Encoder

Reading PV from Servo Driver

Presetting the absolute position to the pulse output counter.

Position control in semi-closed loop using virtual pulse output function

Reading current position from Servo Driver

Presets absolute position in AXIS instruction

used

• Absolute counter operation (absolute linear/circular)

• High-speed counter absolute encoder read

Pulse output counter PV convert (INI(880) instruction)

• Virtual axis (AXIS instruction)

• High-speed counter (FB pulse)

• Analog output instructions with position deviation using virtual axis and high-speed counter

As above 7-8 Virtual Pulse Output Function

• Absolute counter mode (absolute linear/circular)

• High-speed counter absolute encoder read

• High-speed counter PV

• MOVL instruction

7-7 Functions for Servo Drivers Compatible with Absolute Encoders

Set counter operation to Absolute Linear (CW−), Absolute Circular, or Absolute Linear (CW+).

Uses OMRON W-series Servo Drivers and reads the absolute position from the Servo Driver before operation starts.

Once the origin has been set, it is easier to find the origin by reading the absolute position before operation starts.

7-6-6 Pulse Output Function Details

Reflects in the pulse output instruction the absolute value read using the absolute encoder read instruction outlined above.

7-8 Virtual Pulse Output Function

Uses virtual axis (AXIS instruction) in relative mode.

The current position output for the AXIS instruction is used as the command pulse to create a position loop with the high-speed counter PV (the feedback pulse from the Servo Driver). A control loop for the analog output instruction is generated according to this deviation and used.

Uses virtual axis (AXIS instruction) in absolute mode. Everything else is the same as above.

Same as PTP positioning with pulse I/O when Servo Drivers compatible with Absolute Encoder used.

7-8 Virtual Pulse Output Function

Presets the high-speed counter PV read using the high-speed counter absolute encoder read instruction outlined above, and presets and uses this PV as the current position output in the AXIS instruction.

The PV is preset before executing AXIS instruction.

Details

Page 46

Function Tables Arranged by Purpose Section 1-7

Purpose Operation Main functions

PTP positioning using analog I/O

Path control Drawing path

Synchronous control

Simple positioning using inverters

with linear interpolation

Drawing path with circular interpolation

Drawing elliptical and other special locus

Slave axis control synchronized to real axis.

used

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

Executing electronic cam control for 2 axes synchronized to virtual axis

As above As above

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

• Target value match instruction (CTBL(882) instruction) for high-speed counter

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

• Virtual axis (AXIS instruction)

• Create path tables using ladder program (APR instruction)

• Electronic cam pulse output (PULS(886) instruction)

• High-speed counter PV

•Cam curve generation or cam curve table every cycle based on ladder programming (APR instruction)

• Pulse output with specified target position and frequency (PULS(886) instruction)

• Constant cycle time

Details

7-10 Analog Outputs

Used when positioning only using speed command 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).

7-8 Virtual Pulse Output Function

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.

7-6-14 Pulse Output Function Examples

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

Makes Motion Control Module cycle times constant, 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 programming, the cam curves can be changed during operation.

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

Page 47

Function Tables Arranged by Purpose Section 1-7

Purpose Operation Main functions

Synchronous control

Speed control Creating any

Slave axis control synchronized to virtual axis.

Control of a particular axis operation at a speed with a uniform ratio applied

trapezoidal speed control pattern (e.g., Scurve acceleration/deceleration) (fine control of acceleration/deceleration using time)

Electronic cam: Changing target position and speed every cycle based on virtual pulse output (position or speed) to execute positioning.

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

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

used

• Virtual axis (AXIS instruction)

•Cam curve generation or cam curve table every cycle based on ladder programming (APR instruction)

• Pulse output with specified target position and frequency (PULS(886) instruction)

• Constant cycle time

• High-speed counter PV

• Straight-line table (APR instruction)

• Pulse outputs with specified target position and frequency (PULS(886) instruction)

• Constant cycle time

•Cam curve generation or cam curve table every cycle based on ladder programming (APR instruction)

• Pulse output with specified target position and frequency (PULS(886) instruction)

• Constant cycle time

Details

7-8 Virtual Pulse Output Function

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.

7-6-13 Pulse Output Function Procedures

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 output 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 control cycle.

7-6-13 Pulse Output Function Procedures

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

Used for applications such as creating ideal Servomotor 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, allowing fine control in FQM1 high-speed cycles.

Page 48

Function Tables Arranged by Purpose Section 1-7

Purpose Operation Main functions

Speed control Torque control

(position + torque control)

Individual axis control for molding equipment and similar applications

Line control (winding/feeding control)

Tension control, etc.

Simple speed control corresponding to time axis using inverter

Switching between position and torque control modes.

During torque control, performing speed control using highspeed control loops based on feedback from torque sensors.

Performing analog output control based on feedback using analog inputs

Controlling stepped or trapezoidal analog outputs based on time

used

• Analog input

• Pulse input (for Servo Drivers compatible with Absolute Encoders)

• Analog output

• Feedback calculations using ladder programs

• Analog input

• Analog output

• Feedback calculations using ladder programs

• Timer instructions

• Analog output instructions (SPED(885) and ACC(888) instructions)

Details

7-9 Analog Input Functions 7-10 Analog Outputs

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 analog inputs.

Fine speed control is possible in FQM1 highspeed cycle.

7-9 Analog Input Functions 7-10 Analog Outputs

Performs speed control of winding and feeding motors while executing feedback calculations in ladder programs based on analog input information 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).

7-10 Analog Outputs

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.

1-7-3 Measuring Input Pulses

Purpose Operation Main functions

Detecting position and length using rotary encoder inputs

High-precision positioning

Reading highspeed counter PV when mark has gone past mark sensor

Counts highspeed encoder output using high-speed counter

Latching highspeed counter PV when sensor turns ON for latch input

used

Counting at 2MHz (phase differential × 4)

High-speed counter PV latch

Details

7-5-8 Pulse Input Function Description

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.

7-5-8 Pulse Input Function Description

High-speed counter PV captured to latch register 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 circuits.

Page 49

Function Tables Arranged by Purpose Section 1-7

Purpose Operation Main functions

Detecting speed using rotary encoder inputs

Detecting speed and use in output control while managing position using encoder inputs

Monitoring speed while managing workpiece position using encoder input

Measuring displacement of workpiece per unit time

Measure input pulse cycle

used

Monitoring Highspeed Counter Movement (cycle time)

Monitoring Highspeed Counter Movement (sampling time specified)

Counter frequency measurement (pulse input 1 only)

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

Purpose Operation Main functions

Measuring undulation, distortion, thickness, height, or diameter, etc., of an object

High-speed tracing of analog data when external signal turns ON

High-speed tracing of analog data synchronized with target object position

Storing analog input value in memory at specified time (constant cycle)

Storing analog inputs to DM Area synchronous with position (pulse input)

used

•Interval timer interrupts

• PRV(881) instruction

High-speed analog sampling function

Details

7-5-8 Pulse Input Function Description

Outputs the change in the high-speed counter PV each cycle, while outputting number of input pulses as high-speed counter PV.

Used for applications such as detecting speed of external master axis during synchronous control.

7-5-8 Pulse Input Function Description

Outputs the change in the high-speed counter PV each sampling cycle (1 to 9,999 ms) specified asynchronously to Motion Control Module cycle.

Used for applications such as detecting external device speed or number of pulses within a specified time (not used for output control).

7-5-8 Pulse Input Function Description

Number of input pulses can be monitored simultaneously as high-speed counter PV and pulse frequency.

Details

7-9-3 Analog Input Function Specifications

Can perform analog sampling at a constant cycle, using scheduled interrupt processing in analog input immediate refresh mode.

Sampling can be executed at small time intervals using analog input conversion (40 µs).

Data stored in memory can also be displayed on PT and other display devices, e.g., to show trends.

7-9-7 High-speed Analog Sampling (FQM1MMA21 Only)

Sampling of target measurement object position as compared to the sampling based on time.

Interrupt tasks, as outlined above, are not used, so even more detailed sampling is possible.

Used for applications such as generating displacement data for the measurement object from one position to another position.

Page 50

Function Tables Arranged by Purpose Section 1-7

Purpose Operation Main functions

Control using measurement results for undulation, distortion, thickness, height, diameter, etc., of an object

Responding quickly to external signals with analog control

Holding analog output at the maximum value or at the value at that time when set conditions or errors occur.

Judgment processing based on measurement results

Position control using measurement results

Changing analog output amount as soon as signal turns ON

Reading analog input value as soon as signal turns ON

--- Determining

Reading analog input values in high-speed cycles and performing judgment processi ng using ladder program

Performing sync control using high-speed counter PV position information and analog input information simultaneously

Immediate refresh of analog output

Immediate refresh of analog input

analog output value at output enable OFF or error

used

Analog input + ladder programming

Synchronous Data Link Bit Area

• Settings for immediate refresh

• SPED(885)/AC C(888) instructions

• Settings for immediate refresh

• PRV(881) instructions

Analog output hold function

Details

7-9 Analog Input Functions

Uses analog sensors to detect objects that can't be detected with ON/OFF sensors and performs judgment by comparing the analog input value and internally held threshold values.

Processing with faster tact time is possible using high-speed analog input conversion (40 µs) and high-speed cycle times (approximately 2 µs minimum when only analog inputs are enabled).

Also, analog sampling at 50-µs intervals (min.) is possible if analog inputs are set to immediate refresh and PRV(881) instructions are used in parallel processing in the ladder program.

7-6 Pulse Outputs 7-9 Analog Input Functions

Can perform synchronous control while performing position control on slave axis synchronized with position based on pulse input or synchronous control while adding analog value from displacement sensor as position control compensation.

MMP21 and MMA21 used together for this application.

7-10 Analog Outputs

SPED(885) or ACC(888) instructions can be used to directly refresh analog outputs.

Used to change output amount immediately after external signal triggers.

7-9 Analog Input Functions

PRV(881) instructions can be used to directly refresh analog inputs.

Used to read input values immediately after external signal triggers.

7-10 Analog Outputs

The analog output status can be held at the maximum value, cleared, or held at the current value at output enable OFF or system errors.

Page 51

Function Tables Arranged by Purpose Section 1-7

1-7-5 Controlling Timing

Purpose Operation Main functions

Responding quickly to external signals and operate

Executing processing as soon as change in external input signal detected

Executing processing after set amount of external signal changes counted

Repeating processes each time specified period passes

Executing processing once specified timer interval passes after startup signal input

Starting processing when high-speed counter PV reaches set value

Starting interrupt processing when an input bit turns ON and/or OFF.

Starting interrupt processing once the specified number of input bit rising edges, falling edges, or both have been counted

Starting interrupt processing at scheduled time

Starting interrupt processing once only, after specified interval has elapsed

Starting interrupt processing once periods of any set time have elapsed from timer start

Starting interrupt processing when highspeed counter PV reaches specified value

used

• Input function settings

• Interrupt inputs (MSKS(690) instructions)

• Input function settings

• Counting interrupts in counter mode (MSKS(690) instruction)

•Interval timer interrupt (scheduled interrupt: STIM(980) instruction)

•Interval timer interrupt (oneshot interrupt: STIM(980) instruction)

• Pulse output

• Target value comparison interrupt (CTBL(882) instruction)

• High-speed counter target value comparison interrupt (CTBL(882) instruction)

Details

7-3 Input Interrupts

- Input Interrupt Mode

Set input function to Interrupt inputs. Executes interrupt tasks when Motion Control

Module built-in input bits (input No. 0.00 to 0.03) turn ON and/or OFF.

7-3 Input Interrupts

- Counter Mode

Set input function to Interrupt input and counter mode using MSKS(690) instructions.

Decrements the PV each time the Motion Control Module built-in input bit (input numbers

0000.00 to 0000.03) turns ON and/or OFF and executes interrupt tasks when the PV reaches 0.

7-4 Interval Timer Interrupts

- 7-4-3 Interval Timer Interrupt Modes

Repeats interrupt task execution at scheduled intervals.

Can be used within interrupt tasks because special timer used.

7-4 Interval Timer Interrupts

- 7-4-3 Interval Timer Interrupt Modes

Executes interrupt task once only after specified period elapses.

Can be used within interrupt tasks because special timer used.

7-6-9 Target-value Comparison Interrupts from Pulse Output PVs

Executes specified interrupt task when target value in registered table matches the pulse output counter PV.

7-5 Pulse Inputs

Executes specified interrupt task when target value in registered table matches high-speed counter PV.

Page 52

Function Tables Arranged by Purpose Section 1-7

Purpose Operation Main functions

Operation with highly precise timing

Timing output according to workpiece position

Increasing accuracy of external output ON time. (Feeding, hole opening, tape winding, gluing, and other applications)

Highly accurate measurement of external input signal ON/OFF time

Various processing (instruction execution) at each one of multiple time intervals, using high-precision timer

Timing output using highspeed counter PV

High-precision ON outputs, with minimum unit of

0.01 ms

Starting/stopping high-precision timer at

0.001-ms unit min.

Outputting ON/OFF pattern when pulse output counter PV is within set value range.

Outputting ON/OFF pattern when highspeed counter PV within certain range

used

• One-shot pulse outputs (STIM(980) instruction)

• Pulse output counter measurement mode (time measurement) (Unit: 0.001 ms min.)

• Pulse output counter measurement mode (time measurement)

• Range comparison bit pattern output

• High-speed counter range comparison bit pattern output (Executes comparison at execution of CTBL(882) instructions)

Details

7-5 Pulse Inputs

Set pulse output operation mode to one-shot output.

Specified outputs turn ON during specified interval (0.01 ms to 9,999 ms).

Output OFF after specified time elapses is performed by hardware, which gives accurate ON time with no fluctuation.

Can be used within interrupt tasks because uses special timer.

7-6-8 Time Measurement with the Pulse Counter

Time measurement starts/stops with input interrupt (MSKS(690) instruction) + STIM(980) instruction within interrupt tasks. The elapsed time is stored in Motion Control Module Auxiliary Area. This data can be read using the PRV instruction.

Note Pulse output 1 or pulse output 2 must be

set to pulse counter time measurement in System Setup.

7-6-8 Time Measurement with the Pulse Counter

Can be used to obtain output pattern each time interval elapsed after timer start.

Timer accuracy can be selected from as low as

0.001 ms.

7-5-8 Pulse Input Function Description

Outputs set bit pattern when high-speed counter PV enters the range between set upper and lower limits.

Page 53

Function Tables Arranged by Purpose Section 1-7

Page 54

SECTION 2

Specifications and Nomenclature

This section provides the specifications of the FQM1 and describes the parts and their functions on the Coordinator Module and Motion Control Modules.

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

Page 55

List of Models Section 2-1

2-1 List of Models

Name Type Model Specifications

Coordinator Module

Motion Control Modules

End Module Standard FQM1-TER01 Connects to the right end of the FQM1. Servo Relay Units --- XW2B-80J7-1A Simplifies wiring from the Motion Control Module to two

FQM1 Flexible Motion Controller Set

Programming Device

Standard (with built-in I/O)

Pulse I/O FQM1-MMP21 Program capacity: 5 Ksteps

Analog I/O FQM1-MMA21 Program capacity: 5 Ksteps

Set for pulse I/O FQM1S-MC231 A set including the CJ1W-PA202, FQM1-CM001, FQM1-

Set for analog I/O FQM1S-MC222 A set including the CJ1W-PA205R, FQM1-CM001,

CX-Programmer Ver. 5.0 or later

FQM1-CM001 Program capacity: 5 Ksteps

16 general-purpose inputs, 8 general-purpose outputs Peripheral port, RS-232C port, RS-422A port

2 pulse inputs, 2 pulse outputs, 12 general-purpose inputs, 8 general-purpose outputs

2 pulse inputs, 1 analog input, 2 analog outputs, 12 general-purpose inputs, 8 general-purpose outputs

Servo Drivers, wiring for all switches, sensors, and other general-purpose I/O, and wiring the RS-422A line.

MMP21, and FQM1-TER01

FQM1-MMA21, and FQM1-TER01

WS02-CXPC1-E-V5@ (See note.)

Used for System Setup setting, programming, and monitoring for Coordinator Modules and Motion Control Modules. The FQM1 patch file is used with CX-Programmer Ver. 5.0.

Note If CX-Programmer Ver. 5.0 is used with the FQM1, the FQM1 Patch Software

must be installed.

2-2 General Specifications

General Specifications

Item Specifications

Insulation resistance 20 MΩ min. (at 500 VDC) between AC external and GR terminals (See note 1.) Dielectric strength 2,300 V AC 50/60 Hz for 1 min between AC external and GR terminals (See notes 1 and 2.)

Noise immunity 2 kV on power supply line (conforming to IEC61000-4-4) Vibration resistance

Shock resistance

Ambient operating temperature

Ambient operating humidity

Atmosphere Must be free from corrosive gases Ambient storage temper-

ature Grounding Less than 100 Ω Enclosure Mounted in a panel. Dimensions 49 × 90 × 80 mm (W × H × D) (not including cables) Weight All models are each 5 kg max. Safety measures Conforms to EC directives, C-Tick, and cULus.

Leakage current: 10 mA max. 720 V AC 50/60 Hz for 1 min between DC external and GR terminals (See note 1.)

Leakage current: 10 mA max.

10 to 57 Hz, 0.075-mm amplitude, 57 to 150 Hz, acceleration: 9.8 m/s tions for 80 minutes total (Time coefficient: 8 minutes × coefficient factor 10 = total time 80 min.) (conforming to JIS C0040)

147 m/s 0 to 55°C

10% to 90% (with no condensation)

−20 to 75°C

3 times each in X, Y, and Z directions (conforming to JIS C0041)

in X, Y, and Z direc-

Page 56

General Specifications Section 2-2

Note (1) Disconnect the Power Supply Unit's LG terminal from the GR terminal

when testing insulation and dielectric strength. Testing the insulation and dielectric strength with the LG and GR terminals connected will damage internal circuits.

(2) Do not apply more than 600 V when testing the dielectric strength of an-

alog I/O terminals. Applying more than 600 V may damage the internal elements.

Power Supply Unit Specifications

Item Specifications

Power Supply Unit CJ1W-PA205R CJ1W-PA202 Supply voltage 100 to 240 V AC (wide-range), 50/60 Hz Operating voltage

and frequency ranges

Power consumption 100 VA max. 50 VA max. Inrush current

(See note 1.)

Output capacity 5.0 A, 5 VDC (including supply to Modules) 2.8 A, 5 VDC (including supply to Modules)

Output terminal Not provided. RUN output Contact configuration: SPST-NO

Insulation resistance

Dielectric strength 2,300 V AC 50/60 Hz for 1 min between AC external and GR terminals (See note 2.)

Noise immunity 2 kV on power supply line (conforming to IEC61000-4-4) Vibration resistance

Shock resistance

Ambient operating temperature

Ambient operating humidity

Atmosphere Must be free from corrosive gases. Ambient storage

temperature Grounding Less than 100 Ω Enclosure Mounted in a panel. Weight 5 kg. total max. Dimensions 80 × 90 × 65 mm (W × H × D) 45 × 90 × 65 mm (W × H × D) Safety measures Conforms to cULus and EC Directives.

85 to 264 V AC, 47 to 63 Hz

At 100 to 120 V AC: 15 A/8 ms max. for cold start at room temperature

At 200 to 240 V AC: 30 A/8 ms max. for cold start at room temperature

0.8 A, 24 VDC 0.4 A, 24 VDC Total 25 W max. Total 14 W max.

Switching capacity: 250 V AC, 2 A (resistive load) 120 V AC, 0.5 A (inductive load) 24 VDC, 2 A (resistive load) 24 VDC, 2 A (inductive load)

20 MΩ min. (at 500 VDC) between AC external and GR terminals (See note 2.)

Leakage current: 10 mA max. 1,000 V AC 50/60 Hz for 1 min between DC external and GR terminals (See note 1.)

Leakage current: 10 mA max.

10 to 57 Hz, 0.075-mm amplitude, 57 to 150 Hz, acceleration: 9.8 m/s minutes total (Time coefficient: 8 minutes × coefficient factor 10 = total time 80 min.) (conforming to JIS C0040)

147 m/s 0 to 55°C

10% to 90% (with no condensation)

−20 to 75°C

3 times each in X, Y, and Z directions (conforming to JIS C0041)

At 100 to 120 V AC: 20 A/8 ms max. for cold start at room temperature

At 200 to 240 V AC: 40 A/8 ms max. for cold start at room temperature

Not provided.

in X, Y, and Z directions for 80

Page 57

Coordinator Module Section 2-3

Note (1) The inrush current is given for a cold start at room temperature with an

AC power supply. The AC inrush control circuit uses a thermistor element with a low-temperature current control characteristic. If the ambient temperature is high or the FQM1 is hot-started, the thermistor will not be sufficiently cool, and the inrush currents given in the table may be exceeded by up to twice the given values. When selecting fuses or breakers for external circuits, allow sufficient margin in shut-off performance. If the FQM1 is hot-started, the capacitor will not be discharged, and the inrush currents given in the table may be exceeded by up to twice the given values.

(2) Disconnect the Power Supply Unit's LG terminal from the GR terminal

when testing insulation and dielectric strength. Testing the insulation and dielectric strength with the LG terminal and the GR terminals connected will damage internal circuits.

2-3 Coordinator Module

Nomenclature

Indicators

CM001

OFF

1 2

Peripheral port baud rate detection/System Setup switch

FLEXIBLE MOTION CONTROLLER

RDY

࡮

RUN

࡮

ERR

࡮

PRPHL

࡮

COMM1

࡮

COMM2

࡮

CM001

OFF

1 2

Peripheral port

FLEXIBLE MOTION CONTROLLER

RDY RUN ERR

PRPHL COMM1 COMM2

PERIPHERAL

RS-232C port

Indicators

PORT

Coordinator Module

CN1

RS422

4039

40-pin connector

㧔24 general-purpose

I/O points and RS-422A㧕

Note Cover the peripheral port and RS-232C port with the supplied covers when

the ports are not being used to prevent dust contamination.

Indicator Color Name Status Meaning

RDY Green Module operation Lit The Module is operating normally.

Not lit Module error (e.g., WDT error).

RUN Green Program execution Lit Executing internal Module program.

Not lit Internal Module program stopped.

ERR Red Module error Lit Fatal error.

Flashing

Not lit Module operating normally.

Non-fatal error.

Page 58

Coordinator Module Section 2-3

Indicator Color Name Status Meaning

PRPHL Yellow Peripheral port

communications

COMM1 Yellow RS-232C commu-

nications

COMM2 Yellow RS-422A commu-

nications

Switch on Front Panel Peripheral Port Baud Rate Detection/System Setup Switch

FLEXIBLE MOTION CONTROLLER

RDY

RUN

ERR

PRPHL COMM1 COMM2

Lit Communicating via the peripheral

port. Not lit All other times. Lit Communicating via the RS-232C

port. Not lit All other times. Lit Communicating via RS-422A port

(for Servo Driver) Not lit All other times

CM001

1 2

OFF

SW2 Peripheral port baud rate

detection/System Setup

SW1 Reserved ---

Function Specifications

Item Specifications

Control method Stored program I/O control method Cyclic scan Programming Ladder diagram Instruction length 1 to 7 steps per instruction Ladder instructions Approx. 260 Execution time Basic instructions 0.1 µs min.

Special instructions 0.3 µs min.

Common processing (overhead) time

Program capacity

Ladder 5 Ksteps

Comment storage None Number of tasks Cyclic tasks: 1, interrupt tasks: 50 Subroutines 256 JMP instructions 256 Number of basic I/O 24

Sync Mode: 390 µs ASync Mode: 180 µs

ON System Setup settings OFF Automatic baud rate detection

Page 59

Coordinator Module Section 2-3

Item Specifications

CIO Area Input Bit Area 16 bits (CIO 0000): CIO 0000.00 to CIO 0000.15

Output Bit Area 8 bits (CIO 0001): CIO 0001.00 to CIO 0001.07

Cyclic Refresh Bit

Area

Synchronous Data

Link Bit Area

Serial PLC Link Bit

Area

Work Bit Areas CIO Area 2,784 bits: CIO 0002 to CIO 0079, CIO 0140 to CIO 0199, and CIO 0220 to 0255

Work Area 4,096 bits: W000 to W255 Auxiliary Area Read/Write Read only: 5,568 bits: A000 to A099 and A200 to A447

Error Log 100 words: A100 to A199 (20 records) Temporary Area 16 bits: TR0 to TR15 Holding Area None Timer Area 256 timers: T0000 to T0255 (1-ms, 10-ms, and 100-ms timers) Counter Area 256 counters: C0000 to C0255 (decrementing counters and reversible counters)

DM Area Read/Write (not

System Setup System Setup area (Coordinator Module/Motion Control Module settings and

Index Registers IR0 and IR1 used with JSB instruction. Data Registers None Interrupt Func-

tions

Power interruption hold function (momentary power interruption)

Memory backup Super capaci-

Trace memory 4,000 words Peripheral servicing Servicing for devices connected to peripheral port (only CX-Programmer), RS-

Self-diagnosis function CPU errors (WDT) and memory errors Program check Programs checked from the CX-Programmer. Super-capacitor backup time Approximately 100 hours at 25°C Clock None Fixed Power OFF detection time AC: 10 to 25 ms (variable) User-set Power OFF detection time 0 to 10 ms

retained)

Read/Write

(retained)

Input interrupts None

Timer interrupts 1 (Scheduled or one-shot interrupt)

640 bits (40 words): CIO 0100 to CIO 0139 Refresh words for Motion Control Module # 1: CIO 0100 to CIO 0109 Refresh words for Motion Control Module # 2: CIO 0110 to CIO 0119 Refresh words for Motion Control Module # 3: CIO 0120 to CIO 0129 Refresh words for Motion Control Module # 4: CIO 0130 to CIO 0139

320 bits (20 words): CIO 0200 to CIO 0219 Sent from Coordinator Module: CIO 0200 to CIO 0203 Sent from Motion Control Module #1: CIO 0204 to CIO 0207 Sent from Motion Control Module #2: CIO 0208 to CIO 0211 Sent from Motion Control Module #3: CIO 0212 to CIO 0215 Sent from Motion Control Module #4: CIO 0216 to CIO 0219

320 bits (20 words): CIO 0080 to CIO 0099 CIO 0080 to CIO 0089: CJ1M to FQM1 CIO 0090 to CIO 0099: FQM1 to CJ1M Can be connected as a Serial PLC Link slave to host PLC (CJ1M).

Read/write: 3,232 bits: A448 to A649

Note Status not retained when power turned OFF. 30 Kwords: D00000 to D29999 (Status not retained when power is turned OFF.)

2,768 words: D30000 to D32767 (Status retained in flash memory. Not retained if written by a ladder program, but retained in flash memory if written using the CXProgrammer.)

peripheral service settings), peripheral service setting area

Super capacitor

Error log

tor backup Flash memory User programs, System Setup, part of DM Area

232C port (Host Links, no-protocol communications, NT Links, and Serial PLC Links (slave)), and RS-422A port (for Servo Driver)

Page 60

Motion Control Modules Section 2-4

Item Specifications

RUN output 1 (when CJ1W-PA205R used) Individual func-

tions

Serial communica-

tions

Peripheral port: Peripheral bus (Toolbus), Host Links, NT Links Built-in RS-232C port on Coordinator Module: Peripheral bus (Toolbus), Host Links, no-protocol communications, NT Links, and Serial PLC Links (slave). Built-in RS-422A port on Coordinator Module: Servo Driver interface

I/O Specifications

Built-in General-purpose I/O

Item Specifications

Inputs Number of inputs 16

Input voltage 20.4 to 26.4 V Input response Inputs for normal input (16 points):

Outputs Number of outputs 8

Output type NPN transistor Switching capacity 4.5 to 30 V DC, 0.3 A per output ON delay time 0.1 ms max. OFF delay time 1 ms max.

ON delay time: 100 µs OFF delay time: 1 ms max. 8 points/common

2-4 Motion Control Modules

Motion Control Module

FQM1-MMP21 (Pulse I/O)

Item Specifications

I/O Pulse I/O Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders)

Pulse outputs: 2

General-purpose I/O

Functions Pulse outputs The following operations are supported:

Pulse inputs • High-speed counters: Phase, Increment/decrement, Pulse + direction inputs (50 kHz/1

Program Program capacity 5 Ksteps

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

• Speed control (fixed, acceleration, deceleration)

• Positioning (Fixed-speed positioning; trapezoid, acceleration/deceleration positioning, and deceleration positioning)

• Speed control according to the present position (pulse output target value comparison or range comparison)

• Electronic cam operation (Positioning according to the rotation position of the real or virtual axis.)

• One-shot pulse output (Output ON only for specified time. minimum increment: 0.01 ms)

• Time measurement using pulse counter (minimum increment: 0.0001 ms )

MHz), or phase differential (50 kHz/500 kHz; phase differential × 4, 2 MHz )

• High-speed counter can be started/stopped using counter start bit.

• Changes in high-speed counter present value can be measured.

• High-speed counter frequency can be measured.

40-pin connector

26-pin connector

Page 61

Motion Control Modules Section 2-4

FQM1-MMA21 (Analog I/O)

Item Specifications

I/O Pulse inputs Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders) 40-pin

Analog I/O • Analog inputs: 1

(−10 to 10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, and 4 to 20 mA), conversion speed: 40 µs/input

• Analog outputs: 2

(−10 to 10 V, 0 to 10 V, 0 to 5 V, and 1 to 5 V), conversion speed: 40 µs/output

General-purpose I/O

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

Functions Analog output • Slope

• Output hold

• Offset/gain adjustment

Analog input • Offset/gain adjustment

Program Program capacity 5 Ksteps

connector

26-pin connector

Nomenclature

General-purpose I/O indicators

26-pin connector 20 general-purpose I/O points

Indicators

RDY RUN ERR

IN OUT

0 1 2 3 4 5 6 7 8 9 10 11

2526

CN1

0 1 2 3 4 5 6 7

MMP21

Motion Control Module

Indicator Color Name Status Meaning

RDY Green Module

RUN Green Program

ERR Red Module

IN0 to IN11

0UT0 to OUT7

A1/B1 A2/B2

A1 B1 A2 B2

Pulse I/O indicators

Indicators

IN OUT

40-pin connector

CN2

4039

Special I/O

Lit Module operating normally.

operation

Not lit Module error (e.g., WDT error) Lit Executing internal Module program

execution

Not lit Internal Module program stopped. Lit Fatal error.

error

Flashing Non-fatal error. Not lit Module operating normally.

Yellow Inputs Lit Input signal ON

Not lit Input signal OFF

Yellow Outputs Lit Output signal ON

Not lit Output signal OFF

Yellow Pulse

inputs

Lit Input signal ON Not lit Input signal OFF

0 1 2 3 4 5 6 7 8 9 10 11

RDY

RUN

ERR

MMP21

A1 B1 A2 B2

0 1 2 3 4 5 6 7

Note IN0 to IN 11, OUT0 to OUT7, and A1 to B2 are all controlled by hardware.

Page 62

Motion Control Modules Section 2-4

Performance Specifications

Item Specifications

Control method Stored program I/O control method Cyclic scan Programming language Ladder diagram Instruction length 1 to 7 steps per instruction Number of instructions Approx. 270 Instruction

execution time

Common processing time (overhead)

Program capacity

Number of tasks Cyclic tasks: 1, interrupt tasks: 50 Subroutines 256 JMP instructions 256 Number of basic I/O 20 per Module CIO Area Input Bit Area 12 bits (CIO 0000): CIO 0000.00 to CIO 0000.11

Work Area CIO Area 3,584 bits: CIO 0002 to CIO 0099, CIO 0110 to CIO 0199, and CIO 0220 to CIO 0255

Auxiliary Area

Temporary Area 16 bits: TR0 to TR15 Holding Area None Timer Area 256 timers: T0000 to T0255 (1-ms, 10-ms, and 100-ms timers) Counter Area 256 counters C0000 to C0255 (decrementing counters and reversible counters)

DM Area Read/write (not

System Setup System Setup Area (Coordinator Module/Motion Control Module settings),

Index Registers IR0 and IR1 used with JSB instruction Data Registers None Interrupt

Functions

Basic instructions 0.1 µs min. Special instructions 0.3 µs min.

MMP21 Sync Mode: 250 µs

MMA21 Sync Mode: 340 µs

Ladder 5 Ksteps Comment storage None

Output Bit Area 8 bits (CIO 0001): CIO 0001.00 to CIO 0001.07 Cyclic Refresh Bit

Area

Synchronous Data Link Bit Area

WR Area 4,096 bits: W000 to W255 Read/Write Read only: 5,568 bits, A000 to A099 and A200 to A447

Error Log 100 words: A100 to A199 (20 records)

retained) Read/write

(retained)

Input interrupts 4 (with adjustment down mode) Timer interrupts 1(Scheduled or one-shot interrupt)

ASync Mode: 190 µs

ASync Mode: 280 µs Each analog input when analog output is disabled: 190 µs When analog output disabled: 230 µs

160 bits (10 words): CIO 0100 to CIO 0109 Input refresh for Coordinator to Motion Control Module: CIO 0100 to CIO 0104 Output refresh for Motion Control Module to Coordinator Module: CIO 0105 to CIO 0109

Read/write: 3,232 bits, A448 to A649

Note Status not retained when power turned OFF. 30 Kwords: D00000 to D29999 (Status not retained when power is turned OFF.)

2,768 words: D30000 to D32767 (Retained by super capacitor)

motion parameter setting area

Page 63

Motion Control Modules Section 2-4

Item Specifications

Power interruption hold function (momentary power interruption)

Memory backup Super capacitor backup Error log, part of DM Area (backup for momentary power

Trace memory 4,000 words Peripheral servicing Event requests from Coordinator Module Self-diagnosis function CPU errors (WDT) and memory errors Program check Programs checked from the CX-Programmer. Super-capacitor backup time Approximately 100 hours at 25°C Clock None Individual

functions

High-speed counters

High-speed pulse outputs

High-speed counters

Analog input Conversion speed: 40 µs/input

Analog outputs Conversion speed: 40 µs/output

Super capacitor

interruptions)

Flash memory User programs, System Setup

Phase pulse inputs, Up/down pulse inputs, Pulse + direction pulse inputs (50 kHz/1 MHz)

Phase differential inputs (50 kHz/500 kHz; phase differential × 4, 2MHz)

CW and CCW (1 MHz: Line-driver) One-shot pulse output Single phase pulse inputs/Up/down pulse inputs /Pulse + direction

pulse inputs (50 kHz/1 MHz) Phase differential inputs (50 kHz/500 kHz; phase differential × 4,

2MHz)

Resolution: −10 to 10 V: 1/16,000; 0 to 10 V: 1/8,000; 0 to 5 V: 1/4,000; 1 to 5 V: 1/4,000; 4 to 20 mA: 1/4,000

Resolution: −10 to 10 V: 1/10,000; 0 to 10 V/0 to 5 V/1 to 5 V: 1/4,000

FQM1-MMP21 (pulse I/O)

FQM1-MMA21 (analog I/O)

I/O Specifications

General-purpose I/O Specifications

Common Specifications for FQM1-MMP21 (Pulse I/O) and FQM1-MMA21 (Analog I/O)

Item Specifications

Inputs Number of inputs 12 inputs

Input voltage 20.4 to 26.4 V Input response Interrupt input (4 points

with one common) Normal input (8 points

with one common)

Outputs Number of outputs 8 outputs

Output type Transistor (NPN) Switching capacity 4.5 to 30 V DC, 0.3 A per output ON delay time 0.1 ms max. OFF delay time 1 ms max.

ON delay time: 30 µs OFF delay time: 0.2 ms max.

ON delay time: 100 µs OFF delay time: 1 ms max.

Page 64

Motion Control Modules Section 2-4

Pulse I/O Specifications FQM1-MMP21 (Pulse I/O)

Item Specifications

Pulse inputs

Pulse outputs

Oneshot pulse outputs

Number of counters 2 Counter operations Linear counter and circular counter Input signals Two words each for phase A, phase B, and phase Z. Signal levels 24 V DC, line-driver Input method Phase differential ×1

Phase differential ×2 Phase differential ×4 Increment/decrement Pulse + direction

Counting speed Voltage 50 k Hz

Line-driver 50 k Hz/500k Hz (phase differen-

Absolute Servo Driver interfaces

Number of outputs 2 Output signal CW/CCW Signal levels Line-driver (equivalent to AM26LS31)

Output speed 1 MHz Number of outputs 2 Output type Open collector (NPN) Max. switching

capacity Min. switching

capacity Output pulse width Set time ± 1 µs or 0.1% of set time

2 SEN output specifications: 5 V PNP output, output current: 5 mA When SEN signal is output to Servo Driver, Servo Driver will transmit the number of encoder's rotations to this Module. After that, it transmits pulse train corresponding to displacement of the number of turns to the Module.

Max. output current: 20 mA

80 mA/5 to 24 V DC ± 10%

7 mA/5 to 24 VDC ± 10%

tial × 4, 2 MHz)

Page 65

Motion Control Modules Section 2-4

Pulse Inputs and Analog I/O Specifications

FQM1-MMA21 (Analog I/O)

Item Specifications

Pulse inputs

Analog input

Analog outputs

Number of counters 2 Counter operations Linear counter, circular counter Input signals Two words each for phase A, phase B, and phase Z. Signal levels CH1: 24 V DC, line-driver

Input method Phase differential ×1

Counting speed Voltage 50 kHz

Absolute Servo Driver interfaces

Number of analog inputs

Input signals Voltage inputs:

Resolution −10 to 10 V: 14 bits (1/16,000)

Accuracy (FS) Voltage input:

Conversion speed 40 µs max./input

Number of outputs 2 Output signal −10 to 10 V, 0 to 10 V, 1 to 5 V, 0 to 5 V Resolution −10 to 10 V: 14 bits (1/1,0000)

Accuracy (FS) ± 0.3% (23 ± 2°C) ± 0.5% (0 to 55°C) Conversion speed 40 µs max./output

CH2: Line-driver

Phase differential ×2 Phase differential ×4 Increment/decrement Pulse + direction

Line-driver 50 k Hz/500k Hz (phase

2 SEN output specifications: 5 V PNP output, output current 5 mA When SEN signal is output to Servo Driver, Servo Driver will transmit the number of encoder's rotations to this Module. After that, it transmits pulse train corresponding to displacement of the number of rotations to the Module.

−10 to 10 V 0 to 10 V 1 to 5 V 0 to 5 V

0 to 10 V: 13 bits (1/8,000) 0 to 5 V: 12 bits (1/4,000) 1 to 5 V/4 to 20 mA: 12 bits (1/4,000)

± 0.2% (23 ± 2°C) ± 0.4% (0 to 55°C)

Total: 1.5 ms max.

0 to 10 V: 12 bits (1/4,000) 0 to 5 V: 12 bits (1/4,000) 1 to 5 V: 12 bits (1/4,000)

Total: 200 µs max.

differential × 4, 2 MHz)

Current inputs: 4 to 20 mA

Current input:

± 0.4% (23 ± 2°C) ± 0.6% (0 to 55°C)

Page 66

Dimensions Section 2-5

2-5 Dimensions

FQM1-CM001 Coordinator Module

49 mm

80 mm

FLEXIBLE MOTION CONTROLLER

PRPHL COMM1 COMM2

PERIPHERAL

90 mm

PORT

FQM1-MMP21/MMA21 Motion Control Modules

49 mm

IN OUT

0 1 2 3 4 5 6 7 8 9 10 11

90 mm

CN1

CM001

RDY RUN ERR

OFF

1 2

CN1

RS422

4039

80 mm

MMP21

RDY

RUN

ERR

A2 B2

0 1 2 3 4 5 6

CN2

FQM1-TER01 End Module

2.7

14.7

4039

Page 67

Dimensions Section 2-5

Power Supply Units CJ1W-PA202

PA202

POWER

AC100

-240V

INPUT

L2/N

CJ1W-PA205R

81.6

4581.6

PA205R

POWER

AC100-240V

INPUT

L2/N

RUN

OUTPUT

AC240V

DC24V

Page 68

Module Current Consumption Section 2-6

XW2B-80J7-1A Servo Relay Unit

Terminating resistance switch

160

100

Signal switches

4.5 dia.

Phase B switches

41.7

15.9

2-6 Module Current Consumption

The amount of current/power that can be supplied to the Modules mounted in the FQM1 is limited. Refer to the following tables when designing your system so that the total current consumption of the mounted Modules does not exceed the maximum current for each voltage system and the total power consumption does not exceed the maximum for the Power Supply Unit.

Maximum Current and Maximum Total Power Consumption

Current Consumption for Each Module

Current Consumption for 5-V System

The following table shows the maximum currents and power that can be supplied by Power Supply Units to the Controller.

Power Supply

Unit

CJ1W-PA202 2.8 A 0.4 A None 14 W CJ1W-PA205R 5.0 A 0.8 A None 25 W

Coordinator Module

Note The listed value includes the

current consumption for the CX-Programmer.

End Module FQM1-TER01 Included in Coordinator

5-V system

(internal logic)

Name Model 5-V system current

30.7

Max. current consumption Max. total

24-V system

(analog)

FQM1-CM001 0.47 (See note.)

24-V system

(service)

consumption (A)

Module current consumption

power con-

sumption

Note The current consumption increases by 0.15 A/Module if NT-AL001 Link Adapt-

ers are used.

Page 69

Module Current Consumption Section 2-6

Motion Control Modules

Name Type Model 5-V system current

Motion Control Module Pulse I/O FQM1-MMP21 0.836

Analog I/O FQM1-MMA21 0.843

Current Consumption for 24-V Systems

Name Type Model 24-V system current

Motion Control Module Analog I/O FQM1-MMA21 0.104

consumption (A)

Example Calculation of Current and Power Consumption

Combining Power Supply Units and Motion Control Modules

Example for CJ1W-PA202 Power Supply Unit with the Following Modules Mounted

Name Model Quantity Voltage system

5 V 24 V

Coordinator Module

Motion Control Module

Current consumption

Power consumption

FQM1-CM001 1 0.47 A ---

FQM1-MMP21 1 0.836 A --FQM1-MMA21 1 0.843 A 0.104 A Calculation 0.47 + 0.836 +

0.843

Result 2.15 A (≤ 2.8 A) 0.104 × 24 V =

Calculation 2.15 × 5 V =

10.75 W

Result 10.75 + 2.5 = 13.75 W (≤ 14 W)

0.104 A

2.5 W

---

The following table shows the Power Supply Units that can be connected for different numbers of Motion Control Modules.

Number of axes Number of connected Motion Control

Modules

FQM1-MMP21 FQM1-MMA21

2 1 0 CJ1W-PA202 (or

420

11 0 2 CJ1W-PA205R

630

21 12 03

840

31 22 13Not possible 04

Power Supply Unit

CJ1W-PA205R)

(See note.)

Note These combinations are not possible because the current consumption

exceeds the capacity of the Power Supply Unit.

Page 70

Memory Block Diagram Section 2-7

2-7 Memory Block Diagram

Coordinator Module and Motion Control Module memory has the following block configurations.

• I/O Memory Area: Memory accessible from user programs.

• User Memory (UM): User programs and parameter area (See note 1.)

The following tables show the backup methods for these memory areas.

• Coordinator Modules

Area Backup method

User memory Flash memory I/O memory area (part of DM Area) Flash memory

• Motion Control Modules

Area Backup method

User memory Flash memory I/O memory area (part of DM Area) Super capacitor

Areas Backed Up by

Super Capacitors

Data backed up by super capacitors is lost if the super capacitor voltage drops.

Areas Backed Up to Flash Memory

Data backed up to flash memory is not lost if the super capacity voltage drops. Data transferred from the CX-Programmer or edited online and written to the

user program or parameters in the user memory is automatically backed up to flash memory. This means that user memory data (both user program and parameter area data) is not lost if the super capacitor voltage drops.

Coordinator Module/Motion Control Module

Internal RAM

I/O Memory Area I/O bit area Work bit areas Cyclic refresh bit area Sync data link bit area

Flash memory

DM Area D30000 to D32767 (See note 2.)

User Program

Backup

Super capacitor

Parameter Area (See note 1.)

Note (1) The parameter area stores the Coordinator Module system information,

such as the System Setup.

(2) Data transferred to the Coordinator Module, e.g., from the CX-Program-

mer, is saved to flash memory. Motion Control Module data is backed up only by the super capacitor.

Page 71

Memory Block Diagram Section 2-7

Page 72

Installation and Wiring

This section describes how to install and wire the FQM1.

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

3-1-1 Installation and Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . 50

3-1-2 Installation in a Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

3-1-3 Assembled Appearance and Dimensions . . . . . . . . . . . . . . . . . . . . . 54

3-1-4 Connecting FQM1 Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

3-1-5 DIN Track Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

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

3-2-1 Wiring Power Supply Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

3-2-2 RS-232C Port Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

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

3-3-1 Connector Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

3-3-2 External Connection Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

3-3-3 Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

3-3-4 Wiring Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

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

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

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

3-6-1 Reducing Electrical Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

3-6-2 Connecting I/O Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

SECTION 3

Page 73

Installation Section 3-1

3-1 Installation

3-1-1 Installation and Wiring Precautions

Be sure to consider the following factors when installing and wiring the FQM1 to improve the reliability of the system and make the most of the FQM1’s functions.

Ambient Conditions Do not install the FQM1 in any of the following locations.

• Locations subject to ambient temperatures lower than 0

°C.

• Locations subject to drastic temperature changes or condensation.

• Locations subject to ambient humidity lower than 10% or higher than 90%.

• Locations subject to corrosive or flammable gases.

• Locations subject to excessive dust, salt, or metal filings.

• Locations that would subject the FQM1 to direct shock or vibration.

• Locations exposed to direct sunlight.

• Locations that would subject the FQM1 to water, oil, or chemical reagents.

Be sure to enclose or protect the FQM1 sufficiently in the following locations.

• 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 lines.

°C or higher than

Installation in Cabinets or Control Panels

Temperature Control The ambient temperature within the enclosure must be within the operating

When the FQM1 is being installed in a cabinet or control panel, be sure to provide proper ambient conditions as well as access for operation and maintenance.

range of 0 the proper temperature.

• Provide enough space for good air flow.

• Do not install the FQM1 above equipment that generates a large amount

• If the ambient temperature exceeds 55

°C to 55°C. When necessary, take the following steps to maintain

of heat such as heaters, transformers, or high-capacity resistors.

°C, install a cooling fan or air con-

ditioner.

Control panel

Louver

Fan

FQM1 Flexible Motion

Controller

Accessibility for Operation and Maintenance

• To ensure safe access for operation and maintenance, separate the FQM1 as much as possible from high-voltage equipment and power equipment.

Page 74

Installation Section 3-1

• The FQM1 will be easiest to install and operate if it is mounted at a height of about 1.0 to 1.6 m.

Improving Noise Resistance

• Do not mount the FQM1 in a control panel containing high-voltage equipment.

• Install the FQM1 at least 200 mm away from power lines.

Power lines

200 mm min.

FQM1

200 mm min.

• Ground the mounting plate between the FQM1 and the mounting surface.

Page 75

Installation Section 3-1

FQM1 Orientation • The FQM1 must be mounted in an upright position to provide proper cool-

ing.

COMM1 COMM2

PRPHL

CM001

RDY RUN ERR

IN OUT

OFF

1 2

0 1 2 3 4 5 6

7 8 9 10 11

CN1

RS422

4039

PA202

AC100

INPUT

-240V

FLEXIBLE

POWER

MOTION CONTROLLER

PERIPHERAL

L2/N

PORT

• Do not install the FQM1 in any of the following positions.

MMP21

RDY

RUN

ERR

A2 B2

0 1 2 3 4 5 6

2526

CN2

CN1

4039

L2/N

INPUT

-240V AC100

L2/N

-240V

INPUT

AC100

Page 76

Installation Section 3-1

3-1-2 Installation in a Control Panel

The FQM1 must be mounted inside a control panel on DIN Track.

AC100

-240V

INPUT

L2/N

Note The FQM1 must be mounted on DIN Track. It cannot be mounted with screws.

Wiring Ducts

Use wiring ducts to wire the FQM1’s built-in I/O. Install the wiring ducts to facilitate wiring the built-in I/O. It is handy to have the duct at the same height as the FQM1.

Duct

20 mm min.

Unit

DIN Track

20 mm min.

Duct

Wiring Duct Example The following example shows the proper installation of wiring ducts.

PLC

30 mm

Mounting bracket

40 mm

Duct

FQM1

80.0 mm

Note Tighten terminal block screws and cable screws to the following torques.

Terminal Screws

M4: 1.2 N·m M3: 0.5 N·m

Page 77

Installation Section 3-1

Routing Wiring Ducts Install the wiring ducts at least 20 mm away from the FQM1 and any other

objects, (e.g., ceiling, wiring ducts, structural supports, and devices) to provide enough space for air circulation and replacement of Modules.

Input duct Output duct Power duc

200 mm min.

PLC

FQM1

Fuses, relays, timers, etc. (NOT heat-generating equipment, power equipment, etc.)

FQM1

A C 10

-2 4 0V

IN P U

L2/N

N C

Terminal blocks for FQM1

Breakers, fuses

Power equipment such as transformers and magnetic relays

Terminal blocks for power equipment

3-1-3 Assembled Appearance and Dimensions

The Modules that make up the FQM1 are connected to each other, and an End Module is connected to the right end.

AC100

-240V

INPUT

L2/N

Page 78

Installation Section 3-1

Assembled Dimensions

PA202

AC100

INPUT

PRPHL COMM1 COMM2

PERIPHERAL

PORT

CM001

RDY RUN ERR

IN OUT

OFF

1 2

0 1 2 3 4 5 6

7 8 9 10 11

CN1

RS422

4039

FLEXIBLE

POWER

-240V

L2/N

MOTION CONTROLLER

MMP21

RDY

RUN

ERR

A2 B2

0 1 2 3 4 5 6 7

2526

CN1

IN OUT

0 1 2 3 4 5 6

7 8 9 10 11

CN2

4039

MMA21

RDY

RUN

ERR

A2 B2

0 1 2 3 4 5 6

2526

CN2

CN1

4039

35.4

27.6

W = a + 49 + 49 × n* + 14.7 * n is the number of connected Motion Control Modules (Up to 4 can be con-

nected.)

Power Supply Unit width: “a” mm

Name Model Specifications Unit width

Power Supply Unit

CJ1W-PA202 100 to 240 V AC, 14 W 45 mm CJ1W-PA205R 100 to 240 V AC, 25 W 80 mm

Coordinator Module width: 49 mm

Name Model Module width

Coordinator Module FQM1-CM001 49 mm

Motion Control Module width: 49 mm

Name Model Module width

Motion Control Module Pulse I/O FQM1-MMP21 49 mm

Analog I/O FQM1-MMA21

End Module width: 14.7 mm

Name Model Module width

End Module FQM1-TER01 14.7 mm

Installation Dimensions

PA202

AC100

-240V

INPUT

POWER

L2/N

FLEXIBLE MOTION CONTROLLER

PRPHL COMM1 COMM2

PERIPHERAL

PORT

RDY RUN ERR

CM001

IN OUT

OFF

1 2

0 1 2 3 4 5 6

7 8 9 10 11

CN1

RS422

4039

MMP21

RDY

RUN

ERR

A2 B2

0 1 2 3 4 5 6

2526

CN2

CN1

4039

Page 79

Installation Section 3-1

Installation Height The installation height of the FQM1 varies from 115 to 165 mm.

When a CX-Programmer or connecting cables are connected, however, even greater height is required. Allow sufficient depth in the control panel containing the FQM1.

Approx. 115 mm to 165 mm

OMRON

3-1-4 Connecting FQM1 Components

The Modules that make up the FQM1 can be connected simply by pressing the Modules together and locking the sliders. The End Module is connected on the far right side of the FQM1.

1,2,3... 1. Insert the two hooks on the top of the Module to the hook holes on the oth-

er Module, and join the Modules so that the connectors fit exactly.

AC100

-240V

INPUT

L2/N

Page 80

Installation Section 3-1

2. Move the yellow sliders at the top and bottom of each Module until they click into place to lock the Modules together.

Slide the sliders towards the back cover until they click into place.

Lock

PA202

AC100

INPUT

AC100

-240V

INPUT

L2/N

Slider

Note If the locking tabs are not secured properly, the FQM1 may not function prop-

erly. Be sure to slide the locking tabs until they are securely in place.

3. Attach the End Module to the Module on the far right side of the FQM1.

Unlock

PRPHL COMM1 COMM2

PERIPHERAL

PORT

CM001

RDY RUN ERR

OFF

1 2

CN1

RS422

4039

IN OUT

0 1 2 3 4 5 6 7 8 9 10 11

FLEXIBLE

POWER

-240V

L2/N

MOTION CONTROLLER

MMP21

RDY

RUN

ERR

A2 B2

0 1 2 3 4 5 6

2526

CN2

CN1

4039

IN OUT

0 1 2 3 4 5 6 7 8 9 10 11

MMA21

RDY

RUN

ERR

A2 B2

0 1 2 3 4 5 6

2526

CN2

CN1

4039

3-1-5 DIN Track Installation

Use the following procedure to install the FQM1 on DIN Track.

1,2,3... 1. Release the pins on the backs of the Modules.

DIN Track mounting pins

Release

Page 81

Installation Section 3-1

2. Fit the back of the FQM1 onto the DIN Track by inserting the FQM1 onto the top of the Track and then pressing in at the bottom of the FQM1, as shown below.

DIN Trac

3. Lock the pins on the backs of the Modules.

MMP21

A B1

A B2

OUT

CM001

0 1

OFF

N U

R R

FLEXIBLE

P R P

MOTION

CONTROLLER

POWER

PA202

AC100

-240V

INPUT

PERIPHERAL

PORT

L2/N

1 2

5 6 7 8 9

CN1

RS422

CN2

CN1

4020

DIN Track mounting pins

4. Install a DIN Track End Plate on each end of the FQM1. To install an End Plate, hook the bottom on the bottom of the track, rotate the Plate to hook the top of the Plate on the top of the track, and then tighten the screw to lock the Plate in place.

End Plates

Page 82

Installation Section 3-1

DIN Track and Accessories

Use the DIN Track and DIN Track End Plates shown below.

• DIN Track Model numbers: PFP-50N (50 cm), PFP-100N (100 cm), and PFP-100N2 (100 cm)

Secure the DIN Track to the control panel using M4 screws separated by 210 mm (6 holes) or less and using at least 3 screws. The tightening torque is

1.2 N·m.

PFP-100N2 DIN Track

4.5

28-25 × 4.5 oblong holes

1000

30±0.3

29.2

1.51

PFP-100N/50N DIN Track

4.5

7.3±0.15

35±0.3 27±0.15

25 25

1000 (500)*

251025 15 (5)*

DIN Track End Plates (2 Required)

Model number: PFP-M

* PFP-50N dimensions are given in parentheses.

Page 83

Wiring Section 3-2

3-2 Wiring

3-2-1 Wiring Power Supply Units

PA202

M4 self-raising screws

POWER

AC power supply

100 to 240 V

Isolation

transformer 1:1

RUN output (See note.)

ON when Coordinator Module

is in RUN or MONITOR mode.

OFF when in PROGRAM mode

or during a fatal error.

AC power supply

Power supply

AC100

-240V

INPUT

L2/N

Note The RUN output function is provided only for the CJ1W-PA205R Power Sup-

ply Unit. It is not provided on the CJ1W-PA202 Power Supply Unit.

AC Power Source • Supply 100 to 240 V AC.

• Keep the voltage fluctuations within the specified range.

Supply voltage Allowable voltage fluctuations

100 to 240 V AC 85 to 264 V AC

• If one power supply phase of the equipment is grounded, connect the grounded phase side to the L2/N terminal.

Isolation Transformer The FQM1's internal noise isolation circuits are sufficient to control typical

noise in power supply lines, but noise between the FQM1 and ground can be significantly reduced by connecting a 1-to-1 isolation transformer. Do not ground the secondary coil of the transformer.

Power Supply Capacity The power consumption will be 100 VA max. for the CJ1W-PA205R and 50 VA

for the CJ1W-PA202, but there will be a surge current of at least 5 times the max. current when the power is turned ON.

Page 84

Wiring Section 3-2

Terminal Screws and Crimp Terminals

!Caution Tighten AC power supply terminal block screws to a torque of 1.2 N·m. Loose

The terminals on the Power Supply Unit use M4, self-raising terminal screws.

Note (1) Use crimp terminals for wiring.

(2) Do not connect bare stranded wires directly to terminals. (3) Tighten the terminal block screws to a torque of 1.2 N·m.

Use M4 crimp terminals for AC power supplies.

Crimp Terminals for AC Power Supply

7 mm max.

20 mm max.

Tightening torque 1.2 N

screws may cause shorts, malfunctions, or fire.

M4 self-raising terminal screws

•

Grounding

Note (1) Supply power to all of the Power Supply Units from the same source.

(2) Do not remove the protective label from the top of the Power Supply Unit

until the wiring has been completed. This label prevents wire strands and other foreign matter from entering the Unit during wiring procedures.

(3) Do not forget to remove the label from the top of the Power Supply Unit

after wiring the Unit. The label will block air circulation needed for cooling.

PA205R

POWER

AC100-240V

INPUT

RUN

OUTPUT

AC240V

DC24V

L2/N

LG (Noise-filtered neutral terminal) Ground separately with a resistance of less than 100 Ω to increase resistance to noise and to prevent electric shocks.

GR (Ground) Ground this terminal separately to less than 100 Ω to prevent electric shock.

• GR is the ground terminal. To help prevent electric shock, ground this terminal to less than 100

sectional area of 2 mm

Ω and use special ground wire (minimum cross-

Page 85

Wiring Section 3-2

• LG is a noise-filtered neutral terminal. If noise is a significant source of errors and to prevent electrical shocks, connect the line ground terminal to the ground terminal and ground both with a ground resistance of less than 100

• If connecting the line ground and ground terminals, always ground both to less than 100

• The ground wire should not be more than 20 m long.

• The FQM1 is designed to be mounted so that it is isolated (separated) from the mounting surface to protect it from the effects of noise in the installation environment (e.g., the control panel).

Ω or less.

Ω to prevent electrical shock.

Control panel

FQM1 ground terminal

Ground the FQM1 system separately to a resistance of 100 Ω or less.

• Do not share the FQM1's ground with other equipment or ground the FQM1 to the metal structure of a building. Doing so may worsen operation.

Page 86

Wiring Section 3-2

Other equipmentFQM1

FQM1

Ground to 100 Ω or less.

Other equipment

Ground to 100 Ω or less.

Other equipment

Ground to 100 Ω or less.

Terminal Screws and

The terminals on the Power Supply Unit use M4 self-raising terminal screws.

Crimp Terminals

Note (1) Use crimp terminals for wiring.

Crimp Terminals for Ground Wire

7 mm max.

(2) Do not connect bare stranded wires directly to terminals. (3) Tighten the terminal block screws to a torque of 1.2 N·m. (4) Use M4 crimp terminals for AC power supplies.

7 mm max.

Page 87

Wiring Section 3-2

3-2-2 RS-232C Port Wiring

Connector Pin Arrangement

Pin No. Signal Name Direction

1 FG Protection earth --2 SD (TXD) Send data Output 3 RD (RXD) Receive data Input 4 RS (RTS) Request to send Output 5 CS (CTS) Clear to send Input 6 5V Power supply --7 DR (DSR) Data set ready Input 8 ER (DTR) Data terminal ready Output 9 SG (0V) Signal ground --Connector hood FG Protection earth ---

Note Do not connect the 5-V power supply on pin number 6 of the RS-232C port to

Connection Methods

1:1 Connections with Personal Computers

any devices other than a NT-AL0001 Converter. Doing so may damage the external device and the Coordinator Module.

Host Link Serial Communications Mode

Coordinator Module

Signal

Pin No.

RS-232C interface

SD RD RS CS

5V DR ER SG

9-pin D-sub connector (male)

1 2 3 4 5 6 7 8 9

IBM PC/AT or compatible

Signal

Pin No.

RD SD ER SG DR RS CS

RS-232C interface

3 4 5 6 7 8 9

9-pin D-sub connector (female)

Page 88

Wiring Section 3-2

Peripheral Bus (Toolbus) Serial Communications Mode

Applicable Connectors

Coordinator Module

Signal

Pin No.

RS-232C interface

9-pin D-sub connector (male)

IBM PC/AT or compatible

Signall

Pin No.

SD ER SG DR RS CS

RS-232C interface

4 5 6 7 8 9

9-pin D-sub connector (female)

Use the following connectors and cables if making the RS-232C cable for RS232C port connections.

■ Coordinator Module Connector

Item Model Specifications

Plug XM2A-0901 9-pin male Used together Hood XM2S-0911-E 9-pin, millimeter screws,

■ IBM PC/AT or Compatible Connector (9-pin, Male)

Item Model Specifications

Plug XM2D-0901 9-pin female Used together Hood XM2S-0913 9-pin, inch screws, static

static resistant

resistant

■ Connecting to an IBM PC/AT or Compatible

IBM PC/AT or compatible (9-pin, male)

Plug: XM2D-0901 (9-pin, female)

Hood: XM2S-0913

Recommended cable

Hood: XM2S-0911-E Plu

Recommended Cables Fujikura Ltd.: UL2464 AWG28

AWG 28

× 5P IFVV-SB (non-UL product)

Hitachi Cable, Ltd.: UL2464-SB (MA) 5P

CO-MA-VV-SB 5P

Note Use the special cables provided from OMRON for all connections whenever

possible. If cables are produced in-house, be sure they are wired correctly. External devices and the Coordinator Module may be damaged if general-purpose (e.g., computer to modem) cables are used or if wiring is not correct.

Coordinator Module

RS-232C port

: XM2A-0901

× 5P IFS-RVV-SB (UL product)

× 28AWG (7/0.127) (UL product)

× 28AWG (7/0.127) (non-UL product)

Page 89

Wiring Section 3-2

Connection Example to Programmable Terminal (PT)

Direct Connection from RS-232C to RS-232C

RS-232C

1:N NT Link

RS-232C port

RS-232C Port Specifications

Communications method Half duplex Synchronization Asynchronous Baud rate 0.3, 0.6, 1.2, 2.4, 4.8, 9.6, 19.2, 38.4, or 57.6 kbps

Transmission distance 15 m max. Interface EIA RS-232C Protocol Host Link, 1:N NT Link, No-protocol, or Peripheral Bus

Signal

– SD RD RS CS 5V

–

– SG

RS-232C interface

Coordinator Unit

Signal

FG FG

RS-232C interface

SD RD RS CS 5V DR ER SG

9-pin D-sub (male)

Pin No.

Shell

1 2 3 4 5 6 7 8 9

Pin No.

Shell

1 2 3 4 5 6 7 8 9

9-pin D-sub (male)

• Communications Mode: NT Link (1:N, N = 1 node only)

• OMRON Cables with Connectors: XW2Z200T (2 m) XW2Z500T (5 m)

Item Specification

(See note.)

(Toolbus)

Note Baud rates for the RS-232C are specified only up to 19.2 kbps. The FQM1

supports serial communications from 38.4 kbps to 57.6 kbps, but some computers cannot support these speeds. Lower the baud rate if necessary.

Page 90

Wiring Module Connectors Section 3-3

3-3 Wiring Module Connectors

3-3-1 Connector Pin Arrangement

The following tables provide the connector pin arrangement for FQM1 Modules.

FQM1-CM001 Coordinator Module

General-purpose I/O 40-pin Connector

No.

1 External input 0 CIO 0000.00 2 External input 8 CIO 0000.08 3 External input 1 CIO 0000.01 4 External input 9 CIO 0000.09 5 External input 2 CIO 0000.02 6 External input 10 CIO 0000.10 7 External input 3 CIO 0000.03 8 External input 11 CIO 0000.11

9 External input 4 CIO 0000.04 10 External input 12 CIO 0000.12 11 External input 5 CIO 0000.05 12 External input 13 CIO 0000.13 13 External input 6 CIO 0000.06 14 External input 14 CIO 0000.14 15 External input 7 CIO 0000.07 16 External input 15 CIO 0000.15 17 Common for external

19 External output 0 CIO 0001.00 20 External output 4 CIO 0001.04

CN1

21 External output 1 CIO 0001.01 22 External output 5 CIO 0001.05 23 External output 2 CIO 0001.02 24 External output 6 CIO 0001.06 25 External output 3 CIO 0001.03 26 External output 7 CIO 0001.07 27 Common for external

29 Not used. 30 Not used. 31 Not used. 32 Not used.

33 SDA− (RS-422A) 34 RDA− (RS-422A) 35 SDB+ (RS-422A) 36 RDB+ (RS-422A) 37 Not used. 38 Not used. 39 Not used. 40 Not used.

inputs 0 to 7

outputs 0 to 8

Name Address Pin

No.

--- 18 Common for external

28 Power supply for exter-

Name Address

inputs 8 to 15

nal outputs 0 to 8

Page 91

Wiring Module Connectors Section 3-3

FQM1-MM@21 Motion Control Modules

General-purpose I/O 26-pin Connector

CN1

Pin No.

26 Not used. 25 Not used. 24 External input 0

(interrupt input)

22 External input 1

(interrupt input)

20 External input 2

(interrupt input)

18 External input 3

(interrupt input) 16 External input 4 CIO 0000.04 15 External input 10 CIO 0000.10 14 External input 5 CIO 0000.05 13 External input 11 CIO 0000.11 12 Common for external

inputs 0 to 3 10 External output 0 CIO 0001.00 9 External output 4 CIO 0001.04 8 External output 1 CIO 0001.01 7 External output 5 CIO 0001.05 6 External output 2 CIO 0001.02 5 External output 6 CIO 0001.06 4 External output 3 CIO 0001.03 3 External output 7 CIO 0001.07 2 Common for external

outputs 0 to 7

Name Address Pin

No.

CIO 0000.00 23 External input 6 CIO 0000.06

CIO 0000.01 21 External input 7 CIO 0000.07

CIO 0000.02 19 External input 8 CIO 0000.08

CIO 0000.03 17 External input 9 CIO 0000.09

11 Common for external

1 Power supply for exter-

Name Address

inputs 4 to 11

nal outputs 0 to 7

FQM1-MMP21 Pulse I/O 40-pin Connector

Pin No. Name Pin No. Name

1 Counter 1 Phase A 24 V 2 Counter 2 Phase A 24 V 3 Phase A LD+ 4 Phase A LD+ 5 Phase A LD−/0 V 6 Phase A LD−/0 V 7 Phase B 24 V 8 Phase B 24 V 9 Phase B LD+ 10 Phase B LD+ 11 Phase B LD−/0 V 12 Phase B LD−/0 V 13 Phase Z 24 V 14 Phase Z 24 V 15 Phase Z LD+ 16 Phase Z LD+ 17 Phase Z LD−/0 V 18 Phase Z LD−/0 V 19 Latch signal 1 input 20 Latch signal 2 input 21 Latch signal common 22 Latch signal common

CN2

Page 92

Wiring Module Connectors Section 3-3

Pin No. Name Pin No. Name

23 Counter 1 SEN

output signal for absolute Servo

Driver 25 SEN_0 V 26 Power supply for 27 5-V power for SEN output 28 5-V power for pulse outputs 29 Pulse 1 CW+ 30 Pulse 2 CW+ 31 CW− 32 CW− 33 CCW+ 34 CCW+ 35 CCW− 36 CCW− 37 One-shot pulse output 1 38 One-shot pulse output 2 39 Common for one-shot pulse

FQM1-MMA21 Analog I/O 40-pin Connector

SEN output 24 Counter 2 SEN

output

40 24-V power for one-shot pulse

output signal for absolute Servo Driver

pulse outputs

SEN output

5-V GND

output

CN2

Pin.

No.

1 Counter 1 Phase A 24 V 2 Counter 2 Not used. 3 Phase A LD+ 4 Phase A LD+ 5 Phase A LD−/0 V 6 Phase A LD−/0 V 7 Phase B 24 V 8 Not used. 9 Phase B LD+ 10 Phase B LD+ 11 Phase B LD−/0 V 12 Phase B LD−/0 V 13 Phase Z 24 V 14 Not used. 15 Phase Z LD+ 16 Phase Z LD+ 17 Phase Z LD−/0 V 18 Phase Z LD−/0 V 19 Latch signal 1 input 20 Latch signal 2 input 21 Latch signal common 22 Latch signal common 23 Counter 1 SEN

output signal for

absolute Servo

Driver 25 SEN_0 V 26 --- Not used. 27 5-V power for SEN output 28 Not used. 29 --- Not used. 30 Not used. 31 Not used. 32 Not used.

Name Pin.

SEN output 24 Counter 2 SEN

Name

No.

SEN output output signal for absolute Servo Driver

Page 93

Wiring Module Connectors Section 3-3

Pin.

No.

33 Analog input Voltage input (+) 34 Analog input Current input (See note.) 35 Voltage input (−) 36 (Current input common) 37 Analog output 1 Voltage output (+) 38 Analog output 2 Voltage output (+) 39 Voltage output (−) 40 Voltage output (−)

Name Pin.

No.

Name

Note Connect the voltage input (+) and the current input when using with a current

input between 4 and 20 mA.

3-3-2 External Connection Diagrams

The connections with the Servo Drivers, the main type of device connected, are outlined in the following tables.

FQM1-MM@21 Motion Control Modules

Pulse Outputs

Motion Control Module W-series Servo Driver

GeneralPurpose I/O Connector (26 pin)

Special I/O Connector (40 pin)

Inputs Positioning Completed Signal INP1 Positioning completed output

Origin Proximity Input Signal CCW Limit Input CW Limit Input

Outputs Servo ON RUN RUN command input

Alarm reset RESET Alarm reset input Error Counter Reset ECRST Error Counter Reset Input

Inputs Phase Z LD+ +Z Encoder output phase Z

Phase Z LD−−Z Encoder output phase Z

Outputs Pulse output CCW CCW Forward pulse

Pulse output CW CW Reverse pulse

Analog Outputs

Generalpurpose I/O Connector (26 pin)

Special I/O Connector (40 pin)

Inputs Origin Proximity Input Signal

Outputs Servo ON RUN Run command input

Inputs Phase A LD+ +A Encoder output phase A

Outputs Analog output 1 (+) REF Speed command input

Motion Control Module W-series Servo Driver

CCW Limit Input CW Limit Input

Alarm reset RESET Alarm reset input

Phase A LD−−A Encoder output phase A Phase B LD+ +B Encoder output phase B Phase B LD−−B Encoder output phase B Phase Z LD+ +Z Encoder output phase Z Phase Z LD−−Z Encoder output phase Z

Analog output 1 (−) AGND Speed command input Analog output 2 (+) TREF Torque command input Analog output 2 (−) AGND Torque command input

Page 94

Wiring Module Connectors Section 3-3

3-3-3 Wiring Examples

Connecting Pulse Inputs (FQM1-MMP21/

Connect the output from an encoder to the connector in the following way, according to the port's counter operation.

MMA21)

Port 1 Port 2 Signal name Encoder output

Pin number Pin number Phase Differential

Input Mode

24 V: 1 (5) 24 V: 2 (6) Encoder input A Encoder phase-A input Increment pulse input Pulse input 24 V: 7 (11) 24 V: 8 (12) Encoder input B Encoder phase-B input Decrement pulse input Direction signal input

Note The numbers in parentheses are the pin numbers on the negative side.

Example • The wiring for an encoder (24 V) with an open-collector output is shown

below. These examples are for encoders with phases A, B, and Z.

FQM1

Differential phase input mode

Pulse input 1: Phase A, 24 V

5 Pulse input 1: Phase A, 0 V

7 Pulse input 1: Phase B, 24 V

11 Pulse input 1: Phase B, 0 V

13 Pulse input 1: Phase Z, 24 V

17 Pulse input 1: Phase Z, 0 V

Encoder

(Power supply: 24 V DC)

Example: E6B2-CWZ6C NPN opencollector output

Black

White

Orange

Brown

Blue

Phase A

Phase B

Phase Z

+Vcc

0 V (COM)

Increment/Decrement

Pulse Input Mode

Pulse + Direction

Input Mode

Power supply

Encoder

24-V DC power supply

0 V

24 V

Do not share the power supply with other I/O)

−

Power

0 V

supply

24 V

0 V

Shielded twisted-pair cable

Phase A

Phase B

Phase Z

FQM1

Page 95

Wiring Module Connectors Section 3-3

• The wiring for an encoder with a line-driver output (Am26LS31 or equivalent) is shown below.

FQM1

Differential phase input mode

Blue

A+

A−

B+

B−

Z+

Z−

5 V DC

0 V

Pulse input 1: Phase A, LD +

Pulse input 1: Phase A, LD −

Pulse input 1: Phase B, LD +

Pulse input 1: Phase B, LD −

Pulse input 1: Phase Z, LD +

Pulse input 1: Phase Z, LD −

5-V DC power supply

5 V

0 V

FQM1

Encoder

Example: E6B2-CWZ1X line driver output

Power supply

Encoder

A+

Black

Black striped

White

White striped

Orange

Orange striped

Brown

Shielded twisted-pair cable

A−

B+

B−

Z+

Z−

Connecting a Servo Driver (OMRON's W Series) Compatible with an Absolute Encoder (FQM1-MMP21/MMA21)

OMRON W-series Servo Driver Compatible with Absolute Encoder

Encoder phase A output

Encoder phase B output

Encoder phase Z output

SEN

SENGND

Shielded twisted-pair cable

External power supply (5 V)

23 24

FQM1

Page 96

Wiring Module Connectors Section 3-3

Connecting Pulse Outputs (FQM1-MMP21)

5 V-DC

power supply

Servo Driver (for 5-V inputs)

−+

FQM1-MMP21

5-V DC power supply for output

(+)

(−)

(+)

(−)

CW pulse output

CCW pulse output

29/30

31/32

33/34

35/36

Example Connections with a Servo Driver are given below, as an example.

5-V DC

29/30

31/32

power supply

Servo Driver

−+

(Line receiver input)

SG (See note.)

(+)

(−)

FQM1-MMP21

5-V DC power supply for outputs

CW pulse outputs

CCW pulse outputs

33/34

35/36

(+)

(−)

Note: When connecting a line receiver, connect the

signal ground (SG for the Servo Driver's line receiver input and the GND for the 5-V DC power supply.

Page 97

Wiring Module Connectors Section 3-3

Connecting Analog Outputs (FQM1MMA21)

Output signals are connected as shown in the following diagram.

FQM1-MMA21

40-pin connector

Pin No.

38 (V2+) 40 (V2−)

37 (V1+) 39 (V1−)

Connecting Analog Inputs (FQM1-MMA21)

Voltage Input

FQM1

Special I/O connector

Current Input

Special I/O connector

Pin No.

33 (V1+) 35 (V1−)

FQM1

Pin No.

34 Current input

33 (V1+)

35 (V1−)

Shield

Analog output 2

−

Analog output 1

−

Analog input

−

Analog input

−

3-3-4 Wiring Methods

Either make a cable using the special connector (purchased separately), or connect to a terminal block using an OMRON special cable with a connector.

Note (1) Do not apply voltages that exceed the maximum switching capacity of

Connectors

Connecting MIL Connectors

Pressure welded 26 pins XG4M-2630-T FRC5-A026-3T0S

output circuits and the input voltage of I/O circuits.

(2) Do not mistake positive and negative when wiring power supply, where

there are positive and negative terminals.

(3) To conform to the EC Low Voltage Directive, use a DC power supply for

I/O that has reinforced or double insulation.

(4) Check that the connector wiring has been performed correctly before

supplying power. (5) Do not pull on cables. Doing so may result in disconnection. (6) Do not bend cables beyond their natural limit. Doing so may result in dis-

connection.

Connector type Number of

pins

40 pins XG4M-4030-T FRC5-A040-3T0S

Ordering as a set

(OMRON)

DDK Ltd.

Page 98

Wiring Servo Relay Units Section 3-4

Applicable Connector-Terminal Block Conversion Units

Connecting Cable Connector-Terminal Block

Conversion Unit

XW2Z-@@@K XW2D-40G6 40 pins Miniature

XW2B-40G5 Standard XW2B-40G4 Standard

XW2Z-@@@J-A28 XW2D-34G6 34 pins Miniature

Number of

pins

Size

Recommended Wire Size

The recommended size for cable wires is AWG24 to AWG26 (0.2 to

0.13 mm

). Use a cable with an outer diameter of less than 1.61 mm.

3-4 Wiring Servo Relay Units

XW2B-80J7-1A Servo Relay Units can be used to connect Motion Control Modules and Servo Drivers.

A Servo Relay Unit simplifies wiring, e.g., from a Motion Control Module to two Servo Drivers, for general-purpose I/O wiring, such as for switches and sensors, and for RS-422A line wiring.

servo1

ABS _CW-

INC

The Servo Relay Unit uses a special cable and simplifies connections from one Motion Control Module to two Servo Drivers, such as the W Series and SMARTSTEP Series.

Servo Relay Units can be mounted to DIN Track or on the panel itself.

Page 99

Wiring Servo Relay Units Section 3-4

Nomenclature and Functions

6. Signal switches

4. RS-422 connectors

1. Motion Control Module 40-pin connector

2. Motion Control Module 34-pin connector

5. Screw-less Clamp Terminal Block (40 terminals each on upper and lower tiers)

7. Terminating resistance switch

1,2,3... 1. Motion Control Module 40-pin Connector

Connects to the 40-pin connector on the Motion Control Module.

2. Motion Control Module 34-pin Connector Connects to the 26-pin connector on the Motion Control Module. The Motion Control Module general-purpose I/O is allocated to the clamp terminal block.

3. Servo Driver Connectors Connects to two Servo Drivers.

Motion Control

Module

FQM1-MMP21 XW2Z-@@@J-A28

FQM1-MMA21 XW2Z-@@@J-A28

Corresponding

connecting cable

XW2Z-@@@J-B9 W-series Servo

XW2Z-@@@J-A30

XW2Z-@@@J-B10 SMARTSTEP XW2Z-@@@J-B13 W-series Servo

XW2Z-@@@J-A31

Servo Driver

cable

8. Servo Driver # 2 phase B switch

8. Servo Driver # 1 phase B switch

3. Servo Driver #2 connector

3. Servo Driver #1 connector

Mounting hole (Can be mounted to DIN Track.)

Servo Driver

Driver

4. RS-422 Connector

Pin No. Signal

1TXD− 2TXD+ 3 --4 --5 --6RXD− 7 --8RXD+ 9 --Case FG

5. Screw-less, Clamp Terminal Block (80 Terminals) The clamp terminal block is used for the Motion Control Module generalpurpose I/O and the Servo Driver control signals. It is also used for external device connections, such as analog inputs and latch signal inputs.

Page 100

Wiring Servo Relay Units Section 3-4

60 79

0 1 2 3 4 5 6 7 8 9

Upper terminal block

Lower terminal block

0 1 2 3 4 5 6 7 8 9

019

Upper Terminal Block Pin Arrangement

No.6061626364656667686970717273747576777879

IN4

IN5

IN6

Signal name

5 V (See note 2.)

Latch signal input 1

Latch signal input 2

CNT1 phase A LD + input

CNT1 phase B LD + input

Servo # 1 phase Z LD + output

No.4041424344454647484950515253545556575859

−

Servo #1 ALM

Servo #1 TGON

Voltage input (+) (See note 1.)

---

IN7

Servo #1 RUN

Servo #1 RESET

Servo #1 ECRST

TXD+

Servo #1 MING

RXD+

) (See note 1.)

0 V

Signal name

CNT1 phase A LD

CNT1 phase B LD

Latch signal 1 common (0 V)

Latch signal 2 common (0 V)

−

Servo #1 INP

Common (0 V)

Servo #1 phase Z LD

Voltage input (

--OUT0

OUT1

OUT2

Common (0 V)

−

TXD

OUT3

Lower Terminal Block Pin Arrangement

No.2021222324252627282930313233343536373839

IN0

IN1

IN2

Signal name

+24 V (See note 3.)

+24 V (See note 4.)

No.012345678910111213141516171819

0 V

Signal name

Common (0 V)

IN3

Common (0 V)

---

Servo #2 ALM

---

Servo #2 INP

Servo #2 TGON

Common (0 V)

IN8

Common (0 V)

IN9

Common (0 V)

IN10

Common (0 V)

IN11

Common (0 V)

---

Servo #2 RUN

Servo #2 RESET

Servo #2 ECRST

--OUT4

OUT5

OUT6

---

Servo #2 MING

---

OUT7

Note (1) Allocated when connecting an FQM1-MMA21 Analog I/O Motion Control

Module.

(2) Used as the power supply for FQM1-MMP21 pulse outputs or SEN out-

puts for Servo Drivers compatible with absolute encoder.

(3) IN4 to IN11 and OUT0 to OUT7 are used for the servo control signal pow-

er supply.

(4) IN0 to IN3 (interrupt inputs) are used for the latch input power supply.

−

RXD

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

Specifications and Main Features

Frequently Asked Questions

User Manual

FQM1 Series

FQM1-CM001 FQM1-MMP21 FQM1-MMA21

Flexible Motion Controller

PRECAUTIONS

1 Intended Audience

2 General Precautions

3 Safety Precautions

3-1 Operating Environment Precautions

3-2 Application Precautions

4 Conformance to EC Directives

4-1 Applicable Directives

4-2 Concepts

4-3 Conformance to EC Directives

4-4 EMC Directive Conformance Conditions

4-5 Relay Output Noise Reduction Methods

5Data Backup

1-1 Outline of FQM1 Flexible Motion Controller

1-2 FQM1 Configuration

1-3 Modules

1-4 CX-Programmer

1-5 Expanded System Configuration

1-5-1 Serial Communications

1-5-2 Systems

1-6 Basic Operating Procedure

1-6-1 Examples

1-7 Function Tables Arranged by Purpose

1-7-1 Sync Cycles and Synchronized data

1-7-2 Position and Speed Control

1-7-3 Measuring Input Pulses

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

1-7-5 Controlling Timing

2-1 List of Models

2-2 General Specifications

2-3 Coordinator Module

2-4 Motion Control Modules

2-5 Dimensions

2-6 Module Current Consumption

2-7 Memory Block Diagram

3-1 Installation

3-1-1 Installation and Wiring Precautions

3-1-2 Installation in a Control Panel

3-1-3 Assembled Appearance and Dimensions

3-1-4 Connecting FQM1 Components

3-1-5 DIN Track Installation

3-2 Wiring

3-2-1 Wiring Power Supply Units

3-2-2 RS-232C Port Wiring

3-3 Wiring Module Connectors

3-3-1 Connector Pin Arrangement

3-3-2 External Connection Diagrams

3-3-3 Wiring Examples

3-3-4 Wiring Methods

3-4 Wiring Servo Relay Units