Cat. No.
FQM1 Series FQM1-CM001 FQM1-MMP21 FQM1-MMA21 Flexible Motion Controller Operation Manual Produced November 2004
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Notice: 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.
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TABLE OF CONTENTS PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii 1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv 2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv 3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TABLE OF CONTENTS SECTION 10 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 259 10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Appendices Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 263 A I/O Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TABLE OF CONTENTS x
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 FQM1 Series FQM1-CM001, FQM1-MMP21, FQM1-MMA21 Flexible Motion Controller Operation Manual (this manual) Cat. No.
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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 . . . . . . . . . . . . . . . . . . . . . . . . .
1 Intended Audience 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.
3 Safety Precautions • 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.
3 Safety Precautions • 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.
3 Safety Precautions • 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.
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.
4 Conformance to EC Directives 4 4-1 Conformance to EC Directives 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).
4 Conformance to EC Directives 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.
4 Conformance to EC Directives Circuit Current AC DC Power supply Inductive load Varistor method Power supply No Yes Yes Yes Inductive load Diode method Characteristic Required element 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 resistance of the inductive load.
5 Data Backup 5 Data 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.
5 Data Backup 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.
Data Backup xxiv 5
SECTION 1 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 . . . . . . . . . . . . . . . .
Section 1-1 Outline of FQM1 Flexible Motion Controller 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.
Section 1-1 Outline of FQM1 Flexible Motion Controller Coordinator Module CXProgrammer Peripheral port Ladder program Motion Control Module #1 Motion Control Module #2 Motion Control Module #3 Motion Control Module #4 Ladder program Ladder program Ladder program Ladder program Special I/O (pulse or analog I/O) Basic I/O Special I/O (pulse or analog I/O) Basic I/O Special I/O (pulse or analog I/O) Basic I/O RS-232C PT, host computer, etc.
FQM1 Configuration Section 1-2 Pulse Input Frequency Measurement Function The speed of pulse inputs can be measured at the same time as the number of pulse inputs is counted. Wide Variety of Interrupt Functions 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.
Section 1-2 FQM1 Configuration FQM1-CM001 Coordinator Module 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.
Section 1-3 Modules 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.
Section 1-3 Modules Outline of Internal Data Exchange and I/O Coordinator Module Motion Control Module #1 Motion Control Module #2 Motion Control Module #3 Motion Control Module #4 Ladder program Ladder program Ladder program Ladder program Ladder program Cyclic Refresh Bit Area (refreshed each Coordinator Module cycle) Sync Data Link Bit Area (Broadcast each Motion Control Module cycle) CX-Programmer DM DM DM data transfer (as required) Peripheral port RS-232C PT PLC 16 inputs 12 inputs S
Section 1-4 CX-Programmer 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.
Section 1-5 Expanded System Configuration 1-5 1-5-1 Expanded System Configuration Serial Communications The FQM1 system can be expanded using the two serial ports built into the Coordinator Module: Peripheral port and RS-232C port.
Section 1-5 Expanded System Configuration Host Link System The Host Link System allows the I/O memory of the Modules to be read/written 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.
Section 1-5 Expanded System Configuration 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 PT NT Link 1:N Mode Applicable Ports Coordinator Module Peripheral port RS-232C port Yes Yes (See note.
Section 1-5 Expanded System Configuration 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 Coordinator Module FQM1 (slave) FQM1 (slave) FQM1 (slave) CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapters connected to RS-232C ports 8 nodes max.
Section 1-6 Basic Operating Procedure NS-series PT Smart Active Parts NT Link Coordinator Module FQM1 Protocol conversion Servo parameters RS-422A W-series or SMART STEP Servo Driver W-series or SMART STEP Servo Driver No-protocol (Custom) Communications System via RS-422A Port 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).
Section 1-6 Basic Operating Procedure 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. Refer 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 Components for details.
Section 1-6 Basic Operating Procedure 1-6-1 Examples 1. Installation Connect the Power Supply Unit, Coordinator Module, Motion Control Modules, and End Module to assemble the FQM1. AC100 -240V INPUT L1 L2/N NC NC 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.
Section 1-6 Basic Operating Procedure 4. Turning ON Power and Checking Initial Operation Note 5. System Setup Settings 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. These settings determine the Modules’ software configuration.
Section 1-6 Basic Operating Procedure 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.
Section 1-6 Basic Operating Procedure 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.
Section 1-7 Function Tables Arranged by Purpose 1-7 1-7-1 Function Tables Arranged by Purpose Sync Cycles and Synchronized data Purpose Synchronizing 3 Simple control or more axes of all axes operations from the Coordinator Module Operation Synchronizing all Motion Control Modules to Coordinator Module cycle Function used Details Sync Mode, 5-1 Synchronous Operation between Modules Sync Cycle Set Sync Mode to Sync and Sync Cycle Time to Time 0 ms.
Section 1-7 Function Tables Arranged by Purpose Purpose Operation Synchronizing 3 Make control Synchronizing or more axes cycle as short Motion Control as possible with Modules only Modules synchronized Control operation using pulse and analog data simultaneously Fast control loops 20 Synchronizing Motion Control Modules to Coordinator Module cycle or synchronizing between Motion Control Modules only Changing to Async Mode Function used Details Sync Mode, 5-1 Synchronous Operation between Modules Syn
Section 1-7 Function Tables Arranged by Purpose 1-7-2 Position and Speed Control Purpose PTP positioning using pulse I/O Operation Main functions used Using Servo Controlling posi- • Relative pulse Driver compati- tioning speed output funcble with an tions incremental • Pulse output encoder or stepinstructions ping Servomo(SPED(885)(8 tor/Servo Driver 85), ACC(888), PULS(886), and PLS2(887)) Controlling trap- • PLS2(887) ezoidal position- instruction ing speed control Speed Change Cycle Selection (2
Section 1-7 Function Tables Arranged by Purpose Purpose PTP positioning using pulse I/O Operation Using Servo Reading PV Drivers compati- from Servo ble with an Driver Absolute Encoder Presetting the absolute position to the pulse output counter.
Section 1-7 Function Tables Arranged by Purpose Purpose Operation PTP positioning Simple position- Stepped or using analog I/O ing using invert- sloped analog ers output corresponding to the high-speed counter PV Path control Synchronous control Drawing path Executing elecwith linear inter- tronic cam conpolation trol for 2 axes synchronized to virtual axis Main functions used • Target value match instruction (CTBL(882) instruction) for high-speed counter • Analog output instruction (SPED(885) instru
Section 1-7 Function Tables Arranged by Purpose Purpose Synchronous control Speed control 24 Operation Main functions 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) instruct
Section 1-7 Function Tables Arranged by Purpose Purpose Speed control 1-7-3 Operation Main functions used Torque control Switching • Analog input (position + between posi• Pulse input (for torque control) tion and torque Servo Drivers control modes.
Section 1-7 Function Tables Arranged by Purpose Purpose Detecting speed Detecting speed using rotary and use in outencoder inputs put control while managing position using encoder inputs Operation Measuring displacement of workpiece per unit time Monitoring Measure input speed while pulse cycle managing workpiece position using encoder input 1-7-4 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-sp
Section 1-7 Function Tables Arranged by Purpose Purpose Control using measurement results for undulation, distortion, thickness, height, diameter, etc.
Section 1-7 Function Tables Arranged by Purpose 1-7-5 Controlling Timing Purpose Responding quickly to external signals and operate Executing processing as soon as change in external input signal detected Starting interrupt processing when an input bit turns ON and/or OFF.
Section 1-7 Function Tables Arranged by Purpose Purpose Operation with highly precise timing Main functions Details used Increasing accu- High-precision • One-shot pulse 7-5 Pulse Inputs racy of external ON outputs, with outputs Set pulse output operation mode to one-shot output ON time. minimum unit of (STIM(980) output. (Feeding, hole 0.01 ms instruction) Specified outputs turn ON during specified interopening, tape val (0.01 ms to 9,999 ms).
Function Tables Arranged by Purpose 30 Section 1-7
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 2-1 List of Models 2-1 List of Models Name Coordinator Module Type Standard (with built-in I/O) Model FQM1-CM001 Specifications Program capacity: 5 Ksteps 16 general-purpose inputs, 8 general-purpose outputs Peripheral port, RS-232C port, RS-422A port Motion Control Modules Pulse I/O FQM1-MMP21 Program capacity: 5 Ksteps 2 pulse inputs, 2 pulse outputs, 12 general-purpose inputs, 8 general-purpose outputs Analog I/O FQM1-MMA21 Program capacity: 5 Ksteps 2 pulse inputs, 1 analog input,
Section 2-2 General Specifications 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 analog I/O terminals. Applying more than 600 V may damage the internal elements.
Section 2-3 Coordinator Module 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.
Section 2-3 Coordinator Module Indicator Color Name PRPHL Yellow Peripheral port communications COMM1 COMM2 Switch on Front Panel Status Meaning Lit Communicating via the peripheral port. Not lit Yellow RS-232C commu- Lit nications Not lit All other times. Communicating via the RS-232C port. All other times.
Section 2-3 Coordinator Module CIO Area Item Input Bit Area Specifications 16 bits (CIO 0000): CIO 0000.00 to CIO 0000.15 Output Bit Area Cyclic Refresh Bit Area 8 bits (CIO 0001): CIO 0001.00 to CIO 0001.
Section 2-4 Motion Control Modules Item Specifications RUN output 1 (when CJ1W-PA205R used) Individual func- Serial communications 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).
Section 2-4 Motion Control Modules FQM1-MMA21 (Analog I/O) I/O Item Pulse inputs Specifications Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders) 40-pin connector 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 General-purpose inputs: 12 26-pin I/O General-purpose outputs: 8 connector Function
Section 2-4 Motion Control Modules Performance Specifications Item Control method Stored program Specifications I/O control method Programming language Cyclic scan Ladder diagram Instruction length Number of instructions 1 to 7 steps per instruction Approx. 270 Instruction execution time Basic instructions 0.1 µs min. Special instructions 0.3 µs min.
Section 2-4 Motion Control Modules Item Power interruption hold function (momentary power interruption) Super capacitor Memory backup Super capacitor backup Error log, part of DM Area (backup for momentary power interruptions) Flash memory 4,000 words User programs, System Setup Trace memory Peripheral servicing Self-diagnosis function Event requests from Coordinator Module CPU errors (WDT) and memory errors Program check Super-capacitor backup time Programs checked from the CX-Programmer.
Section 2-4 Motion Control Modules Pulse I/O Specifications FQM1-MMP21 (Pulse I/O) Pulse inputs Item Number of counters 2 Counter operations Linear counter and circular counter Input signals Two words each for phase A, phase B, and phase Z.
Section 2-4 Motion Control Modules Pulse Inputs and Analog I/O Specifications FQM1-MMA21 (Analog I/O) Pulse inputs Analog input Item Number of counters 2 Counter operations Input signals Linear counter, circular counter Two words each for phase A, phase B, and phase Z.
Section 2-5 Dimensions 2-5 Dimensions FQM1-CM001 Coordinator Module 49 mm 80 mm RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL ON 1 1 2 CM001 FLEXIBLE MOTION CONTROLLER OFF 2 90 mm CN1 PORT RS422 39 40 FQM1-MMP21/MMA21 Motion Control Modules 49 mm 80 mm MMP21 RDY RUN ERR IN 0 1 2 3 4 5 6 7 8 9 10 11 90 mm 26 A1 B1 A2 B2 OUT 0 1 2 3 4 5 6 7 1 2 25 CN2 CN1 2 1 39 40 FQM1-TER01 End Module 2.7 90 2.7 14.
Section 2-5 Dimensions Power Supply Units CJ1W-PA202 PA202 POWER L1 AC100 -240V INPUT L2/N 90 NC NC 65 81.6 45 CJ1W-PA205R PA205R POWER L1 AC100-240V INPUT L2/N 90 RUN OUTPUT AC240V DC24V 65 81.
Section 2-6 Module Current Consumption XW2B-80J7-1A Servo Relay Unit Terminating resistance switch 160 Signal switches 4.5 dia. Phase B switches 100 90 41.7 30.7 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.
Section 2-6 Module Current Consumption Motion Control Modules Name Type Motion Control Module Model Pulse I/O FQM1-MMP21 5-V system current consumption (A) 0.836 Analog I/O FQM1-MMA21 0.843 Current Consumption for 24-V Systems Name Type Model Motion Control Module Analog I/O Example Calculation of Current and Power Consumption FQM1-MMA21 Name Current consumption Model FQM1-CM001 Quantity 1 Power consumption Voltage system 5V 24 V 0.47 A --- FQM1-MMP21 1 0.
Section 2-7 Memory Block Diagram 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.
Memory Block Diagram 48 Section 2-7
SECTION 3 Installation and Wiring This section describes how to install and wire the FQM1. 3-1 3-2 3-3 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 . . . . . . . . . . . . . . . . . . . . .
Section 3-1 Installation 3-1 3-1-1 Installation 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 or higher than 55°C. • Locations subject to drastic temperature changes or condensation.
Section 3-1 Installation • 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.
Section 3-1 Installation • The FQM1 must be mounted in an upright position to provide proper cooling. CM001 PA202 FLEXIBLE MOTION CONTROLLER POWER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL MMP21 RDY RUN ERR ON 1 12 FQM1 Orientation OFF IN 0 1 2 3 4 5 6 7 8 9 10 11 2 L1 AC100 -240V INPUT A1 B1 A2 B2 OUT 0 1 2 3 4 5 6 7 1 2 L2/N 26 25 CN1 CN2 PORT CN1 NC RS422 NC 39 40 2 1 39 40 • Do not install the FQM1 in any of the following positions.
Section 3-1 Installation 3-1-2 Installation in a Control Panel The FQM1 must be mounted inside a control panel on DIN Track. AC100 -240V INPUT L1 L2/N NC NC 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.
Section 3-1 Installation 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 duct 200 mm min. PLC Breakers, fuses FQM1 AC100 L1 -240V INPUT FQM1 FQM1 FQM1 L2/N NC NC Power equipment such as transformers and magnetic relays Fuses, relays, timers, etc.
Section 3-1 Installation Assembled Dimensions PA202 MMP21 CM001 FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 RDY RUN ERR ON 12 POWER OFF 1 PERIPHERAL IN 2 L1 AC100 -240V INPUT MMA21 A1 B1 A2 B2 OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 1 RDY RUN ERR IN 2 A1 B1 A2 B2 OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 27 1 2 L2/N 26 25 26 CN1 PORT 90 25 CN2 35.4 CN2 CN1 CN1 NC RS422 27.
Section 3-1 Installation 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. OMRON Approx. 115 mm to 165 mm 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.
Section 3-1 Installation 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 Unlock AC100 -240V INPUT L1 L2/N Slider NC NC Note If the locking tabs are not secured properly, the FQM1 may not function properly. 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.
Section 3-1 Installation 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. 1 DIN Track 2 3. Lock the pins on the backs of the Modules.
Section 3-1 Installation 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 16 28-25 × 4.5 oblong holes 4.5 30±0.3 27 15 25 10 25 25 10 1000 25 15 24 29.2 1 1.5 PFP-100N/50N DIN Track 7.3±0.15 4.
Section 3-2 Wiring 3-2 Wiring 3-2-1 Wiring Power Supply Units PA202 POWER M4 self-raising screws Isolation transformer 1:1 AC power supply 100 to 240 V AC power supply L1 AC100 -240V INPUT L2/N NC RUN output (See note.) ON when Coordinator Module is in RUN or MONITOR mode. OFF when in PROGRAM mode or during a fatal error. Note AC Power Source NC Power supply The RUN output function is provided only for the CJ1W-PA205R Power Supply Unit.
Section 3-2 Wiring Terminal Screws and Crimp Terminals 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. M4 self-raising terminal screws Tightening torque 1.
Section 3-2 Wiring • 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 Ω or less. • If connecting the line ground and ground terminals, always ground both to less than 100 Ω to prevent electrical shock. • The ground wire should not be more than 20 m long.
Section 3-2 Wiring FQM1 Other equipment LG GR GR Ground to 100 Ω or less. FQM1 Ground to 100 Ω or less. Other equipment LG GR GR Ground to 100 Ω or less. FQM1 Ground to 100 Ω or less. Other equipment LG GR Terminal Screws and Crimp Terminals GR 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.
Section 3-2 Wiring 3-2-2 RS-232C Port Wiring Connector Pin Arrangement 1 Pin No.
Section 3-2 Wiring Peripheral Bus (Toolbus) Serial Communications Mode IBM PC/AT or compatible Coordinator Module Signal Pin Pin Signall No. No. FG 1 SD 2 3 RS-232C RD interface RS 4 CS 5 5V 6 DR 7 ER 8 SG 9 9-pin D-sub connector (male) 1 CD 2 RD 3 SD RS-232C 4 ER interface 5 SG 6 DR 7 RS 8 CS 9 CI 9-pin D-sub connector (female) Use the following connectors and cables if making the RS-232C cable for RS232C port connections.
Section 3-2 Wiring Connection Example to Programmable Terminal (PT) Direct Connection from RS-232C to RS-232C RS-232C port PT RS-232C 1:N NT Link Coordinator Unit Signal PT Pin No. Pin No.
Section 3-3 Wiring Module Connectors 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 Pin No. 1 2 CN1 39 40 Name Address 1 3 External input 0 External input 1 CIO 0000.00 CIO 0000.01 5 7 External input 2 External input 3 9 11 Pin No. Name Address 2 4 External input 8 External input 9 CIO 0000.08 CIO 0000.09 CIO 0000.02 CIO 0000.
Section 3-3 Wiring Module Connectors FQM1-MM@21 Motion Control Modules General-purpose I/O 26-pin Connector Pin No. 26 24 Not used. Address 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 16 14 External input 4 External input 5 CIO 0000.04 CIO 0000.05 15 13 External input 10 External input 11 CIO 0000.10 CIO 0000.
Section 3-3 Wiring Module Connectors Pin No. 23 Counter 1 SEN output signal for absolute Servo Driver Name SEN output Pin No.
Section 3-3 Wiring Module Connectors Pin. No. 33 35 37 Name Analog input Voltage input (+) Pin. No. 34 Analog output 1 Voltage input (−) Voltage output (+) 36 38 Voltage output (−) 40 39 Note 3-3-2 Name Analog input Current input (See note.) Analog output 2 (Current input common) Voltage output (+) Voltage output (−) Connect the voltage input (+) and the current input when using with a current input between 4 and 20 mA.
Section 3-3 Wiring Module Connectors 3-3-3 Wiring Examples Connecting Pulse Inputs (FQM1-MMP21/ MMA21) Port 1 Port 2 Pin number Pin number 24 V: 1 (5) 24 V: 7 (11) 24 V: 2 (6) 24 V: 8 (12) Connect the output from an encoder to the connector in the following way, according to the port's counter operation.
Section 3-3 Wiring Module Connectors • The wiring for an encoder with a line-driver output (Am26LS31 or equivalent) is shown below.
Section 3-3 Wiring Module Connectors Connecting Pulse Outputs (FQM1-MMP21) 5 V-DC power supply FQM1-MMP21 5-V DC power supply for output CW pulse output CCW pulse output Example 28 + Servo Driver (for 5-V inputs) − 26 29/30 (+) 31/32 (−) 33/34 (+) 35/36 (−) Connections with a Servo Driver are given below, as an example. 5-V DC power supply FQM1-MMP21 5-V DC power supply for outputs CW pulse outputs CCW pulse outputs 28 + Servo Driver (Line receiver input) − 26 SG (See note.
Section 3-3 Wiring Module Connectors 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−) − Analog output 2 Analog output 1 Shield Connecting Analog Inputs (FQM1-MMA21) Voltage Input FQM1 Special I/O connector Pin No. 33 (V1+) + 35 (V1−) − Analog input Shield Current Input FQM1 Special I/O connector Pin No.
Section 3-4 Wiring Servo Relay Units Applicable Connector-Terminal Block Conversion Units Connecting Cable XW2Z-@@@K Connector-Terminal Block Conversion Unit XW2D-40G6 Number of Size pins 40 pins Miniature XW2B-40G5 XW2B-40G4 XW2Z-@@@J-A28 Recommended Wire Size 3-4 Standard Standard XW2D-34G6 34 pins Miniature The recommended size for cable wires is AWG24 to AWG26 (0.2 to 0.13 mm2). Use a cable with an outer diameter of less than 1.61 mm.
Section 3-4 Wiring Servo Relay Units Nomenclature and Functions 6. Signal switches 7. Terminating resistance switch 4. RS-422 connectors 8. Servo Driver # 2 phase B switch 8. Servo Driver # 1 phase B switch 1. Motion Control Module 40-pin connector 3. Servo Driver #2 connector 2. Motion Control Module 34-pin connector 3. Servo Driver #1 connector 5. Screw-less Clamp Terminal Block (40 terminals each on upper and lower tiers) 1,2,3... Mounting hole (Can be mounted to DIN Track.) 1.
Note +24 V (See note 4.) IN0 IN1 IN2 IN3 --Servo #2 ALM Servo #2 TGON IN8 IN9 IN10 IN11 --Servo #2 RUN Servo #2 RESET Servo #2 ECRST Servo #2 MING --FG 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 0V Common (0 V) Common (0 V) Common (0 V) Common (0 V) --- Servo #2 INP Common (0 V) Common (0 V) Common (0 V) Common (0 V) Common (0 V) --- OUT4 OUT5 OUT6 OUT7 --- FG Signal name +24 V (See note 3.) No.
Section 3-4 Wiring Servo Relay Units 6. Signal Switches TER_A TER_B TER_Z X axis CUR SER_A CNT1 SER_B CNT1 SER_Z CNT1 Y axis DA2 VOL AD Switch CNT1 SER_A CNT1 SER_B Setting details SER_A Connects the Servo #1 phase A to the Motion Control Module's CNT1 phase A. TER_A Connects the external encoder phase A to the Motion Control Module's CNT1 phase A. (See note a.) SER_B Connects the Servo #1 phase B to the Motion Control Module's CNT1 phase B.
Section 3-4 Wiring Servo Relay Units External Dimensions Terminating resistance switch 160 Signal switches 4.5 dia. Phase B switches 100 90 41.7 30.7 15.9 Wiring Screw-less Clamp Terminal Blocks Screw-less clamp terminal blocks use clamps to attach wires, and do not require screws. In addition to control signal wiring to Servo Drivers, clamp terminal blocks can be used to connect sensors and external devices.
Section 3-4 Wiring Servo Relay Units Recommended Screwdriver Model SZF1 80 Manufacturer Phoenix Contact Inc. Side Front 0.6 mm 3.
Section 3-4 Wiring Servo Relay Units Wiring when Using Servo Relay Units CX-Programmer Programmable Terminal (PT) SYSMAC PLC RS-232C connection or RS-422A/485 connection via CJ1W-CIF11 CS1W-CN226/626 Peripheral Port Cable CM001 PA202 Power Supply Unit RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL MMP21 RDY RUN ERR ON 1 12 FLEXIBLE MOTION CONTROLLER POWER OFF IN 2 L1 AC100 -240V INPUT 0 1 2 3 4 5 6 7 MMA21 A1 B1 A2 B2 OUT 0 1 2 3 4 5 6 7 8 9 10 11 1 RDY RUN ERR IN 2 A1 B1 A2 B2 OUT 0
82 6 7 8 9 12 13 TXD− RXD− TXD+ RXD+ 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 0 1 2 3 4 5 6 7 8 9 15 76 16 77 17 --- Servo #1 MING 1 78 18 FG OUT3 0 FG 14 Servo #1 RESET 0 Servo #2 MING 32 54 75 8 --- 31 53 7 Servo #2 ECRST 30 74 Servo #1 ECRST 60 OUT7 29 73 6 OUT6 28 OUT2 52 OUT1 51 5 Servo #2 RESET 4 OUT5 50 --- 49 Servo #1 RUN 48 --- IN7 47 OUT0 IN6 72 --- Common (0 V) 3 Servo #2 R
Section 3-5 List of FQM1 Connecting Cables 3-5 List of FQM1 Connecting Cables It is recommended that special cables are used when connecting Coordinator and Motion Control Modules to Servo Relay Units.
Section 3-5 List of FQM1 Connecting Cables 3. Servo Relay Unit Connecting Cables (for FQM1-MMP21/MMA21, 40-pin MIL Connector) Specifications Connects FQM1-MMP21 and Servo Relay Unit. Connects FQM1-MMA21 and Servo Relay Unit. 0.5 m Model XW2Z-050J-A30 1m 0.5 m XW2Z-100J-A30 XW2Z-050J-A31 1m XW2Z-100J-A31 4. RS-422A Connecting Cables (with 9-pin D-sub Connector) Specifications Connects RS-422A between Servo Relay Units. Model 1m 2m XW2Z-100J-C1 XW2Z-200J-C1 5.
Section 3-6 Wiring Precautions • Attach the modified cable to the XW2D-40G6 Connector-Terminal Block Conversion Unit. XW2D-40G6 ConnectorTerminal Block Conversion Unit XW2Z-100J-C1 or XW2Z-200J-C1 RS-422A Cable RS-422A Connecting Cable No.
Section 3-6 Wiring Precautions Inductive Loads When an inductive load is connected to I/O, connect a surge suppressor or diode in parallel with the load as shown below. IN L Diode L OUT DC input COM Relay output or triac output COM Surge suppressor OUT + Relay output or transistor output COM Note Diode Use surge suppressors and diodes with the following specifications. Surge suppressor specifications Diode specifications Resistor: 50 Ω Breakdown voltage: 3 times load voltage min.
Section 3-6 Wiring Precautions 3-6-2 Connecting I/O Devices Input Devices Use the following information for reference when selecting or connecting input devices. DC Inputs The following types of DC input devices can be connected.
Section 3-6 Wiring Precautions NPN current output + Current regulator Output DC input IN 7 mA Sensor power 0V supply + COM + PNP current output + Sensor power supply Output 7 mA 0V DC input IN COM Voltage output + COM + Output 0V DC input IN Sensor power supply • The circuit below should NOT be used for I/O devices having a voltage output.
Section 3-6 Wiring Precautions 3. Relation between FQM1 OFF current and sensor leakage current: IOFF ≥ Ileak Connect a bleeder resistor R if Ileak is greater than IOFF. Use the following equation to calculate the bleeder resistance constant.
Section 3-6 Wiring Precautions Output Surge Current When connecting a transistor or triac output to an output device having a high surge current (such as an incandescent lamp), steps must be taken to avoid damage to the transistor or triac. Use either of the following methods to reduce the surge current. Method 1 Add a resistor that draws about 1/3 of the current consumed by the bulb. L OUT FQM1 + R COM Method 2 Add a control resistor as shown in the following diagram.
SECTION 4 Operation This section describes the operation of the FQM1. 4-1 4-2 4-3 4-4 Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 4-1-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 4-1-2 Coordinator Module Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 4-1-3 I/O Refreshing and Peripheral Servicing . . . . . . . . . . . . . . . . . . . . .
Section 4-1 Coordinator Module 4-1 Coordinator Module The FQM1 Coordinator Module and each Motion Control Module have separate ladder programming. Each Module independently processes the ladder programming, I/O, and peripheral servicing to achieve high-speed I/O response somewhat like a system of multiple CPU Units. 4-1-1 Outline The Coordinator Module mainly manages FQM1 operation and performs peripheral servicing. It has 24 general-purpose I/O, a peripheral port, RS232C port, and RS-422 port.
Section 4-1 Coordinator Module System Setup The System Setup contains software switches used to make initial settings and other settings. As shown in Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations, addresses (words and bits) are allocated for settings in the System Setup. The addresses can normally be ignored when making the settings, however, because the settings follow CXProgrammer menus.
Section 4-1 Coordinator Module 4-1-3 I/O Refreshing and Peripheral Servicing I/O Refreshing I/O refreshing updates general-purpose I/O status. All I/O is refreshed in the same cycle (i.e., time slicing is not used). I/O refreshing is always performed after program execution. Cyclic Refreshing For cyclic refreshing, data is exchanged every cycle between predetermined areas and the Motion Control Modules.
Section 4-2 Motion Control Modules 4-2 4-2-1 Motion Control Modules Outline Motion Control Modules each have independent ladder programming, which perform processing independently from other Modules. The following diagram shows the internal structure of Motion Control Modules. Motion Control Module User program (See note 1.) RAM and flash memory I/O memory General-purpose Read/Write DM Area D00000 to RAM (See note 2.) D32767 System Setup Area (See note 1.
Section 4-2 Motion Control Modules Broadly speaking, the user program consists of a cyclic task and interrupt tasks, which are executed for interrupts. The cyclic task is executed every cycle. The user program is stored in RAM and flash memory. Data is not lost, therefore, even if the super capacitor backup time is exceeded. I/O Memory I/O memory is the area accessed by the user program and the CX-Programmer.
Section 4-2 Motion Control Modules Motion Control Module Basic I/O Basic inputs (12) Pulse inputs (2) or analog input (1) Pulse or analog outputs (2) Special I/O Basic outputs (8) Coordinator Module Initialization at power ON Initialization at power ON Common processing Common processing Program execution Program execution I/O refreshing in Module 1. Basic I/O refreshing 2. Special I/O refreshing 3.
Section 4-2 Motion Control Modules Coordinator Module Start operation (RUN mode entered) Operation Operation PROGRAM (See note.) (See note.) Operation (See note.) 1 cycle later Motion Control Module PROGRAM Cycle Start operation (RUN start) Operation Operation Program (See note.) (See note.) Note: "Operation" means either RUN or MONITOR mode.
Section 4-3 Operating Modes 4-3 4-3-1 Operating Modes Operating Modes Coordinator and Motion Control Modules have three operating modes that control the user program. PROGRAM Programs are not executed and preparations, such as initializing the System Setup and other settings, transferring programs, checking programs, forcesetting, force-resetting, and checking wiring can be executed prior to program execution.
Section 4-4 Power OFF Operation 4-3-3 Operating Mode Changes and I/O Memory Mode Changes Note Cleared areas Retained areas • I/O bits • Data Link bits • Work bits • Timer PV RUN or MONITOR to Cleared (See note 1.) PROGRAM PROGRAM to RUN Cleared (See note 1.) or MONITOR • DM Area • Counter PV RUN to MONITOR or Retained (See note 2.) MONITOR to RUN Retained Retained Retained (1) The cycle time will increase by approximately 10 ms when the operating mode is changed from MONITOR to RUN mode.
Section 4-4 Power OFF Operation 85% of the rated voltage or less 10 ms 25 ms Time 0 0 to 10 ms Momentary power interruption not detected and operation continues. Power supply voltage 10 to 25 ms Power supply voltage 25 ms Operation will continue or stop depending on whether or not a momentary power interruption is detected. Power supply voltage Momentary power interruption detected and operation stops.
Section 4-4 Power OFF Operation Description of Operation Power OFF will be detected if the 100 to 240 V AC power supply stays below 85% of the minimum rated voltage for the Fixed Power OFF Detection Time (variable between 10 to 25 ms.) If the User-set Power OFF Detection Time is set (0 to 10 ms) in the System Setup, the reset signal will turn ON and the Module will be reset immediately after the User-set Power OFF Detection Time expires.
SECTION 5 Module Functions and Data Exchange This section describes the functions common to both the Coordinator Module and Motion Control Modules and the methods to transfer data between the Coordinator Module and Motion Control Modules. 5-1 Synchronous Operation between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5-2 Data Exchange between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5-3 Cyclic Refresh. . . . . . . . . . . . . . . . . . . . .
Section 5-1 Synchronous Operation between Modules 5-1 Synchronous Operation between Modules Sync and ASync Modes Sync Mode The Coordinator Module and Motion Control Modules are normally set to operate using the same cycle time, i.e., synchronously. Synchronous operation is the default setting in the System Setup. With this setting, all Motion Control Modules synchronize operation with the Coordinator Module cycle time. This allows synchronous control of up to 8 axes.
Section 5-2 Data Exchange between Modules 5-2 Data Exchange between Modules The three methods for data exchange between Coordinator and Motion Control Modules are outlined in the following table. These methods can be used simultaneously. Method Outline Description 1. Cyclic refresh Exchanges data each Coordinator Module cycle. 2. Synchronous Broadcasts data at a specdata refresh ified sync cycle. A Cyclic Refresh Area is allocated for each Motion Control Module in the Coordinator Module.
Section 5-3 Cyclic Refresh 5-3 5-3-1 Cyclic Refresh Outline Status information, general-purpose I/O, and other information for each Motion Control Module in the Cyclic Refresh Area of the Coordinator Module are refreshed every Coordinator Module cycle (asynchronous to the Motion Control Module cycles).
Section 5-3 Cyclic Refresh 5-3-3 Cyclic Refresh Area Details Coordinator Module Cyclic Refresh Area CIO 0100 to CIO 0109 in each Motion Control Module is allocated to ten words between CIO 0100 to CIO 0139 in the Coordinator Module according to the slot number for the Motion Control Module.
Section 5-3 Cyclic Refresh Word Bits address CIO 0105 00 to 07 MM Output Refresh Area (This MM to CM) 08 Data from this area is allo09 cated to the Coordinator Module's CM Input Refresh Area (MM to CM). 10 11 12 to 14 15 Details Reserved Reserved Cycle time over warning OFF: No error ON: MM cycle time exceeded 10 ms.
Section 5-4 Synchronous Data Refresh 5-4 5-4-1 Synchronous Data Refresh Outline If Sync is set under Synchronization between Modules in the System Setup, each Module will broadcast the specified data (2 types data, 4 words max.) to the Synchronous Data Link Bit Areas each Coordinator Module cycle or specified sync cycle. Each other Module receives this data. Every Module can access the synchronous data for every other linked Module.
Section 5-4 Synchronous Data Refresh Synchronous Data Normal (via Ladder) Counter 1 values Counter 2 values Pulse output 1 System Setup Select Synchronous Data Set in upper 2 words 4 words of data transferred for each Module Example: 4 words of data sent by Motion Control Module #1 +0 +1 +2 +3 Pulse output 2 Analog input Analog output 1 Analog output 2 System Setup Select Synchronous Data Set in lower 2 words Counter 1 values Pulse output 1 Transfer Above example: Motion Control Module #1 sends its
Section 5-4 Synchronous Data Refresh Synchronous Data Word Link Bit Areas in address Coordinator and (See note Motion Control 1.) Modules Sent from Motion CIO 0216 Control Module #4 CIO 0217 CIO 0218 CIO 0219 Note Bits 00 to 15 00 to 15 00 to 15 00 to 15 Method for selecting type of synchronous data Set using upper 2 words of Select Synchronous Data in the System Setup for Motion Control Module #4. Set using lower 2 words of Select Synchronous Data in the System Setup for Motion Control Module #4.
Section 5-5 DM Data Transfer System Setup (Motion Control Modules) Selecting Synchronous Data Tab page Module Settings Select the type of synchronous data to be sent by each Motion Control Module in the System Setup for that Motion Control Module, as shown in the following table.
Section 5-5 DM Data Transfer 5-5-2 Settings Details The settings for using the DM data transfer function are made in the Auxiliary Area. Name Address DM Write Request Bit (Coordinator A530.00 Module to Motion Control Module) Description Read/write DM data transfer is executed from the Coordinator Mod- Enabled ule to Motion Control Module when this bit turns ON. DM Read Request Bit (Motion Control Module to Coordinator Module) Slot No. of Motion Control Module for DM Transfer A530.
Section 5-6 Cycle Time Settings Step 2: Turn ON Request Bit • Transferring DM Data from the Coordinator Module to a Motion Control Module: Turn ON the DM Write Request Bit (Coordinator Module to Motion Control Module) (A530.00). • Transferring DM Data from a Motion Control Module to the Coordinator Module: Turn ON the DM Read Request Bit (Motion Control Module to Coordinator Module) (A530.01).
Section 5-6 Cycle Time Settings Constant cycle time Constant cycle time Real time Real time Constant cycle time (enabled) Real time System Setup Tab page Name Timer/Peripheral servicing or Cycle Time Cycle Time Settings 0.1 to 100.0 ms, 0.1 ms units Default Variable Constant Cycle Time Exceeded Flag Name Address Constant Cycle Time A404.05 Exceeded Flag Description This flag turns ON when the constant cycle time function is used and the cycle time exceeds the constant cycle time set value.
Section 5-6 Cycle Time Settings Constant cycle time Constant cycle time Coordinator Module Waiting for I/O refresh Waiting to synchronize to become constant Motion Control Module Processing I/O refresh Waiting to synchronize I/O refresh Processing Constant I/O refresh timing Note 5-6-2 Waiting for I/O refresh to become constant Constant I/O refresh timing When the constant cycle time function is enabled for the Motion Control Module in ASync Mode, the Motion Control Module's cycle time will b
Section 5-6 Cycle Time Settings 5-6-4 Clearing Constant Cycle Time Exceeded Errors When using the constant cycle time function, normally the cycle time will no longer stay constant (i.e., will vary depending on the real cycle time) if the constant cycle time is exceeded once. To return to a constant cycle time even if the cycle time has been exceeded once, turn ON the Constant Cycle Time Exceeded Error Clear Bit (A509.15) (i.e., set to 1).
Section 5-7 Operation Settings at Startup and Maintenance Functions 5-7 Operation Settings at Startup and Maintenance Functions This section describes the following operation settings at startup and maintenance functions. • Operating mode at startup • Program protection • Remote programming and monitoring • Flash memory 5-7-1 Specifying the Startup Mode The operating mode when the power is turned ON can be specified in the System Setup.
Section 5-7 Operation Settings at Startup and Maintenance Functions Password Protection 1,2,3... 1. Register a password either online or offline. a. Select the Module in the Device Type drop-down menu and select Properties from the View Menu. b. Select Protection from the PLC Properties Dialog Box and input the password. 2. Set password protection online. a. Select PLC/Protection/Set. The Protection Setting Dialog Box will be displayed. b. 5-7-3 Click the OK Button.
Section 5-8 Diagnostic Functions in the PLC properties and Window/PLC Memory Backup Status must be selected from the View Menu. For normal transfer operations (PLC/Transfer), the backup status will be displayed in the transfer window after the transfer status for the program and other data. Never turn OFF the FQM1 power during these backup operations. The flash memory will be corrupted if the power is turned OFF. Auxiliary Area Flags Name Flash Memory Error Flag 5-8 Address A403.
Section 5-8 Diagnostic Functions Order of occurrence Error code 4102 C101 80C0 1 2 Error Log Area A100 A101 A102 A103 A104 A105 A106 A107 A108 A109 4 1 0 2 0 0 0 C 1 1 1 1 0 0 0 1 0 1 1 0 1 1 0 1 A195 A196 A197 A198 A199 8 0 C 0 0 0 0 0 1 1 1 1 Error code Error contents Error code Error contents 20 0 0 0 Error code Error contents 1 0 1 1 0 1 1 0 1 A408 Error Log Pointer The number of records is stored in binary in the Error Log Pointer (A408).
Section 5-8 Diagnostic Functions Errors generated by FAL(006) can be cleared by executing FAL(006) with FAL number 00 or performing the error read/clear operation from the CX-Programmer. Operation of FALS(007) B FALS 003 #0000 When input condition B goes ON, an error with FALS number 3 is generated and A401.06 (FALS Error Flag) is turned ON. Program execution is stopped.
SECTION 6 Coordinator Module Functions This section describes the serial communications functions, which are supported only by the Coordinator Module. 6-1 Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 6-1-1 Host Link Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 6-1-2 No-protocol Communications (RS-232C Port) . . . . . . . . . . . . . . . . 129 6-1-3 NT Link (1:N Mode) . . . . . . . . . . . . . . . .
Section 6-1 Serial Communications 6-1 Serial Communications The FQM1 supports the following serial communications functions. Protocol Host Link Connections Host computer or OMRON PT (Programmable Terminal) Description Various control commands, such as reading and writing I/O memory, changing the operating mode, and forcesetting/resetting bits, can be executed by sending Host Link (C-mode) commands or FINS commands from the host computer to the Coordinator Module.
Section 6-1 Serial Communications Protocol Connections Description Peripheral Peripheral Bus Programming Device (CX-Programmer) Serial Gateway Host computer OMRON PT (Programmable Terminal) or Ports RS232C RS422A Provides high-speed commu- OK nications with the CX-Programmer. (Remote programming through modems is not supported.) OK Not allowed Communications are possiNot ble between a host comallowed puter or PT connected to the RS-232C port and Servo Drivers connected to the RS422A port.
Section 6-1 Serial Communications 6-1-1 Host Link Communications The following table shows the Host Link communication functions available in FQM1. Select the method that best suits your application. Command flow Host computer to FQM1 Command type C-mode (Host Link) commands Host Link command Communications method Create frame in the host computer and send command to the FQM1. Receive the response from the FQM1.
Section 6-1 Serial Communications Host Link Commands Type Reading I/O memory The following table lists the Host Link commands. Refer to the C-series Host Link Units System Manual (W143) for details. Header code Name Function RR CIO AREA READ RC PV READ RG T/C STATUS READ Reads the status of the Completion Flags of the specified number of timers/counters, starting from the specified timer/counter.
Section 6-1 Serial Communications Type Program area access commands Compound reading of I/O memory Header code RP Name PROGRAM READ WP PROGRAM WRITE QQMR COMPOUND COMMAND Reads the contents of the Coordinator Module’s user program area in machine language (object code). Writes the machine language (object code) program transmitted from the host computer into the Coordinator Module’s user program area. Registers the desired bits and words in a table.
Section 6-1 Serial Communications Type Forced Status Command Name code 23 01 FORCED SET/RESET 23 6-1-2 02 Function Force-sets, force-resets, or clears the forced status of the specified bits. FORCED SET/RESET CANCEL Cancels the forced status of all force-set and force-reset bits.
Section 6-1 Serial Communications Procedure Make the System Setup settings from the CX-Programmer (e.g., set the serial communications mode to Non-procedural and set the other communications conditions.) Refer to the CX-Programmer Operation Manual. Power OFF Connect the Coordinator Module and the general-purpose external device using RS-232C Power ON FQM1 → General-purpose external device General-purpose external device → FQM1 Execute TXD. Execute RXD.
Section 6-1 Serial Communications Transmission delay time Transmission Time TXD(236) instruction Refer to the Instructions Reference Manual (Cat. No. O011) for more details on the TXD(236) and RXD(235) instructions.
Section 6-1 Serial Communications 6-1-4 Serial PLC Links Overview 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.
Section 6-1 Serial Communications Direction of Data Transfer CJ1M CPU Unit (master) For example, if the number of link words is set to 10, the CJ1M CPU Unit (master) will broadcast CIO 3100 to CIO 3109 from its I/O memory and to CIO 0080 to CIO 0089 in the I/O memory of each FQM1 Controller (slaves). Each FQM1 Controller will send CIO 0090 to CIO 0099 from its I/O memory to consecutive sets of 10 words in the CJ1M CPU Unit. FQM1 (slave) No. 0 FQM1 (slave) No.
Section 6-1 Serial Communications Settings CJ1M (Master) PLC Setup Item Address Word RS-232C Serial communica- 160 port setting tions mode Port baud rate 161 Link method 166 Number of link words Highest unit number Note Bits 08 to 11 Set value Default 04 to 07 8 hex: Serial PLC Links Polling Unit 00 to 09 hex: Standard (0A hex: High-speed cannot be used.) ON: Polling Unit links (OFF: Complete links cannot be used.
Section 6-1 Serial Communications NS-series PT Smart Active Parts NT Link Coordinator Module FQM1 Protocol conversion Servo parameters or other data RS-422A W-series or SMARTSTEP Servo Driver Note W-series or SMARTSTEP Servo Driver When the Serial Gateway function is used, the FQM1 receives FINS commands (encapsulated W-series or SMARTSTEP commands) via the RS-422A port from NT-series PTs or personal computers and converts them to Wseries or SMARTSTEP Servo Driver commands (removes the encapsulation
Section 6-1 Serial Communications 6-1-6 No-protocol Communications (RS-422A Port) FQM1 Coordinator Module Coordinator Module ladder program TXD/RXD instructions RS-232C port RS-422A port No-protocol RS-232C No-protocol Generalpurpose external device RS-422A Servo Driver Servo Driver RS-422A Settings Item Mode Settings No-protocol Default Serial Gateway Delay End code 0 to 99,990 ms (unit: 10 ms) 00 to FF hex 0 ms 00 hex Start code Received bytes 00 to FF hex 01 to FF hex: 1 to 255 bytes
SECTION 7 Motion Control Module Functions This section describes the various functions supported by the Motion Control Module. 7-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2 Interrupt Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 7-2-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 7-2-2 Interrupt Priority . .
7-7 7-8 7-9 138 7-6-10 Range Comparison Bit Pattern Outputs from Pulse Output PVs . . . 182 7-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887) Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 7-6-12 PLS2(887) Pulse Output Direction Priority Mode . . . . . . . . . . . . . . 183 7-6-13 Pulse Output Function Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . 184 7-6-14 Pulse Output Function Examples . . . . . . . . . . . . . . . . . . . . . .
Section 7-1 Overview 7-1 Overview The FQM1 Modules have the following functions. Main function (Applicable Modules) Basic interrupt functions (FQM1-MMP21/MMA21) Sub-functions Input Interrupts (4 points) (Input Interrupt Mode or Counter Mode) Interval Timer Interrupt (1 point) Scheduled Interrupts Setting range: 0.5 to 99,990 ms One-shot Interrupts Unit: 0.
Section 7-2 Interrupt Functions 7-2 7-2-1 Interrupt Functions Overview The Motion Control Modules support the following interrupts. Executing Interrupt Programs in the FQM1 The programming routines that are executed for all of the following interrupts are programmed as interrupt tasks. Input Interrupts Inputs to the Motion Control Module’s built-in contact inputs 0 to 3 can be set as interrupt inputs.
Section 7-2 Interrupt Functions This situation can be avoided with the programming methods shown in the following diagram. Method 2: Executing the routine in the main program instead of the interrupt task, where it could not be executed. Method 1: Disabling all interrupts in the main program (Main program) MSKS 0100 0000 0000 @PLS2 0001 0000 D00010 P_On 7-2-3 CTBL PRV 0001 0002 D00000 0001 0000 D00000 Always ON 0002.
Section 7-3 Input Interrupts The EI(694) instruction does not enable all interrupts. If an interrupt was masked before all interrupts were disabled, that interrupt will still be masked after the prohibition on all interrupts is cleared. Clearing Recorded Interrupts 7-3 7-3-1 7-3-2 The CLI(691) instruction clears the interrupt event information recorded while all interrupts were disabled by the DI(802) instruction.
Section 7-3 Input Interrupts Counter Mode Item Interrupt condition Specification Counter decremented from SV each time input contacts 0 to 3 (CIO 0000.00 to CIO 0000.03) turn ON, OFF, or both and PV reaches 0. Note Set the interrupt condition in the System Setup. 7-3-5 Interrupt task numbers CIO 0000.00 to CIO 0000.
Section 7-3 Input Interrupts Counter Mode Procedure 1,2,3... 1. Determine which input interrupt number will be used. 2. Determine the initial SV for the decrementing counter. 3. Wire the input. Input External interrupt input 0 Allocated input bit CIO 0000.00 Interrupt task number 000 External interrupt input 1 External interrupt input 2 CIO 0000.01 CIO 0000.02 001 002 External interrupt input 3 CIO 0000.03 003 4. Make the necessary System Setup settings.
Section 7-3 Input Interrupts 7-3-6 Application Example This example shows input interrupt 0 and input interrupt 1 used in interrupt input mode and counter mode, respectively. Before executing the program, verify that the following System Setup settings have been made: input 0 and input 1 both set to Interruption (up). The other System Setup settings are set to their default settings. P_First_Cycle MOV #000A A521 (ON for the first cycle) 0002.
Section 7-4 Interval Timer Interrupts The following timing chart shows the operation of the program as it is executed. CIO 0000.00 Interrupt task 000 10 counts CIO 0000.01 10 counts (See note 1.) 20 counts (See note 1.) Interrupt task 001 (See note 2.) CIO 0002.00 Note (1) Counting continues even while the interrupt task is being executed. (2) The input interrupts are masked after this point.
Section 7-4 Interval Timer Interrupts Interval timer Generate interrupt. Execute interrupt task. Ladder Program STIM INTERVAL TIMER • Start timer. One-shot mode Scheduled interrupt mode • Read elapsed time. 7-4-5 END Application Example In this example, the interval timer is used to generate an interrupt every 2.4 ms (0.6 ms × 4). The default System Setup settings are used. (Inputs are not refreshed for interrupt processing.
Section 7-5 Pulse Inputs 7-5 7-5-1 7-5-2 Pulse Inputs Applicable Models Model FQM1-MMP21 Functions Motion Control Module for Pulse I/O FQM1-MMA21 Motion Control Module for Analog I/O Outline The FQM1-MMP21 and FQM1-MMA21 Motion Control Modules can receive pulse inputs.
Section 7-5 Pulse Inputs Item Counter values High-speed counter PV storage locations Specification Linear Counter: 8000 0000 to 7FFF FFFF hex Circular Counter: 0000 0000 to Circular maximum count (hex) (The circular maximum count is set in the System Setup between 0000 0001 and FFFF FFFF hex.
Section 7-5 Pulse Inputs 7-5-4 Pulse Input Specifications Item Specification Number of pulse inputs 2 inputs Signals Ports Encoder inputs A and B and pulse input Z High-speed counters 1 and 2 Note High-speed counter 1 can be an RS-422A line-driver input or an input with a voltage of 24 VDC. High-speed counter 2 can be an RS-422A line-driver input or an input with a voltage of 24 VDC, except for the FQM1-MMA21, which supports only line-driver inputs to high-speed counter 2.
Section 7-5 Pulse Inputs Item Minimum response pulse At 50 kHz Specification Encoder Inputs A and B Waveform of Encoder Inputs A and B Signal rise and fall must be 3 µs max. 50-kHz pulse with 50% duty ratio 20 µs min. 10 µs min. 10 µs min. ON Encoder Inputs A and B Encoder Inputs A and B Waveform Square waveform 50-kHz pulse with 50% duty ratio 20 µs min. 10 µs min. 10 µs min. ON 50% OFF 50% OFF 3 µs max. 3 µs max. Relationship to Phase Differential Inputs A and B T1, T2, T3,and T4 must be 4.
Section 7-5 Pulse Inputs 7-5-5 Latch Input Specifications Item 7-5-6 Specification Number of inputs Input voltage 2 20.4 to 26.4 V Input response ON response: 30 µs OFF response: 200 µs Applicable Instructions Instruction (@)CTBL(882) Control Range comparison Description One range comparison executed. Target value comparison table regis- Target value comparison table registered and comparison tration and starting comparison started.
Section 7-5 Pulse Inputs 7-5-8 Pulse Input Function Description The pulse input function uses the high-speed counters. The pulse input function can be used to monitor changes (movement) in the high-speed counter PV (mode 1) or changes in the high-speed counter frequency (mode 2). High-speed Counter Function Description Input Signal Type and Count Mode High-speed counters 1 and 2 support the following inputs. The input method application depends on the signal type.
Section 7-5 Pulse Inputs Increment/Decrement Pulse Inputs Pulse + Direction Inputs Encoder Input A (UP input) Encoder Input A (Pulse input) Encoder Input B (DOWN input) Encoder Input B (Direction input) 2 1 3 2 1 Decrement Increment Counter Operation (Numeric Ranges) 1 2 Increment 3 2 1 Decrement The following two counter operations are available for high-speed counters 1 and 2, with the specified counting ranges.
Section 7-5 Pulse Inputs ■ Phase-Z Signal (Reset Input) and Software Reset The PV of the high-speed counter is reset on the first rising edge of the phase-Z signal after the corresponding High-speed Counter Reset Bit (see below) turns ON. 1 or more cycles Phase-Z (reset input) Reset Bit for High-speed Counter 1 or 2 1 or more cycles Within 1 cycle Reset Reset by cycle. Not reset. ■ Software Reset The PV is reset when the High-speed Counter Reset Bit turns ON.
Section 7-5 Pulse Inputs Counter PV : Interrupt Comparison table Target value 3 Target value 1 Target value 2 Target value 2 Target value 4 Target value 3 Target value 4 Target value 1 Target value 5 Target value 5 0 Elapsed time (seconds) Target values for comparison 1 2 3 4 5 1 ■ Range Comparison Method Up to 16 comparison ranges (lower and upper limit values) and corresponding output bit patterns can be registered in the comparison table.
Section 7-5 Pulse Inputs Monitoring High-speed Counter Movement (Mode 1) This function monitors the change in a high-speed counter’s PV (travel distance) regularly at the preset sampling period. The sampling period can be set between 1 and 9,999 ms. If the sampling time is set to 0, the change will be sampled once each cycle. The change in the high-speed counter PV (travel distance) is stored in A604 and A605 (high-speed counter 1) or A606 and A607 (high-speed counter 2). Status Flags A608.06 and A609.
Section 7-5 Pulse Inputs High-speed Counter Movement (Mode 1) Specifications Item Applicable pulse input Displayable movement Sampling time Specifications Either pulse 1 (high-speed counter 1) or pulse 2 (high-speed counter 2) can be used. 0000 0000 to FFFF FFFF Note The software can generate the range of values shown above, but some hardware may not be able to display the full range due to input limitations. Can be set to the cycle time or a fixed time between 1 and 9,999 ms.
Section 7-5 Pulse Inputs Frequency Measurement (Mode 2) Specifications Item Specifications Applicable pulse Only pulse 1 (high-speed counter 1) can be used. input Measurable frequen- 0 to 500 kHz cies Note When no pulses have been input for 10 s, the measured value is set to 0 Hz (stopped). The previous output value is retained during this 10-second interval. Measurement period 5 ms max. (input frequency 500 Hz min.
Section 7-5 Pulse Inputs 7-5-9 Pulse Input Function Procedures High-speed Counter Procedure 1,2,3... 1. Determine the Input Mode, reset method, and Numeric Range. • Counting Speed: 50 kHz or 500 kHz • Input Mode: Phase Differential, Increment/Decrement, or Pulse + Direction • Reset method: Phase Z and software reset, or Software reset • Counter Operation: Circular Counter or Linear Counter 2. Wire the input. 3. Make the necessary System Setup settings.
Section 7-5 Pulse Inputs A Pulse input 1 B Input Mode Reset Method Z Phase differential Pulse + Direction Increment/Decrement Phase-Z /software reset Software reset A Pulse input 2 Counter Start Bit Counting Speed Counter Operation Circular Counter Linear Counter Count A Turn ON A610.00 or A611.00. 50 kHz 500 kHz B Z System Setup System Setup System Setup Reset Counter Operation Counting Speed System Setup Input Refresh PV (once each cycle).
Section 7-5 Pulse Inputs • Monitor the high-speed counter movement value in A604 and A605 (high-speed counter 1) or A606 and A607 (high-speed counter 2). Procedure 1,2,3... 1. Set Counter movements (mode 1) in the System Settings (Pulse Input, Counter data display). 2. Turn ON the Measurement Start Bit (A610.02 or A611.02). 3. Monitor the high-speed counter movement value in A604 and A605 (high-speed counter 1) or A606 and A607 (high-speed counter 2). Mode 2 Procedure 1,2,3... 1.
Section 7-5 Pulse Inputs Example When the PV reaches 2,500 hex, interrupt task 10 is started. When the PV reaches 7,500 hex, interrupt task 11 is started. When the PV reaches 10,000 hex, interrupt task 12 is started.
Section 7-5 Pulse Inputs P_On A610.00 Starts high-speed counter 1. (Always ON) Start high-speed counter. A610.01 Turns ON the High-speed Counter 1 Reset Bit. Reset Bit 0002.00 @CTBL #0001 #0000 D00000 Registers a target value comparison table for the PV from high-speed counter 1 and starts the comparison. (In this case, the comparison table begins at D00000.
Section 7-5 Pulse Inputs High-speed Counter PV PV reset on phase-Z signal PV reset on phase-Z signal 10000 Range 3 7500 Range 2 2500 Range 1 0 Time A612: 0001 hex 0002 hex 0004 hex 0008 hex 0001 hex 0002 hex 0008 hex 0004 hex 0001 hex Content of A612 Internal bit pattern 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 (0001 hex) Content is transferred to CIO 0001 to turn ON CIO 0001.00.
Section 7-5 Pulse Inputs Example 3: Latching High-speed Counter PV In this example, pulse input 1 operates a high-speed counter, the high-speed counter PV is latched, and the captured high-speed counter PV is read. When the Latch Input 1 Enable Bit is ON and the latch input 1 is turned OFF→ON externally, the high-speed counter PV is captured to the latch register and the Count Latched Flag is turned ON during the next I/O refreshing.
Section 7-6 Pulse Outputs 7-6 Pulse Outputs 7-6-1 Applicable Models Model FQM1-MMP21 7-6-2 Functions Motion Control Module with Pulse I/O Outline The FQM1-MMP21 Motion Control Module provides 2 pulse outputs. The pulse outputs can be used for the following functions. Note Function Set the pulse output operation mode for each output in System Setup (Pulse Output Tab Page).
Section 7-6 Pulse Outputs 7-6-3 Specifications Item Specification Acceleration/ decelera- None tion Yes Trapezoid None None (acceleration or deceleration) Yes with separate acceleration and deceleration rates Instructions for independent-mode positioning PULS(886) + SPED(885) PULS(886) + ACC(888) PLS2(887) PULS(886) (Electronic Cam Control) Instructions for contin- SPED(885) --ACC(888) --uous-mode speed control Output frequencies Constant specified for 0 Hz to 1 MHz 0 Hz to 1 MHz SPED(885):
Section 7-6 Pulse Outputs Item Number of output pulses Storage location for pulse output PV Specification 1) Relative pulse output: 0000 0000 to FFFF FFFF hex 2) Absolute linear pulse output: 8000 0000 to 7FFF FFFF hex 3) Absolute circular pulse output: 0000 0000 to Circular maximum count hex 4) Electronic cam control (linear) (output with absolute position specification): 8000 0000 to 7FFF FFFF hex 5) Electronic cam control (circular) (output with absolute position specification): 0000 0000 to 7FFF FFFF
Section 7-6 Pulse Outputs 7-6-5 Applicable Instructions The following seven instructions can be used to control pulse outputs. The relationship between the instruction and the types of pulse output that is possible is also listed in the following table.
Section 7-6 Pulse Outputs 7-6-6 Pulse Output Function Details Overview Pulses are output in independent mode or continuous mode. In independent mode, the number of output pulses is specified in advance. In continuous mode, the number of output pulses is not specified in advance. Mode Independent mode Continuous mode Note Description This mode is used for positioning. The pulse output stops automatically after the specified number of pulses has been output.
Section 7-6 Pulse Outputs Pulse output Description operation mode (Only in Independent Mode) (1) Positions to a relative position from the present position. Relative pulse output The number of output pulses (actual output amount) in the specified direction is the target number of pulses. • The frequency can be changed during pulse output. • The direction and the target number of pulses cannot be changed during pulse output.
Section 7-6 Pulse Outputs Pulse Output Operations Mode Continuous mode (Speed control) The following table shows the operations that can be performed with the pulse output function. Frequency changes Frequency Target frequency Present frequency Description Procedure InstrucSettings tions Example The frequency is changed in steps (up or down) during pulse output. SPED(88 5) ↓ SPED(88 5) Port, CW/CCW, Continuous, Target frequency Use when changing frequency in steps. (See page 190.
Section 7-6 Pulse Outputs Mode Independent mode (Positioning) Frequency changes Description Pulse output starts at the specified frequency and stops when the specified number of pulses have been output. (The number of pulses cannot be changed during pulse output.) Frequency Specified no. of pulses (Specified with PULS) Target frequency Time SPED executed. Frequency Stops after specified no. of pulses are output. Specified no.
Section 7-6 Pulse Outputs Mode Stop Frequency changes Description Stops the pulse output immediately. Frequency Present frequency Time INI executed. Stops the pulse output immediately. Frequency Present frequency Time Procedure Example InstrucSettings tions SPED(88 Stop pulse --5) or output ACC(888) or PULS(88 6) (Electronic Cam Control) ↓ INI(880) SPED(88 5) or ACC(888) ↓ SPED(88 5) Port, --Continuous, Target frequency = 0 Decelerates the SPED(88 pulse output to a 5) or stop.
Section 7-6 Pulse Outputs Integer dividing ratio set according to the target frequency set by user. Output pulses (Actual output frequency) Dividing circuit Clock-generated pulses (one of four possible settings) Formula: Actual frequency = Clock frequency ÷ INT (clock frequency/target frequency) Note INT (clock frequency/target frequency) is the dividing ratio. The difference between the target frequency and the actual frequency increases at higher frequencies.
Section 7-6 Pulse Outputs Turned ON by STIM instruction execution. Turned OFF by hardware. ON One-shot pulse output OFF Setting units: Select 0.01 ms, 0.1 ms, or 1 ms. Setting range: 0001 to 270F Hex (1 to 9,999) Set the pulse output operation mode to 1 shot in advance in the System Setup, as shown in the following table.
Section 7-6 Pulse Outputs 7-6-8 Time Measurement with the Pulse Counter The one-shot pulse output function can be used to create a high-precision pulse counter timer. To measure time with high-precision, start the timer by executing the STIM(980) instruction with C1 = 000B or 000C and C2 = 0000, and stop the timer by executing STIM(980) with C1 = 000B or 000C and C2 = 0001. Counting mode (Time measurement) Timer start condition Timer started by executing STIM with C2 = 0000.
Section 7-6 Pulse Outputs (3) If the STIM(980) instruction is executed again to restart an operating timer, the timer value will be reset to 0 and the timer will restart. Pulse Counter Timer Specifications Item Specification Timer measurement range 0000 0000 to FFFF FFFF hex The time units can be set to 0.01 ms, 0.1 ms, or 1 ms with the STIM(980) instruction. Operating conditions 1. Set the pulse output operation mode to Calculation (time measurement) in the System Setup. 2.
Pulse Outputs Section 7-6 Linear Mode Operation A target value can be set at a desired pulse output PV to execute an interrupt task when the target value is reached. An ACC(888) or SPED(885) instruction can be programmed in the interrupt task to perform speed control at that target value. Frequency (speed) Target value 5 Target value 4 Target value 3 Target value 2 Target value 1 Pulse output PV Speed (frequency) Controlled by ACC instruction.
Section 7-6 Pulse Outputs 3.00 @CTBL #3 #0 D00000 Cyclic task D00000 0 0 0 5 D00001 0 5 0 0 D00002 0 0 0 0 D00003 0 0 0 1 D00004 2 0 0 0 D00005 0 0 0 0 D00006 0 0 0 2 D00013 0 0 0 0 D00014 0 0 1 0 D00015 0 0 0 5 When CIO 0003.00 goes ON, a target-value comparison interrupt starts for the pulse output 1 PV. No.
Section 7-6 Pulse Outputs Circular Mode Operation A speed control pattern can be repeated in continuous speed control to control a series of repetitive operations at specific positions. For example, the following diagram shows an axis that repeatedly switches to low-speed operation at one position and switches to high-speed operation at another position. Since the speed control pattern must repeat in these applications, a counter cannot be used if it is reversible.
Section 7-6 Pulse Outputs Setting the Speed-change Cycle The speed change cycle for the ACC(888) and PLS2(887) instructions is specified by setting the ON/OFF bit status of A628.07 before executing the ACC(888) or PLS2(887) instruction. 2-ms Cycle Execute ACC(888) or PLS2(887) with A628.07 OFF. Execution condition @ACC #1 #0 D00000 D00000 D00001 D00002 1-ms Cycle 07D0 C350 0000 Acceleration/deceleration rate: 2 kHz Target speed: 50 kHz Execute ACC(888) or PLS2(887) with A628.07 ON. A628.
Section 7-6 Pulse Outputs Setting the Pulse Output Direction Priority Mode The pulse output direction priority mode for the PLS2(887) instruction is specified by setting the ON/OFF bit status of A628.14 before executing the PLS2(887) instruction. Note Pulse Output Direction Priority Mode The priority mode setting in A628.14 applies to both pulse output 1 and 2. Execute PLS2(887) with A628.14 OFF.
Section 7-6 Pulse Outputs • Set the clock speed for pulse outputs 1 and 2. 4. Create the necessary ladder programming. • Use PULS(886) to set number of output pulses for the specified port. • Use SPED(885) to start pulse output control without acceleration/deceleration from the specified port. • Use INI(880) to stop pulse output from the specified port. • Use PRV(881) to read the pulse output PV of the specified port.
Section 7-6 Pulse Outputs • Use PRV(881) to read the pulse output PV of the specified port. Single-phase pulse output (fixed duty ratio) Mode settings for ports 1 and 2 Start output CW CCW CW Ladder program System Setup Pulse output mode PULS SET PULSE Set the number of output pulses. INI Ladder program ACC ACCELERTION CONTROL MODE CONTROL Stop pulse output.
Section 7-6 Pulse Outputs The PULS(886) instruction (Electronic Cam Control) can be used to immediately change the pulse output value for absolute positioning or the pulse output frequency for speed control in response to the high-speed counter PV (e.g., for a rotational angle). This feature allows the Motion Control Module to perform electronic cam operation using simple linear approximation of a curve (for position or speed control based on the cam angle).
Section 7-6 Pulse Outputs • Select pulse output 1 or 2. 2. Wire the output. • Output: CW and CCW • Output power supply: 5 V DC 3. Make the necessary System Setup settings (Pulse Output Tab Page − Operation Mode). • Set the pulse output operation mode (in the Pulse Output Tab Page − Operation Mode) to relative pulse output or absolute linear pulse output. • Set the clock speed for pulse outputs 1 and 2. 4. Create the necessary ladder programming.
Section 7-6 Pulse Outputs • Set the pulse output operation mode (in the Pulse Output Tab Page − Operation Mode) to Calculation (time measurement). 3. Create the necessary ladder programming. a. Use STIM(980) with C1 = #000B or #000C and C2 = #0000 to start measurement. b. Note Use STIM(980) with C1 = #000B or #000C and C2 = #0001 to stop measurement. The STIM(980) pulse counter timer function used at the same time as an STIM(980) timer interrupt function (one-shot timer or scheduled timer).
Section 7-6 Pulse Outputs Changing the Frequency in Steps In this example, the SPED(885) instruction is used to change the speed of a pulse output from port 2 from a frequency of 3,000 Hz to 50,000 Hz. In this case, the pulse output is a CCW continuous mode output. Frequency Target frequency 50,000 Hz Present frequency 3,000 Hz Time SPED executed. SPED executed. 0002.00 @SPED #2 #1 #00000BB8 When CIO 0002.00 turns ON, SPED starts a pulse output from port 2 at 3,000 Hz (3 kHz) in CCW continuous mode.
Section 7-6 Pulse Outputs Note The pulse output can be stopped by executing ACC(888) with a deceleration target frequency of 0. However, since the pulse output cannot be stopped at the correct number of pulses, the deceleration target frequency should not be set to 0 if it is necessary to output a precise number of pulses. Specified number of pulses reached before speed reaches 0. Speed (frequency) Speed reaches 0 while the remaining number of pulses is 0 or more.
Section 7-6 Pulse Outputs A610.00 P_On Starts high-speed counter. Always ON Flag MOVL &200000 D00002 Sets pulse output frequency to 200 kHz. APR Processes the high-speed counter 1 PV with the linear approximation data in D01000 to D01018 (the graph shown above) and stores the result in D00000 and D00001.
Section 7-6 Pulse Outputs Using PLS2(887) for Trapezoidal Acceleration/Deceleration In this example, the axis is accelerated in the CW direction at 500 Hz/2 ms, the acceleration/deceleration rate is reduced to 300 Hz/2 ms, and the pulse output is stopped after 300,000 pulses have been output. After 5 s, the same trapezoidal acceleration/deceleration operation is performed in the CCW direction.
Section 7-6 Pulse Outputs get Frequency Not Reached Flag (A624.02 or A625.02) will turn ON at the peak of the triangular pattern and turn OFF when deceleration is completed. One-shot Pulse Output Function Example In this example, STIM(980) is used to generate a 1.5-ms one-shot pulse output from pulse output 1. 0002.00 @STIM #1 #000F #0 When CIO 0002.00 goes ON, STIM generates a 1.5-ms one-shot pulse output from port 1.
Section 7-6 Pulse Outputs (3) Use this function for positioning. Allowed Startup Conditions for Pulse Output Operations (with Output Stopped) The following table shows when an independent mode pulse output (SPED(885) independent mode, ACC(888) independent acceleration mode, or ACC(888) independent deceleration mode) can be started when pulses are not being output.
Section 7-6 Pulse Outputs PULS(886) Absolute Pulse Output in Progress Pulse Output Operation Mode (Absolute Linear) Limitations PLS2(887) Startup conditions and status OK OK Startup mode and conditions Pulse output direction Absolute position priority priority mode (A628.14 = 0) mode (A628.
Section 7-6 Pulse Outputs Operating instruction Starting instruction SPED(8 SPED(8 85) inde- 85) conpendent tinuous PULS(8 86) relative, without output PULS(88 6) absolute without output PULS(88 ACC(888 6) abso- ) accelerlute with ation, output continuous ACC(888 ACC(888 ACC(888 ) decel- ) acceler- ) deceleration, ation, eration, continu- indepen- independent dent ous PLS2(88 7) PULS (886) No absolute output Yes Yes --- Yes No Yes Yes Yes Yes (See note.
Section 7-6 Pulse Outputs Note The pulse output will stop. After the axis stops, it must be restarted.
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders • Starting instruction: ACC(888) (continuous or independent), deceleration, absolute circular Output status Absolute circular 7-7 7-7-1 Direction and starting conditions CW CCW CW output Target Target Target Target position > position < position > position < Present Present Present Present position position position position No Yes No No CCW output No No No Yes Functions for Servo Drivers Compatible with Absolute Encoders
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders Motion Control Module Analog output (Speed command) Servo driver −10 to 10 V, etc.
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7 • Example 1 A value between 0 and 65,534 is set in the Servo Driver, the System Setup’s Counter 1 Counter operation is set to an absolute linear (CW−) counter, and the Servo Driver’s reverse rotation mode setting (Pn000.0) is set to 0 (+ command for rotation in CCW direction). PV of +65,534 ABS PV is a positive value.
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders Absolute Circular Counter 7-7-5 The absolute encoder’s pulse information is counted using a circular counter. (Only the initial incremental pulse (angle) reading is used as the absolute value.) Absolute Number of Rotations PV (Counter 1: A604 and A605) The multi-turn data (a present value read from an encoder) is input to the Motion Control Module after the SEN signal is input to a Servo Driver.
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders Ps: Absolute offset 7FFF 0 Ps Absolute encoder's position Reference position (Absolute offset position) Absolute Present Value Note 7-7-7 P0 With an absolute circular counter, the absolute number of rotations present value (A604/A605) is not used; only the initial incremental pulses are used. The initial incremental pulses are the data of an amount treated as the angle from an origin.
Functions for Servo Drivers Compatible with Absolute Encoders 7-7-9 Section 7-7 Related Areas System Setup Tab page Pulse Input Function Counter 1 Pulse input mode Details 0 hex: Phase differential x1 1 hex: Phase differential x2 2 hex: Phase differential x4 3 hex: Increment/decrement pulse input 4 hex: Pulse + direction Counter reset method Counting Speed 0 hex: Software reset 1 hex: Phase Z and software reset 0 hex: 50 kHz 1 hex: 500 kHz Counter opera0 hex: Linear counter tion 1 hex: Circular
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders Tab page Function Pulse input Counter 1 Max. circular value Absolute encoder resolution (Number of input pulses per encoder revolution) Counter 2 Counter 1 Counter 2 Max. circular value Details Time when setting becomes effective When the counter operation is set to circular counter, At power ON this parameter sets the maximum value in the circular counter.
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders Word A606 and A607 A608 A609 Bits Details Controlled by Motion Control Module 00 to 15 High-speed Counter Absolute Counter 2 operation No. of • Absolute rotations PV linear (CW−) • Absolute circular • Absolute linear (CW+) 04 High-speed Absolute No. of RotaCounter 1 tions Read Error Flag Status 05 Absolute No.
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7 7-7-10 Overview of Absolute Encoder Output Data Acquire Behavior of the Servo Driver Compatible with an Absolute Encoder 1,2,3... The SEN signal being turned ON, the Servo Driver behaves in the following manner: 1. The Servo Driver transmits the state of the absolute encoder when the SEN signal is turned ON. The operation proceeds in the following order: a.
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7 After a short time has passed to allow the Servo Driver's output to stabilize, turn ON the High-speed Counter Start Bit (A610.00) from the ladder program. The encoder's status (multi-turn data), which was acquired when the SEN signal was turned ON, is received as serial data. After the multi-turn data has been received through serial communications, the Absolute Number of Rotations Read Completed Flag (A608.05) will go ON.
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders 7-7-11 Timing Chart of the Functions for Servo Drivers Compatible with Absolute Encoders ON during 1 cycle 50 ms Preset after 30 to 62.5 ms Absolute No. of Rotations Read (A610.07) User program processing The high-speed counter starts 50 ms after start of the absolute No. of rotations read. Perform absolute PV preset within 30 to 50 ms after the read is completed. High-speed Counter Start Bit (A610.
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders 000000 (000000) 0.00 SET ABS servo operation start ABS No. of rotations read A610.07 SEN output ON 0.01 ABS origin define 000001 (000003) 0.00 SET 2.00 ABS servo operation start 000002 (000005) Counter starts 50 ms after SEN output A610.07 TIMH ABS No. of rotations read 010 #5 SEN output TIM010 See note. A610.00 Start highspeed counter 000003 (000009) Preset the PV to the CNT 40 ms after reading ABS No.
Section 7-7 Functions for Servo Drivers Compatible with Absolute Encoders 000005 (000026) 0.01 SET ABS origin define 2.01 ABS origin define 000006 (000028) PV preset as ABS offset 40 ms after completing ABS No. of rotations read 2.01 A610.07 A608.05 A608.04 TIMH ABS origin ABS No. of ABS No. of ABS No. of define rotations rotations rotations read error read read completed SEN output 012 #4 TIM012 DIFU ABS offset preset A609.05 A610.05 DIFD ABS offset preset 000007 (000039) See note. 2.
Section 7-8 Virtual Pulse Output Function 7-8 7-8-1 7-8-2 Virtual Pulse Output Function Applicable Models Model FQM1-MMP21 Functions Motion Control Module for Pulse I/O FQM1-MMA21 FQM1-CM001 Motion Control Module for Analog I/O Coordinator Module Overview The AXIS instruction allows the execution of virtual pulse output with trapezoidal acceleration/deceleration. The AXIS instruction executes the pulse output with trapezoidal acceleration/ deceleration internally.
Section 7-8 Virtual Pulse Output Function 7-8-3 AXIS Instruction (For Virtual Pulse Outputs) Overview The AXIS instruction is used to generate a virtual pulse output with trapezoidal acceleration/deceleration. The operands for the AXIS instruction are a target position specified in pulses or as an absolute position, and a target speed specified in pulses/s (Hz).
Section 7-8 Virtual Pulse Output Function Address Name Description Setting range T+5 to T+6 Target position Set the number of virtual output (8-digit hexadecimal) pulses here. Relative mode: 0000 0000 to FFFF FFFF Absolute mode: 8000 0000 to 7FFF FFFF T+7 to T+8 Target frequency Set the target frequency of vir(8-digit hexadecimal) tual pulses here.
Section 7-9 Analog Input Functions 7-8-4 Application Example Positioning or Speed Control Using a Virtual Axis The internal pulse count can be treated as a virtual axis position in order to perform electronic cam operation on the real axis operation with simple curve approximation. First, the AXIS instruction is executed to generate an internal pulse count.
Section 7-9 Analog Input Functions The PRV(881) instruction can also be used to read the latest analog input value through immediate refreshing. Analog signals can be input from pressure sensors, position meters, or sensors that require high-speed input processing such as a displacement sensors/end-measuring sensors. Consequently, this function allows simple, low-cost pressure control, tension control, or other control applications requiring high-speed mechanical measurement (distortion/thickness/length).
Section 7-9 Analog Input Functions 7-9-3 Analog Input Function Specifications Item Specification Input signals No. of analog inputs Voltage inputs, current inputs 1 input Input signal ranges Select one of the following input ranges in the System Setup (Analog Input/Output Tab Page − Input Setting): −10 to +10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, or 4 to 20 mA. A/D conversion time Input response time 40 µs 1.5 ms or less (See note.
Section 7-9 Analog Input Functions 7-9-4 Related Areas and Settings System Setup Tab page Analog Input/ Output Function Settings Both inputs Input and outputs method 0 hex: 1 hex: END refresh At power ON and Immediate refresh (Refresh with PRV(881).) start of operation Output method 0 hex: END refresh (Content of A560 and A561 is output as analog output after execution of END instruction.) Immediate refresh (Analog output when SPED(885) or ACC(888) is executed. A560 and A561 used for monitoring.
Section 7-9 Analog Input Functions Auxiliary Area Word Bits Function A550 00 to 15 Analog Input PV A552 00 Analog Input Status Analog Input 01 to 06 07 08 09 Settings Controlled by Contains the value input from the analog input port Motion (using either the END refresh or immediate refresh) Control in 4-digit hexadecimal.
Section 7-9 Analog Input Functions Word A562 Bits 00 Function Analog Output 1 Flags User Adjustment Completed 01 to 03 04 Reserved Operating 05 to 07 08 Reserved Output SV Error Settings Controlled by Initial value is 0. Motion Set to 1 if user performs offset/gain adjustment and Control Returns to factory default setting of 0 if adjustment Module value is cleared. --ON: ON while the analog output is being changed Motion by ACC(888). Control Module OFF: Turned OFF when target value is reached.
Section 7-9 Analog Input Functions Word A570 Bits 00 01 02 03 Function Adjustment Adjustment Mode ComEnable mand Bits (Effective only when A575 is 5A5A hex.) Analog Input Reserved Analog Output 1 Analog Output 2 OFF: Adjustment disabled. ON: Adjustment enabled. When this bit is turned from OFF to ON, the default value (offset or gain value) corresponding to the selected I/O signal range is transferred to Adjustment Value Monitor Area (A572 and A573).
Section 7-9 Analog Input Functions 7-9-5 Applicable Instructions With END Refreshing Read the analog input PV (A550) using an instruction such as the MOV instruction. With Immediate Refreshing The data is acquired immediately with the PRV(881) instruction.
Section 7-9 Analog Input Functions Signal Range: 1 to 5 V and 4 to 20 mA Analog input (V) Analog input (mA) +20.8 mA +20.0 mA +5.2 V +5.0 V +4.0 mA +3.2 mA +1.0 V +0.8 V 0000 FF38 0FA0 1068 Stored value (4-digit Hexadecimal) Resolution of 1/4,000 Signal Range: 0 to 5 V Analog input (V) +5.25 V +5.00 V 0V −0.
Section 7-9 Analog Input Functions Once the sampling of analog input values starts, the number of values specified with the circular value (up to 32,767 samples) are stored in the DM Area beginning at the specified DM address. The sampling operation will be completed when the specified number of samples are all stored in the DM Area. CTBL(882) with High-speed Analog Sampling Function CTBL P M S S P: Port specifier (#0003) M: Register target value comparison table and start comparison.
Section 7-10 Analog Outputs 3. The high-speed analog sampling function stops when the specified number of high-speed analog input data samples have been collected. The following diagram shows how this method can be used to collect displacement data from a particular workpiece position. FQM1-MMA21 Motion Control Module (for analog inputs) Main program @CTBL P Generates target value comparison interrupts for the high-speed counter PV (linear counter).
Section 7-10 Analog Outputs 7-10-3 Analog Output Function Specifications Analog Outputs Item Specification Output signals Number of analog outputs Voltage outputs 2 outputs Output ranges Select each output’s signal range in the System Setup (Analog Input/Output Tab Page, Output 1 Setting and Output 2 Setting): –10 to 10 V, 0 to 10 V, 0 to 5 V, or 1 to 5 V D/A conversion time Resolution 40 µs/output –10 to 10 V: 1/10,000 (14-bit value between EC78 and 1388 hex) 0 to 10 V, 0 to 5 V, or 1 to 5 V: 1/4,
Section 7-10 Analog Outputs Functions Item Slope Specification The ACC(888) instruction can be used to change the analog output value at the following rates: –10 to 10 V: 0000 to 2AF8 hex (0 to 11,000 decimal) 0 to 10 V, 0 to 5 V, or 1 to 5 V: 0000 to 1130 hex (0 to 4,400 decimal) Output hold Offset/gain adjustment Note The output stop function will clear the output, hold it at the peak value, or hold it at the current value in the following cases. • One of the Analog Output SV Error Flags is ON.
Section 7-10 Analog Outputs Specified Output Values and Analog Output Signals −10 to 10 V 0 to 10 V Analog output signal Analog output signal 10.5 V 10.0 V +11.0 V +10.0 V 0.0 V −10.0 V −11.0 V 0.0 V −0.5 V Specified output value (4-digit Hex) 0000 EC78 EA84 1388 Resolution: 10,000 0000 FF38 157C 0 to 5 V Specified output value (4-digit Hex) 0FA0 Resolution: 4,000 1068 1 to 5 V Analog output signal Analog output signal 5.25 V 5.0 V 5.2 V 5.0 V 0.0 V −0.25 V 1.0 V 0.
Section 7-10 Analog Outputs F: Analog output value Specifies the target analog output value as a 4-digit hexadecimal value. Note – 10 to 10 V EA84 to 157C hex (–5,500 to 5,500 decimal, resolution: 11,000) 0 to 10 V, 0 to 5 V, 1 to 5 V FF38 to 1068 hex (–200 to 4,200 decimal, resolution: 4,400) The specified analog output value must be within the allowed range listed above.
Section 7-10 Analog Outputs 7-10-6 Application Example Outputting the Analog Output Value Stored in the Auxiliary Area In this example, the Motion Control Module outputs the analog output value stored in A560 from analog output 1. Set the following System Setup settings: • Analog Input/Output Tab Page − Output 1: Set the output range of analog output 1 to “1 to 5 V.” • Analog Input/Output Tab Page − Output: Set the analog output refreshing method to END refresh. 0002.01 @MOV #1000 A560 SET A564.
Analog Outputs Section 7-10 231
Analog Outputs 232 Section 7-10
SECTION 8 Connecting the CX-Programmer This section explains how to connect a personal computer running the CX-Programmer to the FQM1. 8-1 8-2 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 8-2-1 System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235 8-2-2 CX-Programmer Connecting Cables . . .
Section 8-1 CX-Programmer 8-1 CX-Programmer Connect the CX-Programmer Support Software to the Coordinator Module to create and monitor programs for all Modules. While monitoring the ladder programs in Motion Control Modules, it is possible to input operation conditions for monitoring the I/O of the Coordinator Module, and to debug programs. The FQM1 Patch Software is required to create the FQM1 ladder program, make System Setup settings, and monitor or debug operation.
Section 8-2 Connecting the CX-Programmer 8-2 Connecting the CX-Programmer 8-2-1 System Configuration Connecting a Personal Computer Running Support Software Connecting to the Peripheral Port RS-232C Connecting Cables for Peripheral Port Length Computer connector Computer Cable 0.1 m D-Sub, 9-pin Windows CS1W-CN118 (See note 1.) 2.0 m OS D-Sub, 9-pin CS1W-CN226 6.0 m CS1W-CN626 D-Sub, 9-pin CM Computer (RS-232C, 9-pin) MM Peripheral port Note 1.
Section 8-2 Connecting the CX-Programmer Connecting through the USB port with a USB-Serial Conversion Cable Connecting to the Peripheral Port Cable Connection Diagram Using a CS1W-CN226/626 Cable USB type A plug, male CS1W-CIF31 D-sub Connector (9-pin male) CS/CJ-series peripheral connector Peripheral port D-sub Connector (9-pin female) Recommended cable: CS1W-CN226/626 Using an RS-232C Cable (XW2Z-200S-CV, XW2Z500S-CV, XW2Z-200S-V, or XW2Z-500S-V) USB type A plug, male CS1W-CIF31 D-sub Connector (
Section 8-2 Connecting the CX-Programmer Connecting to the RS-232C Port Cable Using an RS-232C Cable (XW2Z-200S-CV, XW2Z500S-CV, XW2Z-200S-V, or XW2Z-500S-V) Connection Diagram USB type A plug, male CS1W-CIF31 D-sub Connector (9-pin male) D-sub Connector (9-pin male) RS-232C port D-sub Connector (9-pin female) D-sub Connector (9-pin female) XW2Z-200S-CV, XW2Z-500S-CV, XW2Z-200S-V, or XW2Z-500S-V (See note.) Note The connection must be a Host Link connection.
Section 8-2 Connecting the CX-Programmer USB Cable 1 Cable 2 Connecting Connector Model Connector Connector Model Cable CS1F-CIF31 D-Sub 9-pin CS1WCS/CJ Unnecessary female CN226/626 peripheral (2 or 6 m) 8-2-2 Port Connector Coordinator Module peripheral D-Sub 9-pin XW2Zfemale 200S-CV/ 500S-CV (2 or 5 m) D-Sub 9-pin XW2Zfemale 200S-V/ 500S-V (2 or 5 m) D-Sub 9-pin D-Sub 9-pin CS1Wmale female CN118 (0.1 m) CS/CJ peripheral D-Sub 9-pin D-Sub 9-pin CS1Wmale female CN118 (0.
Section 8-2 Connecting the CX-Programmer Connecting an RS-232C Cable to the Peripheral Port The following connection configurations can be used when connecting an RS232C cable to the Coordinator Module’s peripheral port. Port on Module Built-in peripheral port Computer Windows OS Port on Communications mode Model computer (Network type) D-Sub 9-pin Peripheral bus (Tool bus) CS1W-CN118 + male or Host Link (SYSMAC XW2Z-200S-CV/ WAY) 500S-CV Length 0.
Connecting the CX-Programmer 240 Section 8-2
SECTION 9 Error Processing This section provides information on identifying and correcting errors that occur during FQM1 operation. 9-1 9-2 9-3 Error Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243 9-2-1 Error Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 9-1 Error Log 9-1 Error Log Each time that an error occurs in the FQM1, the error information is stored in the Error Log Area starting at A100. The error information includes the error code (same code stored in A400) and error contents. Up to 20 records can be stored in the Error Log.
Section 9-2 Error Processing 9-2 Error Processing 9-2-1 Error Categories Errors in the FQM1 can be broadly divided into the following three categories. Category Result RDY Standby The FQM1 will not start operation in RUN or MONITOR mode. OFF Indicators RUN ERR OFF Comments OFF Non-fatal Errors The FQM1 will continue operating (including FAL) in RUN or MONITOR mode. ON ON Flashing (Green) (Green) (Red) Fatal Errors The FQM1 will stop operating in (including FALS) RUN or MONITOR mode.
Section 9-2 Error Processing Indicator CPU error CPU reset CPU standby Fatal error Non-fatal error Communications error Peripheral RS-232C RS-422A ERR PRPHL ON --- OFF --- OFF --- ON --- Flashing --- --OFF ----- ----- COMM1 COMM2 ----- ----- ----- ----- ----- ----- OFF --- --OFF 9-2-3 Error Codes Classification Error code Fatal system 80F1 errors 80C0 80CE Non-fatal system errors 244 Error name Memory error Page 244 I/O bus error No End Cover 244 244 80CF 80E0 Synchronous
Section 9-2 Error Processing 9-2-4 Error Processing Flowchart Use the following flowchart as a guide for error processing with the CX-Programmer. Error occurred during operation Not lit Is POWER indicator lit? Proceed to 9-2-6 Power Supply Check. Lit Not lit Is RDY indicator lit? CPU Error CPU Reset CPU standby Lit Lit Is RUN indicator lit? Not lit Is ERR indicator flashing? ERR indicator lit.
Section 9-2 Error Processing 9-2-5 Error Tables The following tables show the errors which can occur in the FQM1 and indicate the probable cause of the errors. Note Always confirm the safety of connected equipment before turning the power supply OFF or ON. CPU Errors If the following LED indicator condition appears during operation (in RUN or MONITOR mode), it indicates that a CPU error has occurred. The CX-Programmer cannot be connected if a CPU error has occurred.
Error Processing Section 9-2 message and related Auxiliary Area flags/words and correct the cause of the error. Errors are listed in order of importance. When two or more errors occur at the same time, the more serious error’s error code will be recorded in A400. The I/O memory will be cleared when a fatal error other than FALS occurs. (The I/O memory will not be cleared when FALS is executed to generate a fatal error.
Section 9-2 Error Processing When operation is stopped, all outputs will be turned OFF. The Servo Driver that is in Servo ON state for outputs from the FQM1 will switch to Servo OFF state. Fatal Errors Error Memory error Error Auxiliary Area code (in flag and word A400) data 80F1 A401.15: Memory Error Flag A403: Memory Error Location Probable cause An error has occurred in memory. A See below. bit in A403 will turn ON to show the location of the error as listed below. A403.
Section 9-2 Error Processing Error Error code (in A400) Auxiliary Area flag and word data I/O Table Setting error 80E0 A401.10: I/O Setting Error Flag Cycle Time Overrun error 809F A401.08: Cycle Time Too Long Flag System C101 to FALS error C2FF A401.06: FALS Error Flag Non-fatal Errors Probable cause Possible remedy More than 5 Modules are connected. Check whether the number of Modules is incorrect.
Section 9-2 Error Processing Error Coordinator Module Fatal error Coordinator Module WDT error Error Flag and word Probable cause code (in data A400) 0006 A402.14: Coor- A fatal error occurred in the Coordidinator Module nator Module. Fatal Error Flag Remove the cause of the error in the Coordinator Module and then clear the error. 0001 Turn the power OFF and ON again. A402.13: Coordinator Module WDT Error Flag A watchdog timer error occurred in the Coordinator Module.
Section 9-2 Error Processing 9-2-6 Power Supply Check Note Model CJ1W-PA205R CJ1W-PA202 Power Supply Unit's POWER indicator is not lit. No Supply voltage 100 to 240V AC 100 to 240V AC Permissible range 85 to 264V AC 85 to 264V AC Connect power supply. Is power being supplied to the Module? Yes Yes No Is POWER indicator lit? Is voltage in range? (See note.) No Keep voltage fluctuations within the permissible range.
Section 9-2 Error Processing 9-2-7 Memory Error Check Memory error occurred Flash Memory Error Flag (A403.10) ON? ON The internal flash memory's rewrite limit has been exceeded. Replace the Module. OFF Was power interrupted while backing up memory with the CXProgrammer? Yes The power supply was turned OFF during a memory backup. Transfer the data again. No There was a hardware failure in the internal memory. Replace the Module.
Section 9-2 Error Processing 9-2-9 Cycle Time Overrun Error Check Cycle Time Overrun Error occurred Is the assumed cycle time less than the watch cycle time set in the System Setup? The program execution time exceeded the watch cycle time. Increase the watch cycle time setting in the System Setup. No Yes Are interrupts being used? Yes Is the Max. No Interrupt Processing Time setting OK? It is possible that the error occurred because the interrupt task execution time was too long.
Section 9-2 Error Processing 9-2-11 I/O Setting Error Check I/O Setting Error occurred Are 5 or more Motion Control Modules connected? No Yes Reconfigure the system so that 4 or fewer Motion Control Modules are connected to the Coordinator Module. 254 Replace the Module.
Section 9-2 Error Processing 9-2-12 I/O Check The I/O check flowchart is based on the following ladder diagram section, assuming that the problem is SOL1 does not turn ON. (LS1) CIO 0000.02 CIO 0001.00 SOL1 CIO 0005.00 Start Is the output indicator for CIO 0001.00 normal? (LS1) CIO 0000.03 No Yes Check the 0001.00 terminal voltage with a multimeter. No Is the voltage normal? No Yes Monitor the ON/OFF status of CIO 0001.00 from the CXProgrammer. Replace the terminal block connector.
Section 9-3 Troubleshooting Problems in Modules 9-2-13 Environmental Conditions Check Environmental Conditions Check Is the ambient temperature below 55 °C? No Consider using a fan or air conditioner. Yes Is the ambient temperature above 0 °C? No Consider using a heater. Yes Is the ambient humidity between 10% and 90%? No Consider using an air conditioner. No Install surge suppressor or other noise-suppressing equipment at noise sources.
Section 9-3 Troubleshooting Problems in Modules Motion Control Module Errors Error condition The Motion Control Module’s RUN indicator does not go ON. Probable cause An error in program is causing a fatal error Motion Control Module does not operate or does not The I/O bus is faulty. operate properly. Remedy Correct program. Replace the Motion Control Module. A particular I/O point does not operate. Error occurs in 8-point or 16-point units. A particular I/O point stays ON.
Section 9-3 Troubleshooting Problems in Modules Output Errors Error condition None of the outputs will go ON. Probable cause (1) The load power is not being supplied. Remedy Supply power. (2) Load power supply voltage is Adjust voltage to within the too low. allowed range. (3) Faulty terminal block connec- Replace terminal block connector contact. tor. None of the outputs will go OFF. A specific bit address’ output does not turn ON. (Indicator is not lit.
SECTION 10 Inspection and Maintenance This section provides inspection and maintenance information. 10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 10-1-1 Inspection Points. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 10-1-2 Module Replacement Precautions . . . . . . . . . . . . . . . . . . . . . . . . . .
Section 10-1 Inspections 10-1 Inspections Daily or periodic inspections are required in order to maintain the FQM1 in peak operating condition. 10-1-1 Inspection Points Although the major components in the FQM1 have an extremely long life time, they can deteriorate under improper environmental conditions. Periodic inspections are thus required to ensure that the required condition is being maintained.
Section 10-1 Inspections No. Item 4 Installation and wiring Inspection Check that each Module is connected and locked to the next Module securely. Check that cable connectors are fully inserted and locked. Check for loose screws in external wiring. Criteria No looseness Check crimp connectors in external wiring. Adequate spacing between Check visually and adjust if necesconnectors sary. Check for damaged external wiring cables.
Inspections 262 Section 10-1
Appendix A Programming Programs and Tasks Tasks There are basically two types of task. 1. Cyclic Task The cyclic task is executed once each cycle. 2. Interrupt Tasks An interrupt task is executed when the interrupt condition is met, even if this occurs while the cyclic task is being executed. There are three types of interrupt task. Type of task Sync mode scheduled interrupt tasks Input interrupt tasks Description The sync mode scheduled interrupt task is executed once every sync cycle.
Appendix A Programming Subroutines What Are Subroutines? A subroutine is a program written between the SBN(092) and RET(093) instructions in a special subroutine area. A subroutine is called from the main program using the SBS(091), MCRO(099), or JSB(982) instruction. Subroutines can be used in the following three ways with the FQM1. Type of subroutine Normal subroutines Subroutines for which parameters are passed Description Normal subroutines are executed without passing parameters.
Programming Appendix A Using Subroutines That Pass Parameters With these subroutines, parameters can be passed to the subroutine when it is called and then the results of processing in the subroutine can be returned to the main program. This enables using one subroutine while changing the I/O addresses that are used. One subroutine can thus be used in multiple locations with similar logic in the program to reduce the number of program steps and make the program easier to understand.
Appendix A Programming Note (1) Index registers have been used to increase the usability of subroutines called with JSB(982). The actual addresses in I/O memory of the first input parameter word and first output parameter word are automatically stored in index registers IR0 and IR1, respectively.
Appendix A Programming Application Examples Execution without Subroutine Input Condition Flags Without Macro Function 0000.00 With Macro Function P_On (Always ON) 0010.01 MCRO 0049 0000 0010 0010.00 0010.00 0000.01 0000.02 MCRO 0049 0002 0015 0010.01 0002.00 0015.01 0015.00 MCRO 0049 0005 0012 0015.00 0002.01 0002.02 0015.01 0005.00 MCRO 0049 0010 0015 0012.01 0012.00 0012.00 0005.01 0010.00 SBN 0005.02 0012.01 0220.00 0015.00 0225.00 0015.01 0015.00 0010.01 0220.01 049 0225.
Appendix A Programming Execution with Subroutine Input Condition Flags Main Program a b c JSB 0 D00000 D01000 Results of logic for input condition Subroutine called Subroutine 0 is called and executed regardless of the status of the input condition. The logic results of a, b, c is stored in A000.00 as the input condition. The actual memory address of D00000 (10000 hex) is stored in IR0 and the actual memory address of D00100 (10064 hex) is stored in IR1 Subroutine 0 SBN 0 A000.00 W000.
Appendix A Programming Basic Information on Programming Basic Information on Instructions Programs consist of instructions. The conceptual structure of the inputs to and outputs from an instruction is shown in the following diagram. Input condition*1 Input condition Instruction Instruction conditions Instruction conditions*2 Flags Flag *1: Input instructions only. Operands (sources) Operands (destinations) *2: Not output for all instructions.
Appendix A Programming The following instructions are used in pairs to set and cancel certain instruction conditions. Each pair of instructions must be in the same task. Instruction condition Description Interlocked Setting instruction An interlock turns OFF part of the program. Special conditions, such as IL(002) turning OFF output bits, resetting timers, and holding counters, are in effect. Block program A program block from BPRG(096) to BEND(801) is executed.
Appendix A Programming Instruction Location and Input Conditions The following table shows the possible locations for instructions. Instructions are grouped into those that do and those do not require input conditions. Instruction type Input Logical start instructions (Load instructions) Possible location Connected directly to the left bus bar or is at the beginning of an instruction block. Input condition Not required. Intermediate Between a logical start instructions and the output instruction.
Appendix A Programming 0010 Word address DM Area addresses are given with “D” prefixes, as shown below for the address D00200. D00200 Word address Specifying Operands Operand Specifying bit addresses Description The word address and bit number are specified directly to specify a bit (input input bits). @@@@. @@ Notation 0001 02 Application examples 0001.
Appendix A Programming Operand Specifying indirect DM addresses in Binary Mode Description Notation Application examples The offset from the beginning of the area is specified. The contents of the address will be treated as binary data (00000 to 32767) to specify the word address in Data Memory (DM). Add the @ symbol at the front to specify an indirect address in binary mode.
Appendix A Programming Operand Specifying an indirect address using a register Description Indirect address (No offset) Notation The bit or word with the memory address contained in IR@ will be specified. Specify ,IR@ to specify bits and words for instruction operands. Constant offset Data 16-bit constant 32-bit constant ,IR1 The bit or word with the memory address in IR@ + or – the constant is specified. Specify +/– constant ,IR@. Constant offsets range from –2048 to +2047 (decimal).
Appendix A Programming Operand Data form Symbol Text string data is stored in ASCII --(one byte except for special characters) in order from the leftmost to the rightmost byte and from the rightmost (lower) to the leftmost word. 00 hex (NUL code) is stored in the rightmost byte of the last word if there is an odd number of characters. 0000 hex (2 NUL codes) is stored in the leftmost and rightmost vacant bytes of the last word + 1 if there is an even number of characters.
Appendix A Programming Data Formats The following table shows the data formats that the FQM1 can handle.
Appendix A Programming Negative Numbers: A value is negative if the leftmost bit is 1 (ON). In 4-digit hexadecimal, this is expressed as 8000 to FFFF hex. The absolute of the negative value (decimal) is expressed as a two’s complement. Example: To treat –19 in decimal as signed binary, 0013 hex (the absolute value of 19) is subtracted from FFFF hex and then 0001 hex is added to yield FFED hex.
Appendix A Programming Note Signed BCD Data Signed BCD data is a special data format that is used to express negative numbers in BCD. Although this format is found in applications, it is not strictly defined and depends on the specific application. The FQM1 supports four data formats and supports the following instructions to convert the data formats: SIGNED BCD-TO-BINARY: BINS(470) and SIGNED BINARY-TO-BCD: BCDS(471). Refer to the Instructions Reference Manual (Cat. No. O011) for more information.
Appendix A Programming Instruction Variations The following variations are available for instructions to differentiate executing conditions. Variation Differentiation Symbol Description @ Instruction that differentiates when the input condition turns ON. ON OFF % Instruction that differentiates when the input condition turns OFF. @ MOV Instruction (mnemonic) Differentiation variation Input Conditions The FQM1 offers the following types of basic and special instructions.
Appendix A Programming • Input Instructions (Logical Starts and Intermediate Instructions): The instruction reads bit status, makes comparisons, tests bits, or perform other types of processing every cycle and will output an OFF execution condition (power flow stops) when results switch from OFF to ON. The execution condition will turn ON the next cycle. Upwardly differentiated input instruction 0001.03 Example OFF execution condition created for one cycle only when CIO 0001.03 goes from OFF to ON.
Appendix A Programming Programming Precautions Condition Flags Using Condition Flags Condition flags are shared by all instructions, and will change during a cycle depending on results of executing individual instructions. Therefore, be sure to use Condition Flags on a branched output with the same input condition immediately after an instruction to reflect the results of instruction execution.
Appendix A Programming Since condition flags are shared by all instructions, make absolutely sure that they do not interfere with each other within a single ladder-diagram program. The following are examples. 1. Using Execution Results in NC and NO Inputs The Condition Flags will pick up instruction B execution results as shown in the example below even though the NC and NO input bits are executed from the same output branch.
Appendix A Programming Example: The following example will move #0200 to D00200 if D00100 contains #0010 and move #0300 to D00300 if D00100 does not contain #0010. CMP 䋤0010 D00100 Incorrect Use Reflects CMP execution results. = MOV (1) 䋤0200 D00200 Reflects MOV execution results. MOV = (2) 䋤0300 D00300 The Equals Flag will turn ON if D00100 in the rung above contains #0010.
Appendix A Programming 2. Using Execution Results from Differentiated Instructions With differentiated instructions, execution results for instructions are reflected in Condition Flags only when input condition is met, and results for a previous rung (rather than execution results for the differentiated instruction) will be reflected in Condition Flags in the next cycle.
Appendix A Programming Equals Flag The Equals Flag is a temporary flag for all instructions except when comparison results are equal (=). It is set automatically by the system, and it will change. The Equals Flag can be turned OFF (ON) by an instruction after a previous instruction has turned it ON (OFF). The Equals Flag will turn ON, for example, when MOV or another move instruction moves 0000 hex as source data and will be OFF at all other times.
Appendix A Programming Special Program Sections FQM1 programs have special program sections that will control instruction conditions. The following special program sections are available. Program section Subroutine Instructions SBS(091), JSB(982), SBN(092), and RET(093) instructions IL(002) - ILC(003) section IL(002) and ILC(003) instructions Step Ladder section STEP(008) instruction Block program section Instruction condition Status Subroutine program The subroutine program section being executed.
Appendix A Programming Instructions Not Allowed in Subroutines The following instructions cannot be placed in a subroutine. Function Mnemonic Ladder Step Control STEP(008) SNXT(009) Instruction Define step ladder section Step through the step ladder Note Block Program Sections A subroutine can include a block program section.
Appendix A Programming Computing the Cycle Time FQM1 Operation Flowchart The Coordinator Module and Motion Control Modules process data in repeating cycles from the overseeing processing up to peripheral servicing as shown in the following diagram. Startup initialization Power ON Checks Module connection status. YES Sets error flags Flashing (nonfatal error) ERR indicator lit or flashing? Executes user program (i.e., executes cyclic task).
Appendix A Programming Overview of Cycle Time Calculations Coordinator Module The cycle time of the Coordinator Module will vary with the following factors.
Appendix A Programming 5. Sync Bus Refreshing Details Processing time and fluctuation cause The sync bus between the Coordinator Module and Motion Control Modules is refreshed. Async Mode: 0 µs Sync Mode: 170 µs min. (depends on number of Motion Control Modules) 6. Cyclic Refreshing Details Processing time and fluctuation cause The allocated bit areas are refreshed. 4 µs + Cyclic refresh time (40 µs) x Number of Motion Control Modules 7.
Appendix A Programming 4. I/O Refreshing Details Processing time and fluctuation cause The built-in I/O and special inputs (pulse/analog) on the Motion Control Module are refreshed. MMP21: 48 µs MMA21: 135 µs Motion Control Module I/O refresh time 5. Cyclic Refreshing Details Processing time and fluctuation cause Cyclic refresh with the Coordinator Module 21 µs 6. Sync Bus Refreshing Details The sync bus between the Coordinator Module and Motion Control Modules is refreshed.
Appendix A Programming Example of Calculating the Cycle Time An example is given here for FQM1-MMP21 Motion Control Modules connected to a Coordinator Module. Conditions Item Motion Control Modules Condition FQM1-MMP21 2 Modules User program 5 Ksteps Peripheral port connection Constant cycle time setting None None RS-232C port connection RS-422A port connection None None Other peripheral servicing None LD: 2.5 Ksteps OUT: 2.5 Ksteps Calculation Example for FQM1-MMP21 Process Calculation 1.
Appendix A Programming Response Time I/O Response Time The I/O response time is the time it takes from when an built-in input on a Module turns ON, the data is recognized by the Module, and the user program is executed, up to the time for the result to be output to the built-in output terminals. The length of the I/O response time depends on the following conditions.
Appendix A Programming Motion Control Module I/O Response Time Minimum I/O Response Time (General-purpose I/O 0 to 3) The I/O response time is shortest when the input refresh is executed immediately after a Motion Control Module detects an input, as shown in the figure below. The minimum I/O response time is the total of the Input ON delay, the Cycle time, and the Output ON delay.
Appendix A Programming Calculation Example Input ON delay: Overhead time: Instruction execution time: Output ON delay: Position of OUT: 0.03 ms 0.193 ms 0.001 ms 0.1 ms Beginning of program. I/O Response Time for Pulse and Analog I/O As shown in the following diagram, an MPU in the Motion Control Module directly controls pulse and analog I/O processing with hardware. The cycle time for pulse and analog I/O is thus included in the cycle time of a Motion Control Module.
Appendix A Programming Input Input ON delay time Interrupt signal accepted Software interrupt response time Accepting next interrupt signal enabled Interrupt task executed Input interrupt task interrupt response time Task program execution time Return time from input interrupt task Cyclic task execution (main program) 61 µs is required from when execution of input interrupt task program is completed until returning to cyclic task execution.
Appendix A Programming Processing Time The time required from when the interrupt factor occurs until the interrupt task is called and the time required from completing the interrupt task until program execution returns to the original position are shown below. Item 1 Description Time Interrupt input ON delay This is the additional time required from when the interrupt input contact turns 30 µs ON until the interrupt is generated. This time applies only to input interrupts.
Programming Appendix A (2) When using interrupt tasks frequently, be sure to consider the time required for interrupt processing and its affect on the overall system. (3) The results of executing an interrupt task can be output immediately from within the interrupt task by using the IORF(097) instruction. (This can also be performed to output the results of execution in the main program immediately after execution.
Appendix B I/O Memory Overview of I/O Memory Introduction This section describes the I/O Memory and other parts of memory in the Modules other than that containing the user program. I/O Memory This region of memory contains the data areas which can be accessed by instruction operands. The data areas include the CIO Area, Work Area, Auxiliary Area, DM Area, Timer Area, Counter Area, Index Registers, Condition Flag Area, and Clock Pulse Area.
Appendix B I/O Memory I/O Memory Structure Coordinator Module The following table shows the basic structure of the I/O Memory for the Coordinator Module.
Appendix B I/O Memory Motion Control Modules The following table shows the basic structure of the I/O Memory Area for the Motion Control Modules.
Appendix B I/O Memory CIO Area Overview It is not necessary to input the “CIO” prefix when specifying an address in the CIO Area. The CIO Area is generally used for data exchanges, such as I/O refreshing between Modules (Coordinator Module and Motion Control Modules). Words that are not allocated to Modules may be used as work words and work bits in the program only.
Appendix B I/O Memory This area can be used to transfer information between Modules that does not required high-speed exchange. The user can allocate the information to be transferred and the information can be used accessed from the ladder programs in the Coordinator Module and Motion Control Modules to coordinate programming.
Appendix B I/O Memory Immediate Refresh I/O can also be refreshed on the timing specified by the user using immediate refreshing. Any I/O refreshed using an immediate refresh will also be refreshed for the END refresh. Refreshing Using the IORF(097) Instruction Inputs IORF 0000 0001 When IORF(097) is executed for CIO 0000 and CIO 0001, the status of input terminals are input to input bits and the status of output bits is output to output terminals.
Appendix B I/O Memory • Each TR bit can be used only once in one program section. • The status of TR bits cannot be changed from the CX-Programmer. TB bits are used in the following cases. • When there are two outputs with different LD instructions after the last branch point: Instruction 0000.00 0000.01 TR0 0000.02 0000.04 0002.03 0002.05 LD OR OUT AND OUT LD AND OUT Operand 0000.00 0000.01 TR 0 0000.02 0002.03 TR 0 0000.04 0002.
Appendix B I/O Memory The following table shows when timer PVs and Completion Flags will be reset. Instruction TIMER: TIM HIGH-SPEED TIMER: TIMH(015) Mode change FQM1 startup Operation in jumps Operation in interlocks between (JMP-JME) or tasks on (IL-ILC) PROGRAM and standby RUN/MONITOR PV → 0 PV → 0 PVs refreshed in operat- PV → SV ing timers (Reset to SV.
Appendix B I/O Memory Data Memory (DM) Area Word addresses D00000 D30000 Held words D32767 The DM Area contains 32,768 words with addresses ranging from D00000 to D32767. This data area is used for general data storage and manipulation and is accessible only by word. Data in D00000 to D29999 is cleared to all zeros when the power supply is cycled, but is held when the operating mode is changed from PROGRAM mode to RUN/MONITOR mode or vice-versa.
Appendix B I/O Memory The Condition Flags cannot be force-set and force-reset except for the Carry Flag, which can be manipulated with the STC(040) and CLC(041) instructions. Summary of the Condition Flags The following table summarizes the functions of the Condition Flags, although the functions of these flags will vary slightly from instruction to instruction. Refer to the description of the instruction for complete details on the operation of the Condition Flags for a particular instruction.
Appendix B I/O Memory Clock Pulses The Clock Pulses are flags that are turned ON and OFF at regular intervals by the system. Name Label 0.02 s Clock Pulse 0.02s CX-Programmer Symbol Operation P_0_02s ON for 0.01 s OFF for 0.01 s 0.01 s 0.01 s 0.1 s Clock Pulse 0.1s P_0_1s ON for 0.05 s OFF for 0.05 s 0.05 s 0.05 s 0.2 s Clock Pulse 0.2s P_0_2s ON for 0.1 s OFF for 0.1 s 0.1 s 0.1 s 1 s Clock Pulse 1s P_1s ON for 0.5 s OFF for 0.5 s 0.5 s 0.
I/O Memory Appendix B Parameter Area Unlike the data areas in I/O Memory, which can be used in instruction operands, the Parameter Area can be accessed only from the CX-Programmer. The Parameter Area is made up of the following parts. • The System Setup • The Routing Tables System Setup The user can customize the basic specifications of the Coordinator Module and Motion Control Modules with the settings in the System Setups.
Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Overview of System Setups A System Setup contains software settings that the user can change to customize FQM1 operation. Module functions are set using its System Setup. The Coordinator Module and Motion Control Modules all have System Setups, which are set from the CX-Programmer to customize operation for the following types of applications.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Sync Cycle Time Address Word +319 Settings Function Bits 00 to 14 0000 hex: Default (Coordinator Module cycle time) 0001 to 0064 hex: 0.1 to 10.0 ms (unit: 0.1 ms) Default: Coordinator Module cycle time Related flags and words Sets the cycle time for the Coordinator A404.06 (Sync Cycle Module when high-speed synced oper- Time Too Long Flag) ation is to be used only between Motion Control Modules.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Peripheral Port Settings (CX-Programmer: Peripheral Port Tab Page) Communications Settings Address Word +144 Settings Function Bits 00 to 07 Setting Data length Start bits Stop bits Parity 00 hex: 7 1 2 Even 01 hex: 7 1 2 Odd 02 hex: 7 1 2 None 04 hex: 7 1 1 Even 05 hex: 7 1 1 Odd 06 hex: 7 1 1 None 08 hex: 8 1 2 Even 09 hex: 8 1 2 Odd 0A hex: 8 1 2 None 0C hex: 8 1 1 E
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Host Link Unit Number Address Word +147 Settings Function Bits 00 to 07 00 to 1F hex: Unit number 0 to 31 Default: 00 hex Related flags and words This setting determines the Coordinator A412.15 (Peripheral Port Settings Changing Module's unit number when it is conFlag) nected in a 1-to-N (N=2 to 32) Host Link. When setting is read At next cycle (Also can be changed with STUP (237).
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Baud Rate Address Word +145 Settings Function Bits 00 to 07 00 hex: 9,600 06 hex: 9,600 07 hex: 19,200 08 hex: 38,400 09 hex: 57,600 Unit: bit/s Default: 00 hex Only settings 00 hex and 06 to 09 hex can be used in peripheral bus mode. Related flags and words When setting is read A412.15 (Peripheral Port Settings Changing Flag) At next cycle (Also can be changed with STUP (237).
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Host Link Unit Number Address Word +163 Settings Function Bits 00 to 07 00 to 1F hex: 0 to 31 Default: 00 hex Related flags and words When setting is read This setting determines the Coordinator A410.15 (RS-232C Port At next cycle (Also Settings Changing Flag) can be changed Module's unit number when it is conwith STUP (237).) nected in a 1-to-N (N=2 to 32) Host Link.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Baud Rate Address Word +161 Settings Function Bits 00 to 07 00 hex: 9,600 06 hex: 9,600 07 hex: 19,200 08 hex: 38,400 09 hex: 57,600 Unit: bit/s Default: 00 hex Only settings 00 hex and 06 to 09 hex can be used in peripheral bus mode. Related flags and words When setting is read A410.15 (RS-232C Port At next cycle (Also Settings Changing Flag) can be changed with STUP (237).
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Start Code and End Code Address Word +164 Settings Function Bits 00 to 07 00 to FF hex Default: 00 hex The frame format for no-protocol communications data (messages) can be specified.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C RS-422A Port Settings (CX-Programmer: Drive Tab Page) RS-422A Port Settings for Serial Gateway Standard/Custom Setting Address Word +360 Settings Function Bits 15 0: Standard settings Default: 0 Related flags and words When setting is read The standard settings are for 1 start bit, A414.15 (RS-422A Port --7-bit data, even parity, 2 stop bits, and Settings Changing Flag) 9,600 baud.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Start Code and End Code Address Word +364 Settings 00 to 07 00 to FF hex Default: 00 hex 08 to 15 00 to FF hex Default: 00 hex +365 Function Related flags and words Bits 12 08 and 09 The frame format for no-protocol communications data (messages) can be specified. Specifies the end code. This setting is valid when bits 08 to 09 of +365 are set to 01. When setting is read A414.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C System Setup in Motion Control Modules Settings Used by All Motion Control Modules CX-Programmer: Module Settings Tab Page Address +304 +305 Bits Function 08 Prohibit system interruption of the sync 0 hex: Allow interrupts mode 1 hex: Prohibit interrupts Set this bit to 1 to prohibit system interrupts during program execution and I/O memory refreshing to maintain synced operation between Modules in Sync Mode.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C FQM1-MMP21 Motion Control Modules with Pulse I/O CX-Programmer: Pulse Input Tab Page Address +320 Bits Function Remarks 00 to 03 High-speed Input method counter 1 (Counter 1) 0 hex: Phase differential x1 1 hex: Phase differential x2 2 hex: Phase differential x4 3 hex: Increment/decrement pulse inputs 4 hex: Pulse + direction inputs 04 to 07 Reset method 0 hex: Software reset 1 hex: Phase Z and software reset 08 to 1
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address +323 +324 +325 Bits Function Remarks Appendix C When setting is read Same as for high-speed counter 1 except that fre- At power ON quency measurement (Counter data to monitor, bit 00 to 03 of +324: 02 hex) cannot be set for high-speed counter 2.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Note Always set the Circular Maximum Count when setting any of the circular operation modes.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Function Remarks Appendix C When setting is read +330 to 331 00 to 15 High-speed Absolute offset counter 1 (Counter 1) 8000 0000 to 7FFF FFFF hex Immediately Application origin when using an absolute encoder. +332 to 333 00 to 15 High-speed Absolute offset counter 2 (Counter 2) Same as high-speed counter 1.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Note The RS-232C port settings can also be changed with the STUP (237) instruction. The RS-232C Port Settings Changing Flag (A410.15) will remain ON from the time STUP (237) is executed until the settings have actually been changed.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Note The watch cycle time setting cannot be changed while the Module is in RUN or MONITOR mode. Watch Cycle Time Watch Time Actual Cycle Time Watch Cycle Time Actual Cycle Time Watch Cycle Time Actual Cycle Time ↓ OVER Cycle Time Too Long Flag A401.08 ON ↓ Module operation is stopped. Note The default value for the watch cycle time is 50 ms.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C The default value for each servicing process is 6.25% of the last cycle’s cycle time. In general, it is recommended that the default value be used. Set a uniform servicing time only when peripheral servicing is being delayed because each service process is being spread over several cycles. Note (1) When the peripheral servicing time is set to a time longer than the default value, the cycle time will also be longer.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Auxiliary Area Allocations by Function The following tables list the words and bits allocated in the Auxiliary Area by function. These tables provide only an overview of the functionality. Refer to Appendix D Auxiliary Area Allocations for details or a list of allocations by address.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A608 330 Bits Name Appendix C Function 00 High-speed Target Compar- OFF: Target value comparison is not being performed for counter 1 status ison InCTBL(882). progress Flag Note This flag is always OFF for range comparison. ON: Target value comparison is being performed for CTBL(882).
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A609 Bits 00 01 Name Function High-speed Target Compar- Same as for high-speed counter 1. counter 2 status ison Inprogress Flag Appendix C Controlled by Module PV Overflow/ Underflow Flag 02 Reserved 03 Phase Z Input Reset Flag (ON for one cycle) 04 Absolute No. of Rotations Read Error Flag 05 Absolute No.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A610 Bits 00 High-speed counter 1 command bits Function Controlled by Start Bit OFF: Stops counter operation. The counter PV will be maintained. User ON: Starts counter operation. The counter PV will not be reset. Reset Bit OFF: If a software reset is set in the System Setup, the counter PV will not be reset when internal I/O is refreshed in the Motion Control Module.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A611 Bits 00 01 02 Name High-speed Start Bit counter 2 comReset Bit mand bits Measurement Start Bit 03 Reserved 04 Range Comparison Results Clear Bit 05 Absolute Offset Preset Bit 06 Absolute Present Value Preset Bit 07 Absolute Number of Rotations Read Bit 08 Latch Input 1 Enable Bit 09 Latch Input 2 Enable Bit 10 to 15 Reserved Appendix C Function Same as command bits for high-speed counter 1.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A620 to A621 Bits Name 00 to 15 Pulse Output 1 PV Note This item applies when the operation mode is relative pulse output, absolute pulse output in linear mode, absolute pulse output in circular mode, or electronic cam mode. Appendix C Function Contains the pulse output PV as an 8-digit hexadecimal number.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A626 Bits 00 Name Pulse Output 1 Command Bits 01 00 01 Pulse Output 2 Command Bits 02 to 15 A628 Function OFF: Pulse output 1 PV not reset. ON: Resets pulse output 1 PV. Controlled by User Range ComOFF: Does not clear the execution results (A630) or output bit patparison Results tern (A631) from CTBL(882) execution for range comparison for Clear Bit the pulse output PV.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C FQM1-MMA21 Motion Control Modules with Analog I/O Address Bits Name Function A550 00 to 15 Analog Input PV Contains the value input from the analog input port (using either the END refresh or immediate refresh) in 4-digit hexadecimal.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A562 Bits 00 Name Analog Output 1 Flags Function User Adjustment Completed Initial value is 0. Set to 1 if user performs offset/gain adjustment and Returns to factory default setting of 0 if adjustment value is cleared. 01 to 03 Reserved --- 04 Operating ON: ON while the analog output is being changed by ACC(888). OFF: Turned OFF when target value is reached.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits A564 00 A565 00 A570 00 Name Analog Output 1 --- 01 02 --Adjustment Enable Analog Input Reserved Analog Output 1 03 A571 --- Conversion Enable ON: Enables D/A conversion (enables analog output). User Bit OFF: Disables DA conversion (analog values output according to Output Stop Function specification in System Setup).
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A600 Bits 00 to 15 A601 00 to 15 A602 00 to 15 A603 00 to 15 A604 to A605 00 to 15 A606 to A607 00 to 15 Name Function High-speed Counter 1 PV Highspeed Counter 2 PV of absoFor following lute number counter modes • Absolute linear of rotations (CW−) • Absolute circular • Absolute linear (CW+) Contains the number of rotations data (PV) read from the Encoder when the SEN signal is input to the Servo Driver.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A608 340 Bits Name Appendix C Function 00 High-speed Target Compar- OFF: Target value comparison is not being performed for counter 1 status ison InCTBL(882). progress Flag Note This flag is always OFF for range comparison. ON: Target value comparison is being performed for CTBL(882).
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A609 Bits 00 01 Name Function High-speed Target Compar- Same as for high-speed counter 1. counter 2 status ison Inprogress Flag Appendix C Controlled by Module PV Overflow/ Underflow Flag 02 Reserved 03 Phase Z Input Reset Flag (ON for one cycle) 04 Absolute No. of Rotations Read Error Flag 05 Absolute No.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A610 Bits 00 High-speed counter 1 command bits Function Controlled by Start Bit OFF: Stops counter operation. The counter PV will be maintained. User ON: Starts counter operation. The counter PV will not be reset. Reset Bit OFF: If a software reset is set in the System Setup, the counter PV will not be reset when internal I/O is refreshed in the Motion Control Module.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address A611 Bits 00 Name Function High-speed Start Bit counter 2 comReset Bit mand bits Measurement Start Bit 01 02 Appendix C 03 Reserved 04 Range Comparison Results Clear Bit 05 Absolute Offset Preset Bit 06 Absolute Present Value Preset Bit 07 Absolute Number of Rotations Read Bit 08 Latch Input 1 Enable Bit 09 Latch Input 2 Enable Bit 10 to 15 Reserved Same as command bits for high-speed counter 1.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A524 00 to 15 Interrupt Counter 0 Counter PV A525 00 to 15 Interrupt Counter 1 Counter PV A526 00 to 15 Interrupt Counter 2 Counter PV A527 00 to 15 Interrupt Counter 3 Counter PV Function Appendix C Controlled by These words contain the interrupt counter PVs for interrupt input 0 to 3 Module operating in counter mode. The counter PV starts decrementing from the counter SV.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Address Bits Name A500 14 A400 00 to 15 Error code Function Error Log Pointer Reset The error log pointer in A408 is reset to 0000 hex and Memory Not and Memory Not Held Held Flag (A404.14) is turned OFF when this bit is turned ON.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C Other Address Bits Name Function Controlled by A401 08 Cycle Time Too Long Flag (fatal error) Turns ON if the cycle time exceeds the maximum cycle time set in the Module System Setup (the Watch Cycle Time). A404 05 Constant Cycle Time Exceeded Flag Turns ON when the actual cycle time exceeds the specified constant (minimum) cycle time.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C RS-232C Port Address A410 Bits Name 02 to 05 RS-232C Port Error Flags Function Indicates the status of the error flags that turn ON when an error has occurred at the RS-232C port. 08 RS-232C Port Commu- Turns ON when a communications error has occurred at the RS-232C nications Error Flag port. 09 RS-232C Port Send Turns ON when the RS-232C port is ready to send data in no-protocol Ready Flag (no-protocol mode.
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Coordinator Module Built-in I/O Allocations Inputs (40-pin General-purpose I/O Connector) Name I/O Area allocations External input 0 CIO 0000.00 External input 1 CIO 0000.01 to to External input 15 CIO 0000.15 Outputs (40-pin General-purpose I/O Connector) Name I/O Area allocations External output 0 CIO 0001.00 External output 1 CIO 0001.01 to to External output 7 CIO 0010.
Appendix D Auxiliary Area Allocations Auxiliary Area Allocations in Order of Address The following table lists the Auxiliary Area allocations in order of address. Refer to Auxiliary Area Allocations by Function on page 329 for a list of allocations by function.
Appendix D Auxiliary Area Allocations Address A403 A404 A405 Bits Name Function 00 UM Error Flag Turns ON when there is an error in the user memory. 04 System Setup Error Flag Turns ON when there is an error in the System Setup in the Coordinator Module or Motion Control Module. 10 Flash Memory Error Flag Turns ON when the flash memory is physically destroyed. 13 Analog Offset/Gain Error Flag Turns ON when there is an error in the analog I/O offset/gain adjustment value in flash memory.
Appendix D Auxiliary Area Allocations Address A414 Bits 02 03 04 Name RS-422A Parity Error Flag Port Framing Error Flag Error Flags Overrun Error Flag Function These error flags turn ON when an error has occurred at the RS422A port. 05 Timeout Error Flag 08 RS-422A Port Communications Error Flag Turns ON when a communications error has occurred at the RS422A port. 09 RS-422A Port Send Ready Flag (no-protocol mode) Turns ON when the RS-422A port is ready to send data in no-protocol mode.
Appendix D Auxiliary Area Allocations Address Bits Name Function A520 00 to 15 Interrupt Counter 0 Counter SV Used for interrupt input 0 in counter mode. Sets the count value at which the interrupt task will start. Interrupt task 000 will start when interrupt counter 0 has counted this number of pulses. Setting range: 0000 to FFFF A521 00 to 15 Interrupt Counter 1 Counter SV Used for interrupt input 1 in counter mode. Sets the count value at which the interrupt task will start.
Appendix D Auxiliary Area Allocations Address Bits Name Function A559 00 to 15 Number of Analog Samples Indicates the number of data samples actually input since sampling started. A560 00 to 15 Analog Output 1 Output Value When an END refresh is selected, the 4-digit hexadecimal value set here by the user is output from analog output port 1. When immediate refreshing is selected, the 4-digit hexadecimal value being output from analog output port 1 is stored here for monitoring.
Appendix D Auxiliary Area Allocations Address A570 Bits 00 02 03 Name Adjustment Mode Command Bits (Effective only when A575 is 5A5A hex.) Function Adjustment Enable Analog Input Analog Output 1 Analog Output 2 OFF: Adjustment disabled. ON: Adjustment enabled. When one of these bits is turned ON, the default value (offset or gain value) corresponding to the selected I/O signal range is transferred to Adjustment Mode Monitor Area (A572 and A573).
Appendix D Auxiliary Area Allocations Address A606 to A607 Bits Name 00 to 15 Highspeed Counter 2 For following counter modes • Linear counter • Circular counter A608 A609 00 Function For following PV of absolute counter modes number of rotations • Absolute linear (CW−) • Absolute circular • Absolute linear (CW+) Same as for A604 and A605 for high-speed counter 1 except that measuring the high-speed counter frequency is not possible for high-speed counter 2.
Appendix D Auxiliary Area Allocations Address A610 Bits 00 01 A611 Function OFF: Stops counter operation. The counter PV will be maintained. ON: Starts counter operation. The counter PV will be reset. OFF: If a software reset is set in the System Setup, the counter PV will not be reset when internal I/O is refreshed in the Motion Control Module. If a phase Z + software reset is set, disables the phase Z input.
Appendix D Auxiliary Area Allocations Address A612 A613 A614 A615 A620 to A621 A622 to A623 A624 A625 Bits Name Function Range Comparison Execution 00 to 15 HighResults Flags speed counter 1 monitor data 00 to 15 Output Bit Pattern Contains the CTBL(882) execution results for range comparison. Bits 00 to 15 correspond to ranges 1 to 16.
Appendix D Auxiliary Area Allocations Address A626 Bits 00 01 A627 00 01 A628 07 14 Name Pulse Output 1 Command Bits Pulse Output 2 Command Bits PV Reset Bit Function OFF: Pulse output 1 PV not reset. ON: Resets pulse output 1 PV. Range Comparison Results Clear Bit OFF: Does not clear the execution results (A630) or output bit pattern (A631) from CTBL(882) execution for range comparison for the pulse output PV.
Appendix D Auxiliary Area Allocations Detailed Explanations on the Auxiliary Area Error Log Area: A100 to A199 A100 Error code A101 Error contents A102 0101 A103 0101 A104 0101 A195 A196 Error code Error contents A197 0101 A198 0101 A199 0101 Error record Error record The following data would be generated in an error record if a memory error (error code 80F1) occurred with the error located in the System Setup (04 hex).
Auxiliary Area Allocations Appendix D FQM1 Memory Addresses FQM1 memory addresses are set in Index Registers (IR0 or IR1) to indirectly address I/O memory. Normally, FQM1 memory addresses are set into the Index Registers automatically when calling subroutines with JSB(982). Some instructions, such as FIND MAXIMUM (MAX(182)) and FIND MINIMUM (MIN(183)), output the results of processing to an Index Register to indicate an FQM1 memory address.
Appendix D Auxiliary Area Allocations Memory Map Note Do not access the areas indicated Reserved for system. Classification FQM1 memory addresses (hex) User addresses Area Parameter areas 00000 to 0B0FF --- System Setup Area Profile Area I/O memory areas 0B100 to 0B1FF --- Reserved for system. 0B200 to 0B7FF --- Reserved for system. 0B800 to 0B801 TK0000 to TK0031 Task Flag Area 0B802 to 0B83F --- Reserved for system.
Appendix D Auxiliary Area Allocations FQM1 Instruction Execution Times and Number of Steps The following table lists the execution times for all instructions that are available for the FQM1. The total execution time of instructions within one whole user program is the process time for program execution when calculating the cycle time. (See note.) Note User programs are allocated tasks that can be executed within cyclic tasks and interrupt tasks that satisfy interrupt conditions.
Appendix D Auxiliary Area Allocations Note When a double-length operand is used, add 1 to the value shown in the length column in the above table. Sequence Control Instructions Instruction ON execution time (µs) Mnemonic Code Length (steps) (See note.) END END 001 1 7.0 Yes NO OPERATION NOP 000 1 0.05 Yes --- INTERLOCK IL 002 1 0.15 Yes --- INTERLOCK CLEAR ILC 003 1 0.15 Yes --- JUMP JMP 004 2 0.
Appendix D Auxiliary Area Allocations Instruction Input Comparison Instructions (double, signed) Mnemonic Code LD, AND, OR +=+SL 303 Length (steps) (See note.) 4 ON execution time (µs) 0.35 Hardware implementation Yes Conditions --- LD, AND, OR +<>+SL 308 LD, AND, OR +<+SL 313 LD, AND, OR +<=+SL 318 LD, AND, OR +>+SL 323 LD, AND, OR +>=+SL 328 COMPARE CMP 020 3 0.10 Yes --- DOUBLE COMPARE CMPL 060 3 0.50 Yes --- SIGNED BINARY COMPARE CPS 114 3 0.
Appendix D Auxiliary Area Allocations Data Shift Instructions Instruction SHIFT REGISTER Mnemonic Code SFT 010 REVERSIBLE SHIFT REGISTER SFTR ASYNCHRONOUS SHIFT REGISTER ASFT WORD SHIFT WSFT 084 017 016 Length (steps) (See note.) 3 4 4 4 ON execution time (µs) Hardware implementation Conditions 12.4 --- Shifting 1 word 368.1 --- Shifting 1,000 words 14.0 --- Shifting 1 word 1.44 ms --- Shifting 1,000 words Shifting 1 word 13.9 --- 3.915 ms --- Shifting 1,000 words 9.
Appendix D Auxiliary Area Allocations Note When a double-length operand is used, add 1 to the value shown in the length column in the above table. Symbol Math Instructions Instruction Code SIGNED BINARY ADD WITHOUT CARRY + 400 4 0.30 Yes --- DOUBLE SIGNED BINARY ADD WITHOUT CARRY +L 401 4 0.60 Yes --- SIGNED BINARY ADD WITH CARRY +C 402 4 0.40 Yes --- DOUBLE SIGNED BINARY ADD WITH CARRY +CL 403 4 0.60 Yes --- BCD ADD WITHOUT CARRY +B 404 4 16.
Appendix D Auxiliary Area Allocations Instruction Mnemonic Code Length (steps) (See note.) ON execution time (µs) Hardware implementation Conditions BCD DIVIDE /B 434 4 18.3 --- --- DOUBLE BCD DIVIDE /BL 435 4 26.7 --- --- Note When a double-length operand is used, add 1 to the value shown in the length column in the above table. Conversion Instructions Instruction Mnemonic Code Length (steps) (See note.
Appendix D Auxiliary Area Allocations Special Math Instructions Instruction ARITHMETIC PROCESS Mnemonic Code APR 069 ON execution time (µs) Length (steps) (See note.) 4 BIT COUNTER BCNT 067 4 VIRTUAL AXIS AXIS 981 4 Hardware implementation Conditions 24.3 --- Linear approximation specification, normal 12.1 --- Linear approximation table transfer, 1 word 126.1 --- Linear approximation table transfer, 128 words 241.3 --- Linear approximation table transfer, 256 words 21.
Appendix D Auxiliary Area Allocations Instruction Floating Symbol Comparison Mnemonic Code LD, AND, OR +=F 329 LD, AND, OR +<>F 330 LD, AND, OR +F 333 LD, AND, OR +>=F 334 Length (steps) (See note.) 3 ON execution time (µs) 8.9 Hardware implementation --- Conditions --- Note When a double-length operand is used, add 1 to the value shown in the length column in the above table.
Appendix D Auxiliary Area Allocations Interrupt Control Instructions Instruction Length (steps) (See note.) ON execution time (µs) Mnemonic Code SET INTERRUPT MASK MSKS 690 3 7.6 --- --- READ INTERRUPT MASK MSKR 692 3 5.2 --- --- CLEAR INTERRUPT CLI 691 3 7.2 --- --- DISABLE INTERRUPTS DI 693 1 5.3 --- --- ENABLE INTERRUPTS EI 694 1 5.6 --- --- INTERVAL TIMER STIM 980 4 9.5 --- One-shot timer 11.0 --- One-shot pulse output 9.5 --- Scheduled interrupt 10.
Appendix D Auxiliary Area Allocations Instruction COMPARISON TABLE LOAD SPEED OUTPUT SET PULSES PULSE OUTPUT Mnemonic Code CTBL 882 SPED PULS PLS2 ACCELERATION CON- ACC TROL 885 886 ON execution time (µs) Length (steps) (See note.) 4 4 4 Hardware implementation Conditions 36.5 --- Registering target value table and starting comparison for 1 target value 259.6 --- Registering target value table and starting comparison for 48 target values 22.
Appendix D Auxiliary Area Allocations Serial Communications Instructions Instruction TRANSMIT RECEIVE CHANGE SERIAL PORT SETUP Mnemonic Code TXD 236 RXD STUP 235 237 Length (steps) (See note.) 4 4 3 ON execution time (µs) Hardware implementation Conditions 24.1 --- Sending 1 byte 342.6 --- Sending 256 bytes 36.2 --- Storing 1 byte 348.9 --- Storing 256 bytes 441.1 --- --- Note When a double-length operand is used, add 1 to the value shown in the length column in the above table.
Appendix D Auxiliary Area Allocations Instruction Branching Branching Branching (NOT) Mnemonic Code IF (input condition) 802 IF (relay number) 802 Length (steps) (See note.) 1 ON execution time (µs) 6.8 Conditions Yes 12.2 2 11.0 Yes 16.5 IF NOT 802 (relay number) 2 Branching ELSE 803 1 Branching IEND 804 1 11.5 Yes 7.0 IF true IF false Yes 13.4 13.5 IF true IF false 16.8 11.
Auxiliary Area Allocations 374 Appendix D
Index A A/D conversion value, 222 absolute encoder absolute circular counter, 202 absolute linear counter, 202 absolute offset preset, 203 absolute present value, 202 absolute PV preset, 203 output data acquisition, 207 format, 200 Absolute No. of Rotations Read Completed Flag, 340, 341, 355 Absolute No.
Index RS-232C port, 66, 134 serial data, 200 BCD data, 276 pin arrangement Coordinator Modules, 67 Motion Control Modules, 68 BCD-mode addressing, 307 Connector-Terminal Block Conversion Units, 75 binary-mode addressing, 307 constant cycle time, 19, 114 Sync Mode, 115 block programs, 270, 286, 287 instruction execution times, 372 Constant Cycle Time Exceeded Error Clear Bit, 115, 117 Constant Cycle Time Exceeded Flag, 115, 346, 350 C cables, 235 Carry (CY) Flag, 270, 285, 308 CIO Area, 302 Cyclic Re
Index current consumption, 45 between Modules, 105 CX-Programmer, 92, 95 Analog Input/Output Tab Page, 325 connecting cables, 234, 238 connections, 235 methods, 237 Cycle Time Settings, 312 Cycle Time Tab Page, 321 models, 32 Module Settings Tab Page, 321 Other Tab Page, 321 overview, 8, 234 Peripheral Port Settings, 313 Peripheral Port Settings for Host Link, 313 Peripheral Port Settings for NT Link, 314 Peripheral Port Settings for Peripheral Bus (ToolBus), 314 Peripheral Service Time Settings, 320 Puls
Index Equals Flag, 285, 308 FAL Error Flag, 121, 249, 345, 349 error codes, 359 FAL errors, 249 Error Flag, 308 FAL(006) instruction, 121 error flags, 359 FALS Error Flag, 122, 249, 345, 349 error log, 120, 242 FALS errors, 249 Error Log Area, 242, 344, 349 FALS(007) instruction, 122 Error Log Pointer, 350 fatal errors, 246 (FALS(007)), 121 error processing flowchart, 245 errors communications error, 250 Coordinator Module Fatal error, 250 Coordinator Module WDT error, 250 CPU error, 246 CPU s
Index Memory Error Flag, 248, 345, 349 Memory Not Held Flag, 345, 350 Motion Control Module Monitor Error Flag, 249 Motion Control Module Monitoring Error Flag, 345, 349 Negative Flag, 308 No END Error Flag, 344, 350 Not Equal Flag, 308 Overflow Flag, 308 Peripheral Port Error Flags, 350 Peripheral Port Settings Changing Flag, 346 Phase Z Input Reset Flag, 355 Program Error Flag, 248, 344, 349 Pulse Output 1 Status, 357 Pulse Output 2 Status, 357 Pulse Output Status, 334 PV Overflow/Underflow Flag, 355 Rang
END refresh, 303 immediate refresh, 304 Motion Control Modules, 98 using IORF(097) instruction, 304 I/O response time, 293 calculating, 293 Coordinator Modules, 293 Motion Control Modules, 294 I/O Setting Error Flag, 249, 345, 349 I/O Table Setting error, 249 Illegal Instruction Error Flag, 344, 350 increment instructions execution times, 365 increment pulse inputs, 153 Independent Pulse Output Flag, 357 indicators error indications, 243 Motion Control Indicators, 38 inductive loads surge suppressor, 86 INI
Index Less Than or Equals Flag, 308 Linear Counter, 154 linear counter CCW rotation, 201 CW rotation, 201 Linear Counter Mode, 205 linear mode, 180 logic instructions execution times, 367 M Maximum Cycle Time, 116 MCRO(099) instruction, 265 Measuring Flag, 340, 341, 355 Memory Backup Status Window, 119 Memory Error Flag, 248, 345, 349 memory map, 361 Memory Not Held Flag, 345, 350 momentary power interruption, 100 MONITOR mode, 99 monitoring, 14 Motion Control Module Monitoring Error Flag, 249, 345, 349 Mo
Index Peripheral Devices, 6 peripheral port connecting a personal computer, 235 Peripheral Port Communications Error Flag, 346, 350 overview, 5 specifications, 33 wiring, 60 Phase Z Input Reset Flag, 340, 341, 355 precautions general, xiv output surge current, 90 output wiring, 89 periodic inspections, 260 programming, 281 replacing Modules, 261 safety, xiv two-wire DC sensors, 88 using pulse outputs, 175 wiring, 85 phase-Z signal, 155 printing, 18 PLC Setup, 14, 16 errors, 249 Program Error Flag, 24
Index pulse inputs, 148 applicable instructions, 152 application examples, 162 connections, 71 high-speed counter, 153 internal circuit configuration, 152 mode, 204 specifications, 148, 150 Pulse Output Completed Flag, 357 pulse output direction priority mode, 183 Pulse Output Flag, 357 pulse output instructions execution times, 370 Read/Write DM Area, 96 refreshing END, 222, 228 immediate, 222, 228 immediate refreshing, 279 Relative Pulse Output, 21 replacing Modules, 261 RS, 347 RS-232C port connecting a
Index operation procedure, 133 PLC Setup (Master), 134 System Setup (Slave), 134 Servo Drivers compatible with absolute encoder, 207 compatible with absolute encoders timing chart, 209 functions compatible with absolute encoders, 199 Servo Relay Units, 6 dimensions, 45, 79 functions, 76 models, 32 nomenclature, 76 wiring, 75 example, 82 setup initial setup, 14 preparations for operation, 13 short-circuit protection, 89 signed binary data, 276 Slot No.
Index T table data processing instructions execution times, 369 Target Comparison Flag, 357 W watch cycle time, 116 Windows, 235 Timeout Error Flag, 350, 351 wiring, 13, 15 examples, 71 I/O devices, 87 installing wiring ducts, 53 methods, 74 noise reduction, 86 Power Supply Units, 60 precautions, 50, 85, 89 output surge current, 90 RS-232C port, 64 Screw-less Clamp Terminal Blocks, 76, 79 wire size, 75 Timer Area, 305 Work Area, 304 Timer Completion Flags, 361 Work Areas (in CIO Area), 303 timer in
Index 386
Revision History A manual revision code appears as a suffix to the catalog number on the front cover of the manual. Cat. No. O010-E1-01 Revision code The following table outlines the changes made to the manual during each revision. Page numbers refer to the previous version.
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