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32

List of Models

Section 2-1

2-1

List of Models

Note

If CX-Programmer Ver. 5.0 is used with the FQM1, the FQM1 Patch Software
must be installed.

2-2

General Specifications

General Specifications

Name

Type

Model

Specifications

Coordinator Mod-
ule

Standard
(with built-in I/O)

FQM1-CM001

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

End Module

Standard

FQM1-TER01

Connects to the right end of the FQM1.

Servo Relay Units

---

XW2B-80J7-1A

Simplifies wiring from the Motion Control Module to two
Servo Drivers, wiring for all switches, sensors, and other
general-purpose I/O, and wiring the RS-422A line.

FQM1 Flexible
Motion Controller
Set

Set for pulse I/O

FQM1S-MC231

A set including the CJ1W-PA202, FQM1-CM001, FQM1-
MMP21, and FQM1-TER01

Set for analog I/O FQM1S-MC222

A set including the CJ1W-PA205R, FQM1-CM001,
FQM1-MMA21, and FQM1-TER01

Programming
Device

CX-Programmer
Ver. 5.0 or later

WS02-CXPC1-E-V5

@

(See note.)

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

Item

Specifications

Insulation resistance

20 M

Ω

min. (at 500 VDC) between AC external and GR terminals (See note 1.)

Dielectric strength

2,300 V AC 50/60 Hz for 1 min between AC external and GR terminals (See notes 1 and 2.)
Leakage current: 10 mA max.

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

Noise immunity

2 kV on power supply line (conforming to IEC61000-4-4)

Vibration resistance

10 to 57 Hz, 0.075-mm amplitude, 57 to 150 Hz, acceleration: 9.8 m/s

2

in X, Y, and Z direc-

tions for 80 minutes total (Time coefficient: 8 minutes

×

coefficient factor 10 = total time 80

min.) (conforming to JIS C0040)

Shock resistance

147 m/s

2

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

Ambient operating tem-
perature

0 to 55

°

C

Ambient operating
humidity

10% to 90% (with no condensation)

Atmosphere

Must be free from corrosive gases

Ambient storage temper-
ature

−

20 to 75

°

C

Grounding

Less than 100

Ω

Enclosure

Mounted in a panel.

Dimensions

49

×

90

×

80 mm (W

×

H

×

D) (not including cables)

Weight

All models are each 5 kg max.

Safety measures

Conforms to EC directives, C-Tick, and cULus.

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Содержание HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001

Страница 1: ...OPERATION MANUAL Cat No O010 E1 01 FQM1 Series FQM1 CM001 FQM1 MMP21 FQM1 MMA21 Flexible Motion Controller...

Страница 2: ...FQM1 Series FQM1 CM001 FQM1 MMP21 FQM1 MMA21 Flexible Motion Controller Operation Manual Produced November 2004...

Страница 3: ...iv...

Страница 4: ...means word and is abbreviated Wd in documentation in this sense The abbreviation CM means Coordinator Module and the abbreviation MM means Motion Control Module Visual Aids The following headings appe...

Страница 5: ...vi...

Страница 6: ...ure 13 1 7 Function Tables Arranged by Purpose 19 SECTION 2 Specifications and Nomenclature 31 2 1 List of Models 32 2 2 General Specifications 32 2 3 Coordinator Module 34 2 4 Motion Control Modules...

Страница 7: ...nctions 123 6 1 Serial Communications 124 SECTION 7 Motion Control Module Functions 137 7 1 Overview 139 7 2 Interrupt Functions 140 7 3 Input Interrupts 142 7 4 Interval Timer Interrupts 146 7 5 Puls...

Страница 8: ...nspection and Maintenance 259 10 1 Inspections 260 Appendices Programming 263 A I O Memory 299 B System Setup Auxiliary Area Allocations and Built in I O Allocations 311 C Auxiliary Area Allocations 3...

Страница 9: ...x TABLE OF CONTENTS...

Страница 10: ...by the Motion Control Module Section 8 explains how to connect a personal computer running the CX Programmer to the FQM1 Section 9 provides information on identifying and correcting errors that occur...

Страница 11: ...xii...

Страница 12: ...le 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 Inte...

Страница 13: ...directly or indirectly affect human life You must consult with your OMRON representa tive before applying a FQM1 System to the above mentioned applications 3 Safety Precautions WARNING Do not attempt...

Страница 14: ...ke appropriate measures in the program using the Memory Not Held Flag A404 14 when externally outputting the contents of the DM Area Caution Confirm safety at the destination Module before transferrin...

Страница 15: ...rning OFF the power supply may result in malfunction or electric shock Mounting or dismounting Power Supply Unit Coordinator Module Mo tion Control Module and End Module Assembling the Modules Setting...

Страница 16: ...l the terminal screws and cable connector screws are tight ened to the torque specified in the relevant manuals Incorrect tightening torque may result in malfunction Mount the Modules only after check...

Страница 17: ...les may cause failures in external devices or the Coordinator Module Do not connect pin 6 5V on the RS 232C port on the Coordinator Mod ule to any external device other than the NT AL001 or CJ1W CIF11...

Страница 18: ...Radiated emission 10 m regulations Low Voltage Directive Always ensure that devices operating at voltages of 50 to 1 000 V AC and 75 to 1 500 V DC meet the required safety standards for the Motion Con...

Страница 19: ...an 5 times per minute Countermeasure Examples When switching an inductive load connect an surge protector diodes etc in parallel with the load or contact as shown below Circuit Current Characteristic...

Страница 20: ...ue of the diode may be two to three times larger than the supply voltage if the surge protector is applied to electronic circuits with low circuit voltages Yes Yes The varistor method prevents the imp...

Страница 21: ...e ambient temperature Use portion of the DM Area backed up by the super capacitor only for data that is to be held during mo Module Data Data backup Coordinator Module Error log RAM with super capacit...

Страница 22: ...ng data in areas stored for power interruptions to perform suitable processing A404 14 Turns ON when power is turned ON if data stored for power inter ruptions in the DM Area or error log is corrupted...

Страница 23: ...xxiv Data Backup 5...

Страница 24: ...on 4 1 3 Modules 6 1 4 CX Programmer 8 1 5 Expanded System Configuration 9 1 5 1 Serial Communications 9 1 5 2 Systems 9 1 6 Basic Operating Procedure 13 1 6 1 Examples 15 1 7 Function Tables Arranged...

Страница 25: ...ed in one system up to three if only analog I O Motion Control Modules are used A flexible system ideal for the application can be created because each Motion Control Module controls two axes giving t...

Страница 26: ...ule The Coordinator Module has 24 built in I O 16 inputs and 8 outputs for com munications with host controllers and 12 inputs and 8 outputs for Motion Con trol Modules Built in General purpose I O in...

Страница 27: ...rams The ladder program for each Module is written using CX Programmer Ver 5 01 or later see note and then written to each Module via the peripheral port on the Coordinator Module The ladder program i...

Страница 28: ...ncoders Linear Sensors Servos Inverters etc can be con nected to the special I O Each Motion Control Module has a ladder program for executing motion control and other functions Each Motion Control Mo...

Страница 29: ...l errors This cyclic refresh data is refreshed every Coordinator Module cycle Synchronized sharing of special data between Modules broad cast at specified sync cycle User specified synchronous data se...

Страница 30: ...grammer and RS 232C port for connecting PTs and other devices Ladder program for coordinating Motion Control Module data and other functions 24 general purpose I O 10 words of cyclic refresh data for...

Страница 31: ...Programmer can also be used for SYSMAC CS CJ series PLCs OS Microsoft Windows 95 98 or NT4 0 Service Pack 6 Microsoft Windows 2000 or Me Microsoft Windows XP Personal computers IBM PC AT or com patib...

Страница 32: ...nications instructions Host Link SYS MAC WAY Personal computer OMRON Programmable Termi nals PTs Communications between the host computer and the Module Host Link commands FINS commands No protocol cu...

Страница 33: ...r the PT s status control area status notify area objects such as touch switches indicators and memory maps can be allocated in the I O memory of the FQM1 The NT Link System allows the PT to be contro...

Страница 34: ...Slave The FQM1 can be connected to a Serial PLC Link by linking to a Serial PLC Master It cannot be connected by the Complete Link Method Program free data exchange can be achieved between the master...

Страница 35: ...Mod ule is set to Serial Gateway to achieve this Servo Drivers Connectable to RS 422A OMRON s W series or SMARTSTEP Servo Drivers can be connected System Configuration Example Smart Active Parts on an...

Страница 36: ...ply Unit Coordinator Module Motion Control Mod ules and End Module Refer to 3 1 4 Connecting FQM1 Components for details Mount the FQM1 Refer to 3 1 5 DIN Track Installation for details 2 Wiring Conne...

Страница 37: ...dix C System Setup Auxiliary Area Allocations and Built in I O Al locations for details 6 Writing the Programs Write the programs for the Coordinator Module and Motion Control Mod ules with the CX Pro...

Страница 38: ...rdinator Module In particular be sure that the settings for the peripheral port are correct Example When connecting the CX Programmer to the peripheral port turn OFF pin 2 Note When devices other than...

Страница 39: ...otion Control Modules transfer ring programs or debugging Set the mode to ASync Mode in the System Setup of the Coordinator Module to enable changing the operating modes of the Motion Control Modules...

Страница 40: ...Use the CX Programmer to switch each Module to MONITOR mode Using the CX Programmer 8 c Monitoring and Debugging There are several ways to monitor and debug FQM1 operation including the force set and...

Страница 41: ...n Data Tracing The CX Programmer s data trace operation can be used to check and debug program execution Online Editing When a few lines of the program in a Module have to be modified they can be edit...

Страница 42: ...hronous operation is also possible because programs can handle the same data between different Modules Example Sending position data for VIRTUAL AXIS AXIS instruction from a Module sending high speed...

Страница 43: ...Module in that Sync Cycle Time is made con stant and the I O cycle with external interfaces is also made constant Prohibit System Interruption of the Sync Mode Same as Prohibit System Interruption of...

Страница 44: ...cceleration deceleration conditions with specified total output pulses do not lead to trapezoidal control Speed Change Cycle Selection 2 ms 1 ms 7 6 11 Acceleration Deceleration Rates in ACC 888 and P...

Страница 45: ...put instructions with position deviation using virtual axis and high speed counter 7 8 Virtual Pulse Output Function Uses virtual axis AXIS instruction in relative mode The current position output for...

Страница 46: ...lled as slave axes with the basic axis Set the desired path pattern to the broken line approximation instruction APR instruction table data and execute pulse output control based on the APR instructio...

Страница 47: ...ing mode to electronic cam control circular Prepare a straight line table whose slope becomes the multiplier for APR instruction and use APR instructions to calculate the pulse out put target position...

Страница 48: ...lculations in ladder programs based on analog input informa tion from dancer rollers or tension detectors High speed feedback loops can be created using FQM1 high speed cycles and analog I O conversio...

Страница 49: ...on Number of input pulses can be monitored simul taneously as high speed counter PV and pulse frequency Purpose Operation Main functions used Details Measuring undulation dis tortion thick ness height...

Страница 50: ...hronous control while perform ing position control on slave axis synchronized with position based on pulse input or synchro nous control while adding analog value from dis placement sensor as position...

Страница 51: ...es Starting inter rupt processing at scheduled time Interval timer interrupt scheduled interrupt STIM 980 instruction 7 4 Interval Timer Interrupts 7 4 3 Interval Timer Interrupt Modes Repeats interru...

Страница 52: ...interrupt tasks The elapsed time is stored in Motion Control Module Auxiliary Area This data can be read using the PRV instruction Note Pulse output 1 or pulse output 2 must be set to pulse counter ti...

Страница 53: ...30 Function Tables Arranged by Purpose Section 1 7...

Страница 54: ...e FQM1 and describes the parts and their functions on the Coordinator Module and Motion Control Modules 2 1 List of Models 32 2 2 General Specifications 32 2 3 Coordinator Module 34 2 4 Motion Control...

Страница 55: ...FQM1 MMA21 and FQM1 TER01 Programming Device CX Programmer Ver 5 0 or later WS02 CXPC1 E V5 See note Used for System Setup setting programming and moni toring for Coordinator Modules and Motion Contr...

Страница 56: ...C Total 25 W max Total 14 W max Output terminal Not provided RUN output Contact configuration SPST NO Switching capacity 250 V AC 2 A resistive load 120 V AC 0 5 A inductive load 24 VDC 2 A resistive...

Страница 57: ...ngth Testing the insulation and dielectric strength with the LG terminal and the GR terminals connected will damage internal circuits 2 3 Coordinator Module Nomenclature Note Cover the peripheral port...

Страница 58: ...ng SW2 Peripheral port baud rate detection System Setup ON System Setup settings OFF Automatic baud rate detection SW1 Reserved FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 ON OFF CM001 1...

Страница 59: ...g Area None Timer Area 256 timers T0000 to T0255 1 ms 10 ms and 100 ms timers Counter Area 256 counters C0000 to C0255 decrementing counters and reversible counters Note Status not retained when power...

Страница 60: ...ompatible with Servo Drivers with absolute encoders Pulse outputs 2 40 pin connector General purpose I O General purpose inputs 12 General purpose outputs 8 26 pin connector Functions Pulse outputs Th...

Страница 61: ...MMP21 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 RDY RUN ERR A1 B1 A2 B2 MMP21 2 1 IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 RDY RUN ERR A1 B1 A2 B2 Pulse I O...

Страница 62: ...words CIO 0200 to CIO 0219 Sent from Coordinator Module CIO 0200 to CIO 0203 Sent from Motion Control Module 1 CIO 0204 to CIO 0207 Sent from Motion Control Module 2 CIO 0208 to CIO 0211 Sent from Mo...

Страница 63: ...s 50 kHz 500 kHz phase differential 4 2 MHz High speed pulse outputs CW and CCW 1 MHz Line driver One shot pulse output High speed counters Single phase pulse inputs Up down pulse inputs Pulse directi...

Страница 64: ...MHz Absolute Servo Driver interfaces 2 SEN output specifications 5 V PNP output output current 5 mA When SEN signal is output to Servo Driver Servo Driver will transmit the number of encoder s rotatio...

Страница 65: ...river will transmit the number of encoder s rotations to this Module After that it transmits pulse train cor responding to displacement of the number of rota tions to the Module Analog input Number of...

Страница 66: ...l Modules FQM1 TER01 End Module FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL PORT ON OFF CM001 2 CN1 RS422 1 40 39 1 2 49 mm 90 mm 80 mm MMP21 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT...

Страница 67: ...44 Dimensions Section 2 5 Power Supply Units CJ1W PA202 CJ1W PA205R 65 45 81 6 90 POWER PA202 INPUT NC NC AC100 240V L2 N L1 POWER PA205R DC24V AC240V OUTPUT RUN INPUT AC100 240V L2 N L1 65 80 81 6 90...

Страница 68: ...wer that can be sup plied by Power Supply Units to the Controller Current Consumption for Each Module Current Consumption for 5 V System Note The current consumption increases by 0 15 A Module if NT A...

Страница 69: ...m current consumption A Motion Control Module Pulse I O FQM1 MMP21 0 836 Analog I O FQM1 MMA21 0 843 Name Type Model 24 V system current consumption A Motion Control Module Analog I O FQM1 MMA21 0 104...

Страница 70: ...ameters in the user memory is automatically backed up to flash memory This means that user memory data both user program and parameter area data is not lost if the super capacitor voltage drops Coordi...

Страница 71: ...48 Memory Block Diagram Section 2 7...

Страница 72: ...necting FQM1 Components 56 3 1 5 DIN Track Installation 57 3 2 Wiring 60 3 2 1 Wiring Power Supply Units 60 3 2 2 RS 232C Port Wiring 64 3 3 Wiring Module Connectors 67 3 3 1 Connector Pin Arrangement...

Страница 73: ...ations 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 pow...

Страница 74: ...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 equip ment Install the FQM1 at least 200 mm away from power lines Ground the...

Страница 75: ...of the following positions FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL PORT ON OFF CM001 2 CN1 RS422 1 40 39 1 2 MMP21 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6 7 8 9 1...

Страница 76: ...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 Wiring Duct Example The following example shows the proper installation of...

Страница 77: ...Appearance and Dimensions The Modules that make up the FQM1 are connected to each other and an End Module is connected to the right end INPUT AC100 240V L2 N L1 NC NC FQM1 FQM1 FQM1 FQM1 200 mm min I...

Страница 78: ...1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 RDY RUN ERR A1 B1 A2 B2 90 W NC NC INPUT AC100 240V L2 N L1 PA202 POWER Name Model Specifications Unit width Power Supply Unit CJ1W PA2...

Страница 79: ...anel contain ing the FQM1 3 1 4 Connecting FQM1 Components The Modules that make up the FQM1 can be connected simply by pressing the Modules together and locking the sliders The End Module is connecte...

Страница 80: ...ng procedure to install the FQM1 on DIN Track 1 2 3 1 Release the pins on the backs of the Modules Slide the sliders towards the back cover until they click into place INPUT AC100 240V L2 N L1 NC NC L...

Страница 81: ...k the bottom on the bottom of the track rotate the Plate to hook the top of the Plate on the top of the track and then tighten the screw to lock the Plate in place 1 2 DIN Track FLE XIB LE MO TIO N CO...

Страница 82: ...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 PFP 100N 50N DIN Track DIN Track End Plates 2 Require...

Страница 83: ...y lines but noise between the FQM1 and ground can be significantly reduced by connecting a 1 to 1 isolation transformer Do not ground the secondary coil of the transformer Power Supply Capacity The po...

Страница 84: ...ed This label prevents wire strands and other foreign matter from entering the Unit during wiring procedures 3 Do not forget to remove the label from the top of the Power Supply Unit after wiring the...

Страница 85: ...oth to less than 100 to prevent electrical shock The ground wire should not be more than 20 m long The FQM1 is designed to be mounted so that it is isolated separated from the mounting surface to prot...

Страница 86: ...nnect bare stranded wires directly to terminals 3 Tighten the terminal block screws to a torque of 1 2 N m 4 Use M4 crimp terminals for AC power supplies Crimp Terminals for Ground Wire LG GR Other eq...

Страница 87: ...No Signal Name Direction 1 FG Protection earth 2 SD TXD Send data Output 3 RD RXD Receive data Input 4 RS RTS Request to send Output 5 CS CTS Clear to send Input 6 5V Power supply 7 DR DSR Data set r...

Страница 88: ...sure they are wired correctly External devices and the Coordinator Module may be damaged if general pur pose e g computer to modem cables are used or if wiring is not correct 1 2 3 4 5 6 7 8 9 CD RD...

Страница 89: ...uters cannot support these speeds Lower the baud rate if necessary RS 232C PT 1 N NT Link RS 232C port PT Shell 1 2 3 4 5 6 7 8 9 FG SD RD RS CS 5V SG Coordinator Unit Shell 1 2 3 4 5 6 7 8 9 FG FG SD...

Страница 90: ...00 12 11 External input 5 CIO 0000 05 12 External input 13 CIO 0000 13 13 External input 6 CIO 0000 06 14 External input 14 CIO 0000 14 15 External input 7 CIO 0000 07 16 External input 15 CIO 0000 15...

Страница 91: ...11 12 Common for external inputs 0 to 3 11 Common for external inputs 4 to 11 10 External output 0 CIO 0001 00 9 External output 4 CIO 0001 04 8 External output 1 CIO 0001 01 7 External output 5 CIO 0...

Страница 92: ...shot pulse output Pin No Name Pin No Name 1 39 2 40 CN2 Pin No Name Pin No Name 1 Counter 1 Phase A 24 V 2 Counter 2 Not used 3 Phase A LD 4 Phase A LD 5 Phase A LD 0 V 6 Phase A LD 0 V 7 Phase B 24 V...

Страница 93: ...Input CW Limit Input Outputs Servo ON RUN RUN command input Alarm reset RESET Alarm reset input Error Counter Reset ECRST Error Counter Reset Input Special I O Connector 40 pin Inputs Phase Z LD Z Enc...

Страница 94: ...Direction Input Mode 24 V 1 5 24 V 2 6 Encoder input A Encoder phase A input Increment pulse input Pulse input 24 V 7 11 24 V 8 12 Encoder input B Encoder phase B input Decrement pulse input Direction...

Страница 95: ...ge striped 5 V DC power supply 5 V 0 V FQM1 Pulse input 1 Phase A LD Pulse input 1 Phase A LD Pulse input 1 Phase B LD Pulse input 1 Phase B LD Pulse input 1 Phase Z LD Pulse input 1 Phase Z LD 3 5 9...

Страница 96: ...output CW pulse output CCW pulse output 5 V DC power supply Servo Driver for 5 V inputs FQM1 MMP21 26 28 31 32 29 30 35 36 33 34 SG See note 5 V DC power supply for outputs CW pulse outputs CCW pulse...

Страница 97: ...ative terminals 3 To conform to the EC Low Voltage Directive use a DC power supply for I O that has reinforced or double insulation 4 Check that the connector wiring has been performed correctly befor...

Страница 98: ...e g from a Motion Control Module to two Servo Drivers for general purpose I O wiring such as for switches and sensors and for RS 422A line wiring The Servo Relay Unit uses a special cable and simplifi...

Страница 99: ...control signals It is also used for external device connections such as analog inputs and latch signal inputs 1 Motion Control Module 40 pin connector 2 Motion Control Module 34 pin connector 6 Signa...

Страница 100: ...1 ECRST Servo 1 MING TXD RXD No 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 Signal name 0 V Latch signal 1 common 0 V Latch signal 2 common 0 V CNT1 phase A LD CNT1 phase B LD Servo 1...

Страница 101: ...tails CNT1 SER_A 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 CNT1...

Страница 102: ...ring Method Inserting Wires Insert the ferrule into the terminal hole Removing Wires Push and hold the release button on top of the terminal hole with a small flat blade screwdriver and remove the wir...

Страница 103: ...80 Wiring Servo Relay Units Section 3 4 Recommended Screwdriver Model Manufacturer SZF1 Phoenix Contact Inc 3 5 mm 0 6 mm Side Front...

Страница 104: ...B2 NC NC INPUT AC100 240V L2 N L1 PA202 POWER CX Programmer SYSMAC PLC Programmable Terminal PT CS1W CN226 626 Peripheral Port Cable RS 232C connection or RS 422A 485 connection via CJ1W CIF11 Power...

Страница 105: ...RXD 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 0 V OUT0 OUT1 OUT2 OUT3 TXD RXD 5 V Latch signal input 1 Latch signal input 2 CNT1 phase A LD input CNT1 phase B LD input Servo 1 phase...

Страница 106: ...10 11 0 1 2 3 4 5 6 7 RDY RUN ERR A1 B1 A2 B2 MMA21 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 RDY RUN ERR A1 B1 A2 B2 NC NC INPUT AC100 240V L2 N L1 PA202 POWER 1 Co...

Страница 107: ...le listed above 4 and attach crimp terminals Specifications Model Connects FQM1 MMP21 and Servo Relay Unit 0 5 m XW2Z 050J A30 1 m XW2Z 100J A30 Connects FQM1 MMA21 and Servo Relay Unit 0 5 m XW2Z 050...

Страница 108: ...ide and outside of the control panel If the I O wiring and power wiring must be routed in the same duct use shielded cable and connect the shield to the GR terminal to reduce noise RS 422A Connecting...

Страница 109: ...If the I O wiring and power cables must be placed in the same duct they must be shielded from each other using grounded steel sheet metal L IN COM OUT COM OUT COM L Diode DC input Relay output or tria...

Страница 110: ...formation for reference when selecting or connecting input devices DC Inputs The following types of DC input devices can be connected IN COM 7 mA 0 V COM IN IN COM Output Contact output Two wire DC ou...

Страница 111: ...VON VCC VR 2 Relation between the FQM1 ON current and sensor control output load current IOUT min ION IOUT max ION VCC VR 1 5 FQM1 internal residual voltage RIN If ION is smaller than IOUT min connect...

Страница 112: ...Sensor to stabilize is created in the program After the Completion Flag for the timer turns ON the sensor input on CIO 0000 01 will cause output bit CIO 0001 00 to turn ON Output Wiring Precautions O...

Страница 113: ...rrent 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 abo...

Страница 114: ...artup Initialization 94 4 2 Motion Control Modules 95 4 2 1 Outline 95 4 2 2 Description of Each Area 95 4 2 3 Motion Control Module Operation 96 4 3 Operating Modes 99 4 3 1 Operating Modes 99 4 3 2...

Страница 115: ...executed at synchronous data refresh The cyclic task is executed every cycle Instructions written in a program are executed in order from the beginning of the program and these instructions are used t...

Страница 116: ...before I O is refreshed and peripherals are serviced This cycle is executed repeatedly Power ON Startup initialization Initialize hardware memory and system work area Detect connected Motion Control...

Страница 117: ...f servicing is separated over more than one cycle delaying comple tion of the servicing set the actual amount of time for Set Time to All Events same time for all services rather than a percentage on...

Страница 118: ...2 Part of the DM Area in the I O Memory Area is backed up by a super ca pacitor 4 2 2 Description of Each Area User Program Area The CX Programmer see note is used to create the Motion Control Module...

Страница 119: ...emory so the data is not lost even if the super capacitor backup time is exceeded Read Write DM Area D00000 to D32767 The Read Write DM Area can be accessed from the user program D00000 to D29999 is c...

Страница 120: ...le 0 1 to 10 0 ms 0 1 ms increments 2 High speed counter inputs pulse outputs or any other data can be set for each Module Caution When the Coordinator Module changes from PROGRAM mode to RUN or MONIT...

Страница 121: ...o output contacts inputs contacts to input bits 2 Special I O Refreshing Pulse inputs pulse outputs analog inputs analog outputs etc 3 Coordinator Module Refreshing Data exchange with Coordinator Modu...

Страница 122: ...de pendently in Sync Mode Always change the operating mode of the Co ordinator Module in Sync Mode 2 To debug Motion Control Module programs change the Coordinator Mod ule to ASync Mode under the Syst...

Страница 123: ...rocessing will be performed if power drops only momentarily momentary power interruption 1 2 3 1 The system will continue to run unconditionally if the momentary power in terruption lasts less than 10...

Страница 124: ...ms 25 ms 25 ms 0 0 to 10 ms Time 10 to 25 ms Power supply voltage Power supply voltage Power supply voltage Momentary power interruption not detected and operation continues 85 of the rated voltage o...

Страница 125: ...ection 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 4 4 2 Instruction Execution...

Страница 126: ...Synchronous Data Refresh 109 5 4 1 Outline 109 5 4 2 Applications 109 5 4 3 Synchronous Data Link Bit Area 110 5 4 4 Settings 111 5 5 DM Data Transfer 112 5 5 1 Outline 112 5 5 2 Settings Details 113...

Страница 127: ...ol of up to 8 axes ASync Mode The Motion Control Modules can be operated at high speed in ASync Mode Some delays in peripheral servicing may occur but ASync Mode is useful for increasing the speed of...

Страница 128: ...ta transfer Transfers large volumes of data between a specified Motion Control Module and the Coordinator Module when required Data is transferred in the specified direction between the specified DM A...

Страница 129: ...received 5 3 2 Applications In addition to the Synchronous Data Link Bit Area normal data exchange between the Coordinator Module and Motion Control Modules is possible using the Cyclic Refresh Area...

Страница 130: ...erved 09 Cycle time over warning OFF No error ON Cycle time exceeded 10 ms 10 MM 1 non fatal error including FAL instructions OFF No non fatal error ON Non fatal error 11 MM 1 fatal error including FA...

Страница 131: ...Bit CM to MM CIO 0100 00 to 15 General pur pose refresh data from CM to MM CIO 0100 00 to 15 CIO 0110 00 to 15 CIO 0120 00 to 15 CIO 0130 00 to 15 CIO 0101 00 to 15 CIO 0101 00 to 15 CIO 0111 00 to 15...

Страница 132: ...Setup Default Coordinator Mod ule cycle time Setting range 0 1 to 10 0 ms Unit 0 1 ms Note Set the Sync Cycle Time longer than the longest cycle time among the syn chronized Motion Control Modules Sy...

Страница 133: ...link bits Synchronous Data Link Bit Areas in Coordinator and Motion Control Modules Word address See note 1 Bits Method for selecting type of synchronous data Sent from Coordina tor Module CIO 0200 0...

Страница 134: ...the synchronous data link bits are broadcast from each Module each Coordinator Module cycle The Motion Control Module cycles are synchronous with the Coordinator Module cycle Note If the Sync Cycle T...

Страница 135: ...or Module and Motion Control Modules Up to 499 words can be transferred Data is transferred in the specified direction between the specified DM Area words in a specified Motion Control Module and the...

Страница 136: ...dinator Module when this bit turns ON Slot No of Motion Control Module for DM Transfer A531 Specifies the slot number in 4 digit hexadecimal for the Motion Control Module with which DM data is to be t...

Страница 137: ...ycle time function and the cycle time monitoring function 5 6 1 Constant Cycle Time Function A constant cycle time can be set with the FQM1 Series Programs are exe cuted at standard intervals which al...

Страница 138: ...ion Control Module s built in I O refresh timing is made constant The time from when the processing starts in the Motion Control Module until the I O refresh will be constant Constant cycle time enabl...

Страница 139: ...cans can also be read from the CX Pro grammer Note The FQM1 can skip program areas that do not need to be executed by using the JMP JME instructions to shorten cycle times Coordinator Module Motion Co...

Страница 140: ...ialization at the start of user programs in each Module Normal Operation The constant cycle time function is cleared if the cycle time exceeds the set constant cycle time Constant Cycle Time Exceeded...

Страница 141: ...for user programs Read Protection Using Passwords Read and display access to the user program area can be blocked from the CX Programmer Protecting the program will prevent unauthorized copying of th...

Страница 142: ...p absolute offset data and analog I O offset gain adjustment values and some DM Area data only for the Coordina tor Module The automatic backup is executed whenever the Module user program or paramete...

Страница 143: ...g Area The error information includes the error code stored in A400 and error contents Up to 20 records can be stored in the Error Log In addition to system generated errors the Module records user de...

Страница 144: ...r Flag in the Auxiliary Area is turned ON 2 The corresponding error code is written to the Auxiliary Area 3 The error code is stored in the Error Log 4 The error indicator on the front of the Modules...

Страница 145: ...tion from the CX Program mer Operation of FALS 007 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 Errors...

Страница 146: ...ons 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 131 6 1...

Страница 147: ...read data at the receive port The frame headers and end codes can be specified Not allowed OK Not al lowed 1 N NT Link The 1 N NT Link commu nications are used even for 1 1 con nections Data can be e...

Страница 148: ...ote programming through modems is not sup ported OK OK Not al lowed Serial Gate way Communications are possi ble between a host com puter or PT connected to the RS 232C port and Servo Drivers connecte...

Страница 149: ...ost com puter to the FQM1 To use FINS com mands the host computer must send the com mands using a Host Link header and terminator Host computer to FQM1 C mode Host Link commands Host Link command OR C...

Страница 150: ...dress in the SV of the specified timer counter instruction R SV READ 2 Searches for the specified timer counter instruction beginning at the specified program address and reads the 4 digit con stant o...

Страница 151: ...05 MEMORY AREA TRANSFER Copies and transfers consecutive data from one part of the I O memory area to another Parameter Area Access 02 01 PARAMETER AREA READ Reads consecutive data from the parameter...

Страница 152: ...tocol communications functions available for the FQM1 Forced Status 23 01 FORCED SET RESET Force sets force resets or clears the forced status of the specified bits 23 02 FORCED SET RESET CANCEL Cance...

Страница 153: ...used the first end code will be valid If the data being transferred contains the end code the data transfer will be stopped midway In this case change the end code to CR LF Note The transmission of da...

Страница 154: ...ethod or Comm B Method on the Memory Switch Menu in the System Menu on the PT 2 Press the SET Touch Switch to set the Comm Speed to Standard High speed communications are not possible Transmission del...

Страница 155: ...QM1 slave to CJ1M maser Note Use a CJ1W CIF11 RS 232C to RS 422A 485 Conversion Adapter when con necting more than one FQM1 to the same CJ1M CPU Unit 1 N where N 8 max Up to 10 words can be sent by th...

Страница 156: ...1 to 10 4 Set the maximum unit number in the Serial PLC Links 0 to 7 FQM1 Slave Settings 1 2 3 1 Set the serial communications mode of the RS 232C communications port to PC Link Slave 2 Set the unit...

Страница 157: ...ay RS 422A compatible Servo Drivers OMRON W series and OMRON SMARTSTEP Servo Drivers System Configuration Example Accessing a W series or SMARTSTEP Servo Driver from Smart Active Parts on a NS series...

Страница 158: ...menus Smart Active Parts Communications Settings When using NS series Smart Active Parts for Servo Drivers with the FQM1 set the Destination Unit No U to 251 on the Smart Active Parts Communica tions...

Страница 159: ...Delay 0 to 99 990 ms unit 10 ms 0 ms End code 00 to FF hex 00 hex Start code 00 to FF hex 00 hex Received bytes 01 to FF hex 1 to 255 bytes 256 bytes Use of end code Received bytes or CR LF Received b...

Страница 160: ...es 146 7 4 4 Using Interval Timer Interrupts 146 7 4 5 Application Example 147 7 5 Pulse Inputs 148 7 5 1 Applicable Models 148 7 5 2 Outline 148 7 5 3 Specifications 148 7 5 4 Pulse Input Specificati...

Страница 161: ...03 7 7 9 Related Areas 204 7 7 10 Overview of Absolute Encoder Output Data Acquire 207 7 7 11 Timing Chart of the Functions for Servo Drivers Compatible with Absolute Encoders 209 7 7 12 Sample Progra...

Страница 162: ...se Outputs FQM1 MMP21 only Pulse Outputs 2 points Pulse output without acceleration deceleration non trapezoidal acceleration or decel eration trapezoidal acceleration deceleration and electronic cam...

Страница 163: ...ddition to interrupts bit patterns can be output internally when the PV is within a specified range in Range Comparison Mode High speed counter PVs pulse output PVs pulse counter timer PVs and one sho...

Страница 164: ...02 DI 802 and EI 694 cannot be used within an interrupt task to disable or enable interrupts Do not use DI 802 to disable all interrupts unless there is a specific need to do so Disabling All Interrup...

Страница 165: ...r other interrupt functions 7 3 3 Interrupt Modes There are two modes that can be used for the input interrupts Each of the four interrupt inputs can be set to either of these modes Input Interrupt Mo...

Страница 166: ...t the interrupt condition in the System Setup Interrupt task num bers CIO 0000 00 to CIO 0000 03 Interrupt tasks 000 to 003 fixed Counter operation Decrementing pulse input Input method Single phase C...

Страница 167: ...Interrupt task number External interrupt input 0 CIO 0000 00 000 External interrupt input 1 CIO 0000 01 001 External interrupt input 2 CIO 0000 02 002 External interrupt input 3 CIO 0000 03 003 0 CIO...

Страница 168: ...rrupt task 0 Interrupt task 1 ON for the first cycle The SV of input interrupt 1 counter mode operation is set to 10 in 4 digit hexadecimal 000A When CIO 0002 00 is ON the following instructions are e...

Страница 169: ...he interrupt is executed just once when the timer times out Scheduled Interrupt Mode In scheduled interrupt mode the timer is reset to the SV each time it times out so the interrupt is repeated regula...

Страница 170: ...ate interrupt Execute interrupt task END Start timer One shot mode Scheduled interrupt mode Read elapsed time First Cycle Flag ON for 1 cycle 0002 00 0002 00 MOV 0004 D00010 MOV 0006 D00011 STIM 0003...

Страница 171: ...is within a specified range the user set bit pattern specified in the compari son table is output internally Measurement modes 1 and 2 Movement in the high speed counter or input pulse counting speed...

Страница 172: ...nd output bit patterns Counter reset Phase Z Signal Software Reset The counter is reset on the phase Z signal if the Reset Bit is ON Software Reset The counter is reset when the Reset Bit is turned ON...

Страница 173: ...with a voltage of 24 VDC except for the FQM1 MMA21 which supports only line driver inputs to high speed counter 2 Signals Encoder inputs A and B and pulse input Z Ports High speed counters 1 and 2 Hi...

Страница 174: ...F ON 50 ON 50 OFF Encoder Inputs A and B Encoder Inputs A and B Waveform Square waveform 50 kHz pulse with 50 duty ratio 20 s min 10 s min 10 s min Relationship to Phase Differential Inputs A and B T1...

Страница 175: ...arison table registered INI 880 Starting comparison Comparison started with previously registered target value com parison table Stopping comparison Target value comparison stopped Changing PV PV of h...

Страница 176: ...remented according to the offset between the two phase signals Increment Decrement Pulse Inputs The phase A signal is the UP pulse and the phase B signal is the DOWN pulse The count is incremented or...

Страница 177: ...ain at 7FFF FFFF hex and if an underflow occurs it will remain at 8000 0000 hex In either case counting will stop and the PV Overflow Underflow Flag shown below will turn ON to indicate the underflow...

Страница 178: ...f the PV is reset If a comparison was being executed before the reset it will continue Checking for High speed Counter Interrupts The following two methods are available to check the PV of high speed...

Страница 179: ...econds Target values for comparison Target value Target value Target value Target value Target value 3 2 4 1 5 1 2 3 4 5 1 1 2 3 4 5 Target value Target value Target value Target value Comparison tabl...

Страница 180: ...ntains the change in high speed counter 1 The change in the high speed counter PV during the specified sam pling period is stored in 8 digit hexa decimal 0000 0000 to FFFF FFFF A606 and A607 00 to 15...

Страница 181: ...ection A610 03 must be specified to match the direction of the input pulses being mea sured The pulse input s counter data display must be set to frequency measurement mode 2 in the System Setup in ad...

Страница 182: ...e pulse input Only pulse 1 high speed counter 1 can be used Measurable frequen cies 0 to 500 kHz Note When no pulses have been input for 10 s the measured value is set to 0 Hz stopped The previous out...

Страница 183: ...ifferential Increment Decrement or Pulse Direc tion Reset Phase Z and software reset or Software reset Counter Operation Circular Counter or Linear Counter Count Check Method Target value Comparison o...

Страница 184: ...cycle Counter PV Reset Method Phase Z software reset Software reset Refresh PV immediate refresh Pulse input 2 A B Z Port 1 Port 2 Auxiliary Area A Counter Operation Circular Counter Linear Counter I...

Страница 185: ...y the rotation direction in the Measurement Direction Bit A610 03 OFF is forward ON is reverse Turn ON the Measurement Start Bit A610 02 Monitor the high speed counter s frequency in A604 and A605 Pro...

Страница 186: ...rupt task 11 is started When the PV reaches 10 000 hex interrupt task 12 is started Target value High speed Counter PV Time 3 10000 Target value 2 7500 Target value 1 2500 Interrupt tasks PV reset on...

Страница 187: ...efault settings Example When the PV is between 0 and 2 500 hex CIO 0001 00 is ON When the PV is between 2 501 and 7 500 hex CIO 0001 01 is ON When the PV is between 7 501 and 10 000 hex CIO 0001 02 is...

Страница 188: ...y compares the high speed counter PV from high speed counter 1 with the specified ranges In this case the comparison table begins at D00000 D00000 0 0 0 4 D00001 0 0 0 0 D00002 0 0 0 0 D00003 2 5 0 0...

Страница 189: ...ruction to read the captured high speed counter PV and the Count Latched Flag is then turned OFF If latch input 1 is turned ON again while the Count Latched Flag is still ON before the captured PV has...

Страница 190: ...pulse output linear absolute pulse output circu lar absolute pulse output electronic cam linear and electronic cam circular It is possible to generate tar get value interrupts see note 2 or range comp...

Страница 191: ...requency range 40 Hz to 50 kHz 1 25 MHz Pulse output frequency range 20 Hz to 20 kHz Frequency accelera tion deceleration rate 1 Hz to 9 999 Hz every 2 ms or 1 ms Duty ratio 50 fixed Pulse output oper...

Страница 192: ...s or bit pattern outputs for range comparisons can be per formed on the PV Note The contents of these above words are updated during I O refreshing Item Specification Number of pulse out puts 2 output...

Страница 193: ...eleration deceleration single phase output Acceleration deceleration single phase output No trapezoid acceleration and deceleration Trapezoid separate acceleration and deceleration rates PULS 886 Sets...

Страница 194: ...sing independent mode select one of the four pulse output operation modes shown in the following table depending on the method used to calcu late the number of pulses and whether it is necessary to ch...

Страница 195: ...mode Operates as linear counter with pulse output values ranging from 8000 0000 to 7FFF FFFF hex Same as for 1 3 Circular mode Operates as circular counter with pulse output values ranging from 0000...

Страница 196: ...tput SPED 88 5 SPED 88 5 Port CW CCW Continu ous Target fre quency Use when changing fre quency in steps See page 190 The frequency is accelerated or decelerated from the present frequency at a fixed...

Страница 197: ...tronic cam control with a sin gle phase output no acceleration or decelera tion and tar get position changes in a fixed time interval See page 191 The frequency accelerates at a fixed rate decel erate...

Страница 198: ...l frequency The following information is used to calculate the output frequency Target frequency Set by user Dividing ratio An integer set in the dividing circuit used to generate the output pulses at...

Страница 199: ...he pulse output turn the output from OFF to ON After the time specified in STIM 980 has elapsed the pulse output is automatically turned OFF in the hardware Target frequency Hz Actual output frequency...

Страница 200: ...Setting units Select 0 01 ms 0 1 ms or 1 ms Setting range 0001 to 270F Hex 1 to 9 999 Word Bits Function Contents A620 00 to 15 Elapsed time of One shot pulse output 1 Lower 4 digits Contains the elap...

Страница 201: ...ut from the port is disabled when this mode is se lected 2 A pulse output port that is being used as a pulse counter timer cannot be used for any other pulse output functions Word Bits Function Conten...

Страница 202: ...n can be used for continuous speed control to control a series of repetitive oper ations at specific positions by repeating speed control patterns The processing of the target value comparison interru...

Страница 203: ...errupt 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 tar get value Frequency speed Target value 5 Ta...

Страница 204: ...task 2 Target value 2 00002000 Interrupt task 5 Target value 5 00100000 Always ON Accelerating Decelerating Always ON Accelerating Decelerating Acceleration deceleration rate Target frequency Accelera...

Страница 205: ...ed range The processing of the range comparison bit pattern outputs for pulse output PVs is the same as the processing for high speed counter PVs so refer to Checking for High speed Counter Interrupts...

Страница 206: ...Priority Mode The user determines the pulse output direction with an operand setting Pulses will be output only when the output direction specified in the PLS2 887 instruction matches the direction de...

Страница 207: ...ulse 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 Op eration Mode Set the pulse output operation mode i...

Страница 208: ...Pulse Output Tab Page Operation Mode to relative pulse output absolute linear pulse output or absolute circular pulse output Set the clock speed for pulse outputs 1 and 2 4 Create the necessary ladde...

Страница 209: ...t Use INI 880 to stop pulse output from the specified port Use PRV 881 to read the pulse output PV of the specified port Electronic Cam Control Functions The electronic cam control supports the follow...

Страница 210: ...capability allows the target position or pulse output frequency speed to be changed in steps at high speed in re sponse to changes in the pulse input PV In addition the pulse input PV can be processed...

Страница 211: ...ot 4 Create the necessary ladder programming Use STIM 980 with C1 0001 or 0002 to turn ON the one shot pulse output Note The STIM 980 one shot pulse output function can be used at the same time as an...

Страница 212: ...oning example the PULS 886 and SPED 885 instruc tions are used to control a relative pulse output from port 1 CW independent mode positioning The number of pulses specified in PULS 886 10 000 are outp...

Страница 213: ...BB8 0002 00 SPED 2 1 D00000 0002 01 Frequency Target frequency 50 000 Hz SPED executed SPED executed When CIO 0002 00 turns ON SPED starts a pulse output from port 2 at 3 000 Hz 3 kHz in CCW continuou...

Страница 214: ...ter PV The pulse output is controlled by the target position which is calculated repeatedly from the high speed counter PV The target position is calculated so the APR instruction can be used for line...

Страница 215: ...EQ Always ON Flag Always ON Flag Equal Flag Starts high speed counter Sets pulse output frequency to 200 kHz Processes the high speed counter 1 PV with the linear approximation data in D01000 to D0101...

Страница 216: ...quency Target frequency 20 000 Hz Starting frequency 500 Hz Output starts when PLS2 is executed Target frequency reached Deceleration point Acceleration rate 500 Hz 2 ms Specified number of pulses 300...

Страница 217: ...rates a 1 5 ms one shot pulse output from port 1 STIM B 0 0 0002 00 STIM B 1 0 0003 00 When CIO 0002 00 goes ON STIM starts pulse counter timer 1 allocated to port 1 When CIO 0003 00 goes ON STIM stop...

Страница 218: ...ative pulseoutput CCW Absolute linear CW Absolute linear CCW Absolute circular CW Absolute circular CCW Relative OK OK Absolute linear Target position Present position OK OK with SPED 885 ACC 888 Disa...

Страница 219: ...No No No No No OK OK No SPED 885 Continuous OK See note 2 OK OK OK No OK OK OK See note 2 OK See note 2 No PULS 886 No relative output OK OK OK No OK OK OK OK See note 1 PULS 886 No absolute output OK...

Страница 220: ...endent SPED 8 85 con tinuous PULS 8 86 rela tive without output PULS 88 6 abso lute without output PULS 88 6 abso lute with output ACC 888 acceler ation continu ous ACC 888 decel eration continu ous A...

Страница 221: ...put status Direction and starting conditions CW CCW Target position Present position Target position Present position Target position Present position Target position Present position Absolute lin ear...

Страница 222: ...train inputs from devices such as normal incremental encoders To input the encoder output data from a Servo Driver compatible with an absolute encoder the SEN output signal from the Motion Control Mod...

Страница 223: ...ing of reverse rotation mode on the Servo Driver in use 5 When the mode where the data on the number of rotations is output only in the direction is set in the absolute encoder multi turn limit settin...

Страница 224: ...inear CW absolute lin ear CW and absolute circular counters are the same as the pulse input function s linear and circular counters However the normal linear counter does not have the function that re...

Страница 225: ...s resolution set on Servo Driver x phase differential in put multiplication of the Motion Control Module System Setup Counter 1 Input P0 The number of initial incremental pulses Ps Absolute offset Whe...

Страница 226: ...ON the Absolute Present Value Preset Bit A610 06 The absolute present value is stored in High speed Counter Present Value 1 A600 and A601 Additionally absolute present values vary depending on the co...

Страница 227: ...hex Absolute circular 4 hex Absolute linear CW Counter data dis play 0 hex Do not monitor 1 hex Counter movements mode 1 2 hex Frequency measurement mode 2 Note Frequency measurement can be set for c...

Страница 228: ...er revolu tion Counter 1 Absolute offset Setting range 8000 0000 to 7FFF FFFF hex This is the origin of the application when using an absolute encoder Always Counter 2 Absolute offset The counter 2 of...

Страница 229: ...tion Con trol Module 05 Absolute No of rota tions read completed 12 Absolute offset preset error A610 05 High speed Counter 1 Command Absolute offset preset OFF No preset OFF to ON Offset obtained fro...

Страница 230: ...ment pulse input or pulse direction Set the pulse input method to a phase differential input Setting the Input Pulse Counting Speed Set the input pulse counting speed to 500 kHz To do so set the input...

Страница 231: ...to 0 before starting the origin compensation operation Use the CX Programmer s Sys tem Setup to set the absolute offset to 0 To use the absolute offset preset function wait 30 to 62 5 ms after the Abs...

Страница 232: ...nged while reading rotation data Min 50 60 ms Typ 50 90 ms Max 50 260 ms 1 to 3 ms Preset after 30 to 62 5 ms 50 ms RUN Signal Output Bit Absolute No of Rotations Read A610 07 High speed Counter Start...

Страница 233: ...et 2 00 A610 07 A608 05 A608 04 011 4 A610 06 A610 06 DIFD 2 15 000004 000020 For ABS No of rotations read error 2 00 A610 07 A608 05 A608 04 RSET A610 07 RSET 2 00 ABS servo operation start ABS origi...

Страница 234: ...1 000008 000045 Servo operation after completing ABS PV preset 2 15 SET 1 00 000009 000047 Clear reading ABS PV status after completing ABS PV preset 2 15 RSET 2 00 000010 000049 Clear defining ABS or...

Страница 235: ...cus Control Using a Virtual Axis 2 axis Synchronous Control If internal pulse counts are treated as virtual reference axes a synchronous control operation such as elliptical locus control can be perfo...

Страница 236: ...M C T M Mode specifier C Calculation cycle T First word of setting table Address Name Description Setting range Set monitored T Internal pulse count 8 digit hexadecimal The present value of internal p...

Страница 237: ...unction and match the execution cycle time and calculation cycle time Set the constant cycle time in the System Setup s Cycle Time Tab Page When trapezoidal control cannot be performed with the specif...

Страница 238: ...on both pulse outputs 1 and 2 using the same virtual axis as above 7 9 Analog Input Functions 7 9 1 Applicable Models 7 9 2 Overview The FQM1 MMA21 Motion Control Module can input analog input signals...

Страница 239: ...set relatively high to increase the processing speed The high responsiveness may result in input signal distor tion by external noise or interference Take steps to suppress noise if the Motion Contro...

Страница 240: ...ds END Refresh Read the data from A550 in the Motion Control Module s Auxiliary Area Data is stored in A550 during END refreshing after execution of END instruction Immediate Refresh Read the present...

Страница 241: ...output when SPED 885 or ACC 888 is executed A560 and A561 used for monitoring At power ON and start of operation Inputs Input range 00 hex 10 to 10 V 01 hex 0 to 10 V 02 hex 1 to 5 V 4 to 20 mA 03 hex...

Страница 242: ...0 to 15 Analog Out put 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...

Страница 243: ...l Module 09 to 11 Reserved 12 Factory Adjust ment Value Error ON ON when the factory set data stored in flash memory is invalid OFF OFF when the factory set data stored in flash memory is normal Motio...

Страница 244: ...rmal mode operation A571 00 Adjustment Mode Status Adjustment Oper ation Error ON when an operational error has been made such as turning ON both the Analog Input and Ana log Output 2 Adjustment Enabl...

Страница 245: ...s may result in hardware failure or system malfunction so do not input out of range signals Note If a voltage exceeding the input voltage limits is input the conversion value will be either the upper...

Страница 246: ...when a preset counter PV is reached and store the specified number of samples automatically in the DM Area This function can be used with high speed counter 1 only CTBL 882 Instruction Operation The...

Страница 247: ...mpling function is executed in that interrupt task When the High speed counter PV circular counter reaches the preset val ue the Motion Control Module collects the specified number of high speed analo...

Страница 248: ...yclically during END refreshing but the outputs values can also be immediately refreshed with the SPED 885 instruction for step pattern outputs or the ACC 888 instruction for sloped outputs CTBL P S S...

Страница 249: ...ruction that controls the analog output Analog output values With END refreshing the analog output values are specified in A560 and A561 With immediate refreshing by instructions the analog output val...

Страница 250: ...han a Motion Control Module WDT error or flash memory adjust ment data error occurred in the Motion Control Module See note 2 The other analog output is being adjusted in adjustment mode Offset gain a...

Страница 251: ...5 V Analog output signal Specified output value 4 digit Hex Analog output signal Specified output value 4 digit Hex Analog output signal Specified output value 4 digit Hex Analog output signal Specifi...

Страница 252: ...tput range number of outputs refreshing method and instructions that will be used 2 Wire the analog output 3 Make the necessary System Setup settings output method Set the analog output range 10 to 10...

Страница 253: ...a sloped analog output using a particular input signal as the trigger 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...

Страница 254: ...231 Analog Outputs Section 7 10...

Страница 255: ...232 Analog Outputs Section 7 10...

Страница 256: ...grammer This section explains how to connect a personal computer running the CX Programmer to the FQM1 8 1 CX Programmer 234 8 2 Connecting the CX Programmer 235 8 2 1 System Configuration 235 8 2 2 C...

Страница 257: ...rogramming Console such as the C200H PRO27 to the Coordinator Module s peripheral port The FQM1 may malfunction if a PLC Programming Console is connected Name Model Specifications Programming Device C...

Страница 258: ...Cable is used with an RS 232C cable to connect to the peripheral port on the Coordinator Module as shown below Peripheral bus communications cannot be used if the CS1W CN118 Cable is combined with an...

Страница 259: ...W2Z 500S V Note The connection must be a Host Link connection CS1W CIF31 USB type A plug male Peripheral port D sub Connector 9 pin male D sub Connector 9 pin female CS CJ series peripheral connector...

Страница 260: ...k connection CS1W CIF31 USB type A plug male D sub Connector 9 pin male D sub Connector 9 pin female D sub Connector 9 pin male RS 232C port D sub Connector 9 pin female XW2Z 200S CV XW2Z 500S CV XW2Z...

Страница 261: ...9 pin female CS1W CN226 626 2 or 6 m CS CJ peripheral Unnecessary Coordinator Module peripheral Peripheral bus Tool bus or Host Link D Sub9 pin female XW2Z 200S CV 500S CV 2 or 5 m D Sub9 pin male D...

Страница 262: ...bles have static resistant connectors Host link SYSMAC WAY CS1W CN118 XW2Z 200S V 500S V Port on Module Computer Port on computer Communications mode Network type Model Length Remarks Built in RS 232C...

Страница 263: ...240 Connecting the CX Programmer Section 8 2...

Страница 264: ...Error Information 243 9 2 3 Error Codes 244 9 2 4 Error Processing Flowchart 245 9 2 5 Error Tables 246 9 2 6 Power Supply Check 251 9 2 7 Memory Error Check 252 9 2 8 Program Error Check 252 9 2 9 Cy...

Страница 265: ...word of the error record when the instruction is executed Note FAL generates a non fatal error the Coordinator and Motion Control Module continue operating FALS generates a fatal error that stops ope...

Страница 266: ...RUN or MONITOR mode ON Green ON Green Flashing Red This status indicates a non fatal error other than a communications error Fatal Errors including FALS The FQM1 will stop operating in RUN or MONITOR...

Страница 267: ...time overrun error 244 Non fatal sys tem errors 009B System Setup setting error 244 0001 Coordinator Module WDT error 244 0006 Coordinator Module error 244 0300 Motion Control Module WDT error 244 Use...

Страница 268: ...operation Proceed to 9 2 6 Power Supply Check Not lit Is RDY indicator lit Lit ERR indicator lit Non fatal error System FAL error Motion Control Module Monitor error Coordinator Module Fatal error Coo...

Страница 269: ...e the FQM1 will remain in standby status until all of the Motion Modules have been recognized Fatal Errors If the following LED indicator condition appears during operation in RUN or MONITOR mode it i...

Страница 270: ...rror 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 er...

Страница 271: ...ON again If the error persists turn the power OFF and check connections between the Modules and the End Cover Check for damage to the Modules After correcting the problem turn the FQM1 s power OFF and...

Страница 272: ...1 to C2FF A401 06 FALS Error Flag FALS has been executed in the pro gram The error code in A400 will indicate the FAL number The leftmost digit of the code will be C and the rightmost 3 digits of the...

Страница 273: ...t in the System Setup and cor rect any mistakes Communica tions error None None A communications error occurred between the RS 232C port and the con nected device Check the host link port settings in...

Страница 274: ...upply voltage Permissible range CJ1W PA205R 100 to 240V AC 85 to 264V AC CJ1W PA202 100 to 240V AC 85 to 264V AC No No Yes Yes No Yes Is POWER indicator lit Is voltage in range See note Keep voltage f...

Страница 275: ...CX Programmer The power supply was turned OFF during a memory backup Transfer the data again There was a hardware failure in the internal memory Replace the Module ON OFF ON OFF Program error occurred...

Страница 276: ...ing Time setting OK It is possible that the error occurred because the interrupt task execution time was too long It is possible that the error occurred because two or more interrupt tasks were execut...

Страница 277: ...2 11 I O Setting Error Check Yes No I O Setting Error occurred Are 5 or more Motion Control Modules connected Reconfigure the system so that 4 or fewer Motion Control Modules are connected to the Coo...

Страница 278: ...l Monitor the ON OFF status of CIO 0001 00 from the CX Programmer No Yes Operation normal Replace the Module Disconnect external wiring and check conduction status etc No Is the voltage normal Yes Che...

Страница 279: ...g the installation location No See note Yes End Error condition Probable cause Remedy The Power Supply Unit s POWER indicator is not lit PCB short circuited or dam aged Replace the Power Supply Unit T...

Страница 280: ...articular input does not turn ON 1 Input device is faulty Replace the input device 2 Input wiring disconnected Check input wiring 3 Faulty terminal block connec tor contact Replace terminal block conn...

Страница 281: ...al block connec tor A specific bit address output does not turn OFF Indicator is not lit Output does not turn OFF due to leakage current or residual volt age Replace external load or add dummy resisto...

Страница 282: ...259 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 261...

Страница 283: ...Take necessary steps to bring voltage fluctuations within limits 3 Ambient environ ment Check the ambient tempera ture Inside the control panel if the FQM1 is in a control panel 0 to 55 C Use a therm...

Страница 284: ...tion including DM Area and System Setup settings If data area and other data are not correct for the user program unexpected operation or accidents may occur 2 The System Setup is stored in the parame...

Страница 285: ...262 Inspections Section 10 1...

Страница 286: ...he sync mode scheduled interrupt task is executed once every sync cycle This interrupt task is supported only by the Coordinator Module Input interrupt tasks Input interrupt tasks are executed when a...

Страница 287: ...lling instruction Normal subroutines Normal subroutines are executed without passing parameters SBS 091 Subroutines for which parameters are passed Parameters can be passed to the subroutine The resul...

Страница 288: ...words The specified I O parameters must be passed so that they correctly correspond to the program in the sub routine Note 1 A510 through A514 macro area inputs and A515 through A519 macro area outpu...

Страница 289: ...has been executed before This makes it impossible to perform different processing in different cycles such as spreading processing over multiple cycles JSB 982 Operation Note JSB 982 will be executed...

Страница 290: ...12 MCRO 0049 0010 0015 SBN 049 RET 0225 01 P_On Always ON 0225 00 0225 00 0220 01 0220 02 0225 01 0010 00 0015 01 0015 00 0010 01 0010 02 0000 00 0010 01 0010 00 0000 01 0000 02 0002 00 0015 01 0015 0...

Страница 291: ...cceleration deceleration rate Target frequency 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 conditio...

Страница 292: ...tructions execute functions using the power flow as an input condition Instruction Conditions Instruction conditions are special conditions related to overall instruction execution that are output by...

Страница 293: ...1 is executed BPRG 096 BEND 801 Input flags Output flags Differentiation Flags Differentiation result flags The status of these flags are input automatically to the instruction for all dif ferentiated...

Страница 294: ...e CIO Area would be as shown below This address is given as CIO 0001 03 in this manual Word Addresses Example The address of bits 00 to 15 in word 0010 in the CIO Area would be as shown below This add...

Страница 295: ...sses Specifying word addresses MOV 0003 D00200 Note The same addresses are used to access timer counter Completion Flags and Present Values Word address Bit number 00 to 15 The word address and bit nu...

Страница 296: ...ed 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 000...

Страница 297: ...IR 2 Specify IR IR0 IR1 LD IR0 Increments the contents of IR0 by 2 after the bit with the memory address in IR0 is loaded MOV 0001 IR1 Increments the contents of IR1 by 1 after 0001 is stored in the...

Страница 298: ...number of charac ters 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 ASCII characters that can be used in a text...

Страница 299: ...210 29 28 27 26 25 24 23 22 21 20 23 22 21 20 3276816384 81924096 2048 1024 512 256 128 64 32 16 8 4 2 1 23 22 21 20 23 22 21 20 23 22 21 20 Sign bit 0 Positive 1 Negative Binary Decimal Hex 15 14 13...

Страница 300: ...ts A two s complement is the base two complement Here we subtract all digits from 1 2 1 1 and add one Example The two s complement of binary number 1101 is 1111 F hex 1101 D hex 1 1 hex 0011 3 hex The...

Страница 301: ...ons Reference Manual Cat No O011 for more information Decimal Hexadecimal Binary BCD 0 0 0000 0000 1 1 0001 0001 2 2 0010 0010 3 3 0011 0011 4 4 0100 0100 5 5 0101 0101 6 6 0110 0110 7 7 0111 0111 8 8...

Страница 302: ...ns The instruction is executed only during the cycle in which the input condition turns ON OFF ON and are not executed in the following cycles Input Instructions Logical Starts and Intermediate Instru...

Страница 303: ...differentiated instructions downward differentiation variation can be added only to LD AND OR SET and RSET instructions To execute downward differentiation with other instructions combine the instruct...

Страница 304: ...the execution results of instruction A In this case instruction B will be executed according to the Condition Flag only when instruction A is executed If the Condition Flag is connected directly to th...

Страница 305: ...the NC and NO input bits are executed from the same output branch Make sure each of the results is picked up once by an OUTPUT instruction to ensure that execution results for instruction B will be n...

Страница 306: ...e Equals Flag will be turned OFF because the 0200 source data is not 0000 hex The MOV instruction at 2 will then be executed and 0300 will be moved to D00300 A rung will therefore have to be inserted...

Страница 307: ...t differentiated instructions the DIFU 013 or DIFD 014 instruction is used instead as shown below and instructions A and B are both upwardly or downwardly dif ferentiated and executed for one cycle on...

Страница 308: ...the proper results are reflected in the Carry Flag when using it Less Than and Greater Than Flags The and Flags are used in comparison instructions The or Flag can be turned OFF ON by another instruc...

Страница 309: ...nstruction condition Status Subroutine SBS 091 JSB 982 SBN 092 and RET 093 instructions Subroutine program being executed The subroutine program section between SBN 092 and RET 093 instructions is bei...

Страница 310: ...within the block program section The program will not execute properly unless these instructions are paired Function Mnemonic Instruction Ladder Step Control STEP 008 Define step ladder section SNXT...

Страница 311: ...flashing Flashing non fatal error Executes user pro gram i e executes cyclic task End of program Resets watchdog timer and waits until the set cycle time has elapsed Calculates cycle time Services Per...

Страница 312: ...System Setup Event servicing with the Coordinator Module Note 1 The cycle time is not affected by the number of tasks that are used in the user program 2 When the mode is switched from MONITOR mode t...

Страница 313: ...f a uniform peripheral servicing time hasn t been set as the Set Time to All Events in the System Setup 6 25 of the previous cycle time calculated in step 3 will be allowed for peripheral servicing If...

Страница 314: ...resh time Details Processing time and fluctuation cause Cyclic refresh with the Coordinator Module 21 s Details Processing time and fluctuation cause The sync bus between the Coordinator Module and Mo...

Страница 315: ...the cycle time will be extended by the above time Note When there is only one task online editing is processed entirely in the cycle time following the cycle in which online editing is executed When...

Страница 316: ...ut ON delay the Cycle time and the Output ON delay Maximum I O Response Time The I O response time is longest when data is retrieved immediately after I O refresh of the Coordinator Mod ule The maximu...

Страница 317: ...gest when a Motion Control Module detects an input immediately after input refresh has been executed as shown in the figure below The response time will be one cycle longer than for the minimum I O re...

Страница 318: ...d during execution of the user program I O refresh peripheral servicing or overseeing processes During user program execution instruction execution is sus pended to execute the interrupt task The resp...

Страница 319: ...being executed Execution of the next scheduled interrupt task will wait until the current interrupt task has completed execution and then start after the software inter rupt response time Motion Cont...

Страница 320: ...put interrupt occurs under the following conditions are given below No 1 ms timers are being used No non fatal errors occur or are cleared Online editing is not performed Minimum Response Time Interru...

Страница 321: ...ask by using the IORF 097 instruction This can also be performed to output the results of execution in the main program immediately after execution 4 The results of executing an interrupt task can be...

Страница 322: ...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 Parameter...

Страница 323: ...ink Area 320 bits 20 words CIO 0080 to CIO 0099 OK OK OK OK OK OK Cyclic Refresh Bit Area 600 bits 40 words CIO 0100 to CIO 0139 OK OK OK OK OK OK Synchro nous Data Link Bit Area 320 bits 20 words CIO...

Страница 324: ...lic Refresh Bit Area 160 bits 10 words CIO 0100 to CIO 0109 OK OK OK OK OK OK Synchro nous Data Link Bit Area 320 bits 20 words CIO 0200 to CIO 0219 OK OK OK OK OK OK Internal I O Areas 3 584 bits 224...

Страница 325: ...reas I O Bit Area Cyclic Refresh Bit Area Synchronous Data Link Bit Area Work Areas Serial PLC Link Bit Areas Coordinator Module only I O Bit Area CIO 0000 and CIO 0001 These words are allocated to bu...

Страница 326: ...r data links with a PLC CIO 0080 to CIO 0080 No of linked words 1 CJ1M to FQM1 Coordinator Module CIO 0090 to CIO 0090 No of linked words 1 FQM1 Coordinator Module to CJ1M Addresses not used for Seria...

Страница 327: ...present values from address monitor displays and transfer operations to the FQM1 after editing FQM1 data tables on the CX Programmer Refer to the CX Programmer Operation Manual Cat No W437 for details...

Страница 328: ...normally open and normally closed con ditions and the values of timer PVs can be read as normal word data Timer Completion Flags can be force set and force reset Timer PVs cannot be force set or forc...

Страница 329: ...number an error will be generated during the program check but the counters will operate as long as the instructions are not executed in the same cycle The following table shows when counter PVs and C...

Страница 330: ...re DM Area D00000 to D32767 can be indirectly addressed with hexadecimal values 0000 to 7FFF BCD mode Addressing D When a character is input before a DM address the content of that DM word is treated...

Страница 331: ...he Illegal Access Error indi cates that an instruction attempted to access an area of memory that should not be accessed Carry Flag P_CY Turned ON when there is a carry in the result of an arithmetic...

Страница 332: ...ses are cleared at the start of operation Using the Clock Pulses The following example turns CIO 0001 00 ON and OFF at 0 5 s intervals Name Label CX Programmer Symbol Operation 0 02 s Clock Pulse 0 02...

Страница 333: ...X 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...

Страница 334: ...auto detection and will not be used with the default Host Link communications settings such as 9 600 bps Peripheral Port Settings When the RS 232C port will not be used with the CX Programmer periph...

Страница 335: ...d flags and words When setting is read Word Bits 81 00 to 11 00 hex PROGRAM mode 01 hex MONITOR mode 02 hex RUN mode Sets the mode in which the Coordinator Module will start The mode set here can also...

Страница 336: ...andard 1 Custom Default 0 The standard settings are for 1 start bit 7 bit data even parity 2 stop bits and 9 600 baud A412 15 Peripheral Port Settings Changing Flag At next cycle Also can be changed w...

Страница 337: ...ss Settings Function Related flags and words When setting is read Word Bits 145 00 to 07 08 hex Standard NT Link Default 00 hex Only the standard setting of 38 400 can be used for the NT Link Serial C...

Страница 338: ...ecify either 00 or 05 for Host Link Mode A410 15 RS 232C Port Settings Changing Flag At next cycle Also can be changed with STUP 237 Address Settings Function Related flags and words When setting is r...

Страница 339: ...ings Function Related flags and words When setting is read Word Bits 161 00 to 07 08 hex Standard setting Default 00 hex Only the standard setting of 38 400 can be used for the NT Link Serial Commu ni...

Страница 340: ...mat 1 Custom Default 00 hex The standard settings are for 1 start bit 7 bit data even parity 2 stop bits and 9 600 baud A410 15 RS 232C Port Settings Changing Flag At next cycle Also can be changed wi...

Страница 341: ...the data length to send and receive for no protocol communica tions The start code and end code are not included in the data length This setting is valid only when bits 08 and 09 of 165 are set to 00...

Страница 342: ...erial Gateway Mode A414 15 RS 422A Port Settings Changing Flag At next cycle Also can be changed with STUP 237 Address Settings Function Related flags and words When setting is read Word Bits 367 00 t...

Страница 343: ...d end code 11 Add CR LF Default 00 Specifies whether to add an end code Address Settings Function Related flags and words When setting is read Word Bits 365 00 to 07 00 hex 256 bytes 01 to FF hex 1 to...

Страница 344: ...put 0 CIO 0000 00 function 0 hex Normal 1 hex Interrupt input at rising edge 2 hex Interrupt input at falling edge 3 hex Interrupt input at both edges Note Interrupt input settings of 1 to 3 hex apply...

Страница 345: ...opera tion 0 hex Linear counter 1 hex Circular counter 2 hex Absolute linear counter CW 3 hex Absolute circular counter 4 hex Absolute linear counter CW Note When setting any mode except for a linear...

Страница 346: ...nter 1 Counter 1 Absolute offset 8000 0000 to 7FFF FFFF hex 332 to 333 00 to 15 High speed counter 2 Counter 2 Absolute offset 8000 0000 to 7FFF FFFF hex Address Bits Function Remarks When setting is...

Страница 347: ...Reserved 322 00 to 15 Sampling time for mode 1 only Sets the sampling time for monitoring counter PV changes mode 1 0000 Cycle time 0001 to 270F hex 1 to 9 999 ms unit 1 ms Note This setting is valid...

Страница 348: ...FFFF hex Application origin when using an absolute encoder Immediately 332 to 333 00 to 15 High speed counter 2 Counter 2 Absolute offset Same as high speed counter 1 Address Bits Function Remarks Whe...

Страница 349: ...cycle time setting cannot be changed while the Module is in RUN or MONITOR mode Watch Cycle Time If the cycle time exceeds the watch maximum cycle time setting the Cycle Time Too Long Flag A401 08 wil...

Страница 350: ...the peripheral servicing time Note A default value of 100 s is allocated in Motion Control Modules for event servicing with the Coordinator Module ON Watch Time Watch Cycle Time Watch Cycle Time Watc...

Страница 351: ...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 servi...

Страница 352: ...le internal I O is refreshed Module A601 00 to 15 A602 00 to 15 High speed Counter 2 PV A603 00 to 15 A604 to A605 00 to 15 High speed Counter 1 For following counter modes Absolute linear CW Absolute...

Страница 353: ...ware reset Note This flag will turn ON for one cycle after the counter PV is reset if the phase Z signal reset input turns ON while the High speed Counter Reset Bit A610 01 is ON 04 Absolute No of Rot...

Страница 354: ...01 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 of Rotations Read Completed Flag 06 Measuring Flag mea...

Страница 355: ...ement Start Bit 04 Range Com parisonResults Clear Bit OFF Does not clear the execution results A612 or output bit pat tern A613 from CTBL 882 execution for range comparison for the counter ON Clears t...

Страница 356: ...12 00 to 15 High speed counter 1 moni tor data Range Com parison Execu tion Results Flags Contains the CTBL 882 execution results for range comparison Bits 00 to 15 correspond to ranges 1 to 16 OFF No...

Страница 357: ...2 Same as for Pulse Time Measurement 1 A624 00 Pulse Output 1 Status Pulse Output Completed Flag OFF Pulse output not completed OFF during pulse output ON Pulse output completed ON when pulse distrib...

Страница 358: ...during pulse output for ACC 888 or PLS2 887 08 to 13 Reserved 14 PLS2 Pulse Output Direc tion Priority Mode Bit OFF Sets Direction Priority Mode In Direction Priority Mode pulses are output only when...

Страница 359: ...utput 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 hexadecima...

Страница 360: ...output SV is within range Note Only for END refresh 09 to 11 Reserved 12 Factory Adjustment Value Error ON ON when the factory set data stored in flash memory is invalid OFF OFF when the factory set...

Страница 361: ...3 Adjustment Value Decrement While this bit is ON the offset or gain value will be dec remented by one resolution unit each 0 5 ms 14 Adjustment Value Clear OFF to ON Clears the adjustment data to the...

Страница 362: ...00 0000 to 7FFF FFFF hex For following counter modes Linear counter Circular counter Monitor data When monitoring counter movements mode 1 contains the absolute value of the amount of change in the PV...

Страница 363: ...ware reset Note This flag will turn ON for one cycle after the counter PV is reset if the phase Z signal reset input turns ON while the High speed Counter Reset Bit A610 01 is ON 04 Absolute No of Rot...

Страница 364: ...01 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 of Rotations Read Completed Flag 06 Measuring Flag mea...

Страница 365: ...ement Start Bit 04 Range Com parisonResults Clear Bit OFF Does not clear the execution results A612 or output bit pat tern A613 from CTBL 882 execution for range comparison for the counter ON Clears t...

Страница 366: ...om parison Results Same as for high speed counter 1 monitor data A615 00 to 15 Output Bit Pat tern Address Bits Name Function Controlled by A520 00 to 15 Interrupt Counter 0 Counter SV Used for interr...

Страница 367: ...al unit 0 01 ms Address Bits Name Function Controlled by A401 09 Program Error Flag fatal error ON when program contents are incorrect Module operation will stop Module A405 11 No END Error Flag ON wh...

Страница 368: ...cally destroyed 13 Analog Offset Gain Error Flag Turns ON when there is an error in the analog I O offset gain adjust ment value in flash memory 14 Flash Memory DM Checksum Error Flag Turns ON when th...

Страница 369: ...in 4 digit hexadecimal for the Motion Con trol Module with which DM data is to be transferred 0001 Motion Control Module 1 0002 Motion Control Module 2 0003 Motion Control Module 3 0004 Motion Control...

Страница 370: ...Name Function Controlled by A414 02 to 05 RS 422A Port Error Flags Indicates the status the error flags that turn ON when an error has occurred at the RS 422A port Module 08 RS 422A Port Commu nicati...

Страница 371: ...allocations External input 0 CIO 0000 00 External input 1 CIO 0000 01 to to External input 15 CIO 0000 15 Name I O Area allocations External output 0 CIO 0001 00 External output 1 CIO 0001 01 to to Ex...

Страница 372: ...code is written to this word A401 06 FALS Error Flag fatal error Turns ON when a non fatal error is generated by the FALS 006 instruction The FQM1 will stop operating 08 Cycle Time Too Long Flag fata...

Страница 373: ...A408 00 to 15 Error Log Pointer When an error occurs the Error Log Pointer binary is incre mented by 1 to indicate the location where the next error will be recorded as an offset from the beginning o...

Страница 374: ...e is specified from the CX Programmer 0000 hex Each cycle 0001 to 000F hex Every 2 to 16 cycles A508 09 Differentiate Monitor Completed Flag Turns ON when the differentiate monitor condition has been...

Страница 375: ...urns ON 01 DM Read Request Bit Motion Control Module to Coordinator Module DM data transfer is executed from the Motion Control Module to Coordinator Module when this bit turns ON A531 00 to 15 Slot N...

Страница 376: ...gs 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 04 Operating ON ON while the...

Страница 377: ...using the Adjustment Value Increment Decre ment Bits 10 to 10 V FE0C to 01F4 hex 0 to 10 V 0 to 5 V 1 to 5 V FF38 to 00C8 hex A573 00 to 15 Gain Value Monitor 10 to 10 V 1194 to 157C hex 0 to 10 V 0...

Страница 378: ...he counter PV is reset if the phase Z signal reset input turns ON while the High speed Counter Reset Bit A610 01 is ON 04 Absolute No of Rotations Read Error Flag OFF No error ON Error 05 Absolute No...

Страница 379: ...unter ON Clears the execution results A612 or output bit pattern A613 from CTBL 882 execution for range comparison for the counter 05 Absolute Offset Preset Bit OFF Does not preset the offset OFF to O...

Страница 380: ...counter Contains the time measured by the pulse counter as an 8 digit hexadecimal number 0000 0000 to FFFF FFFF hex unit set by STIM 980 A622 to A623 00 to 15 Pulse Output 2 PV Same as for Pulse Outp...

Страница 381: ...se output to ACC 888 or PLS2 887 14 PLS2 Pulse Output Direction Priority Mode Bit OFF Sets Direction Priority Mode In Direction Priority Mode pulses are output only when the pulse output direction and...

Страница 382: ...ontents Error code Error contents 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 Set...

Страница 383: ...ED BINARY ADD WITHOUT CARRY L 401 and DOUBLE SIGNED BINARY SUBTRACT WITHOUT CARRY L 411 The FQM1 memory addresses all are continuous and the user must be aware of the order and boundaries of the memor...

Страница 384: ...y Area 0BACA to 0BBFF Reserved for system 0BC00 to 0BDFF Reserved for system 0BE00 to 0BE0F T0000 to T0255 Timer Completion Flags 0BE10 to 0BEFF Reserved for system 0BF00 to 0BF0F C0000 to C0255 Count...

Страница 385: ...as the number of instructions Note 1 Program capacity for the FQM1 is measured in steps Basically speaking 1 step is equivalent to 1 word Most instructions are supported in differentiated form indicat...

Страница 386: ...ILC 003 1 0 15 Yes JUMP JMP 004 2 0 95 Yes JUMP END JME 005 2 Instruction Mnemonic Code Length steps See note ON execution time s Hardware implementation Conditions TIMER TIM 3 1 30 Yes COUNTER CNT 3...

Страница 387: ...GNED BLOCK COMPARE BCMP 068 4 50 3 EXPANDED BLOCK COMPARE BCMP2 502 4 15 3 Number of data words 1 689 1 Number of data words 255 AREA RANGE COM PARE ZCP 088 3 11 6 DOUBLE AREA RANGE COMPARE ZCPL 116 3...

Страница 388: ...6 2 0 45 Yes DOUBLE SHIFT RIGHT ASRL 571 2 0 80 Yes ROTATE LEFT ROL 027 2 0 45 Yes DOUBLE ROTATE LEFT ROLL 572 2 0 80 Yes ROTATE LEFT WITH OUT CARRY RLNC 574 2 0 45 Yes DOUBLE ROTATE LEFT WITHOUT CARR...

Страница 389: ...CARRY BCL 407 4 24 1 SIGNED BINARY SUB TRACT WITHOUT CARRY 410 4 0 3 Yes DOUBLE SIGNED BINARY SUBTRACT WITHOUT CARRY L 411 4 0 60 Yes SIGNED BINARY SUB TRACT WITH CARRY C 412 4 0 40 Yes DOUBLE SIGNED...

Страница 390: ...Y TO BCD BCD 024 3 8 0 DOUBLE BINARY TO DOUBLE BCD BCDL 059 3 8 0 2 S COMPLEMENT NEG 160 3 0 35 Yes DOUBLE 2 S COM PLEMENT NEGL 161 3 0 60 Yes ASCII CONVERT ASC 086 4 11 8 Converting 1 digit into ASCI...

Страница 391: ...cation 256 words end 104 5 Linear approximation buffer specifi cation 128 words end BIT COUNTER BCNT 067 4 0 65 Yes Counting 1 word VIRTUAL AXIS AXIS 981 4 47 9 Relative mode 48 1 Absolute mode 8 3 S...

Страница 392: ...nstruction Mnemonic Code Length steps See note ON execution time s Hardware implementation Conditions FIND MAXIMUM MAX 182 4 13 0 Searching for 1 word 1 41 ms Searching for 1 000 words FIND MINIMUM MI...

Страница 393: ...ounting 14 7 Stopping pulse counting Instruction Mnemonic Code Length steps See note ON execution time s Hardware implementation Conditions MODE CONTROL INI 880 4 16 7 Starting high speed counter com...

Страница 394: ...sampling counter target value table and starting comparison 42 8 Analog output SPEED OUTPUT SPED 885 4 23 7 Continuous mode 32 7 Independent mode 42 9 Analog output SET PULSES PULS 886 4 15 9 Setting...

Страница 395: ...g 1 byte 342 6 Sending 256 bytes RECEIVE RXD 235 4 36 2 Storing 1 byte 348 9 Storing 256 bytes CHANGE SERIAL PORT SETUP STUP 237 3 441 1 Instruction Mnemonic Code Length steps See note ON execution ti...

Страница 396: ...ut condition 802 1 6 8 Yes IF true 12 2 IF false Branching IF relay number 802 2 11 0 Yes IF true 16 5 IF false Branching NOT IF NOT relay num ber 802 2 11 5 Yes IF true 16 8 IF false Branching ELSE 8...

Страница 397: ...374 Auxiliary Area Allocations Appendix D...

Страница 398: ...74 specifications 217 System Setup 218 Analog Offset Gain Error Flag 345 350 Analog Output 1 Flags 337 353 Analog Output 2 Flags 337 353 analog outputs applicable instructions 228 application example...

Страница 399: ...65 connections 74 pin arrangement Coordinator Modules 67 Motion Control Modules 68 Connector Terminal Block Conversion Units 75 constant cycle time 19 114 Sync Mode 115 Constant Cycle Time Exceeded E...

Страница 400: ...ime 344 349 present cycle time 344 349 settings 326 Cycle Time PV 116 Cycle Time Too Long Flag 116 249 346 349 Cyclic Refresh Bit Area 106 107 302 allocations 108 cyclic refreshing 94 105 106 D data a...

Страница 401: ...45 349 FALS errors 249 FALS 007 instruction 122 fatal errors 246 FALS 007 121 FINS commands list 128 First Cycle Flag 347 349 First DM Transfer Destination Word 113 First DM Transfer Source Word 113 f...

Страница 402: ...5 350 UM Overflow Error Flag 344 350 Underflow Flag 308 flash memory 47 automatic backup 119 Coordinator Modules 93 Flash Memory DM Checksum Error Flag 345 350 Flash Memory Error Flag 120 345 350 floa...

Страница 403: ...d tools 261 installation 13 15 control panels 53 DIN Track 57 environment 50 ambient conditions 50 cooling 50 precautions 50 instructions basic information 269 block programs 287 execution conditions...

Страница 404: ...94 indicators 38 interrupt processing time 296 interrupt response time 295 models 32 overview 5 7 specifications 37 System Setup 112 troubleshooting 257 N Negative Flag 285 308 No END Error Flag 344 3...

Страница 405: ...100 Power OFF Detection Time 101 power OFF operation 100 power OFF processing 100 power OFF timing chart 101 power supply CPU processing for power interruptions 100 Power Supply Units dimensions 44 ov...

Страница 406: ...omparison Execution Results Flags 343 read protection using passwords 118 Read Write DM Area 96 refreshing END 222 228 immediate 222 228 immediate refreshing 279 Relative Pulse Output 21 replacing Mod...

Страница 407: ...118 STC 040 instruction 308 Step Flag 347 349 step instructions execution times 371 step programming 286 STIM 980 instruction 188 Subroutine Input Condition Flags 265 344 349 subroutine instructions...

Страница 408: ...tor Flag 351 Transfer Busy Flag 113 346 352 Transfer Error Flag 113 346 352 trapezoidal acceleration deceleration 193 two wire DC sensors precautions 88 U UM Error Flag 345 350 UM Overflow Error Flag...

Страница 409: ...386 Index...

Страница 410: ...talog number on the front cover of the manual The following table outlines the changes made to the manual during each revision Page numbers refer to the previous version Revision code Date Revised con...

Страница 411: ...388...

Страница 412: ...adquarters OMRON EUROPE B V Wegalaan 67 69 NL 2132 JD Hoofddorp The Netherlands Tel 31 2356 81 300 Fax 31 2356 81 388 OMRON ELECTRONICS LLC 1 East Commerce Drive Schaumburg IL 60173 U S A Tel 1 847 84...

Страница 413: ...ent or addition to the above warranty See http oeweb omron com or contact your Omron representative for pub lished information 14 Limitation on Liability Etc OMRON COMPANIES SHALL NOT BE LIABLE FOR SP...

Страница 414: ...the U S A OMRON ELECTRONICS LLC 1 Commerce Drive Schaumburg IL 60173 847 843 7900 For US technical support or other inquiries 800 556 6766 OMRON CANADA INC 885 Milner Avenue Toronto Ontario M1B 5V8 41...

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