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OPERATION MANUAL
Cat. No. O010-E1-01
FQM1 Series
FQM1-CM001
FQM1-MMP21
FQM1-MMA21
Flexible Motion Controller
FQM1 Series
FQM1-CM001
FQM1-MMP21
FQM1-MMA21
Flexible Motion Controller
Operation Manual
Produced November 2004
iv
v
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 pre-
cautions can result in injury to people or damage to property.
!DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or
serious injury.
!WARNING Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
!Caution Indicates a potentially hazardous situation which, if not avoided, may result in minor or
moderate injury, or property damage.
OMRON Product References
All OMRON products are capitalized in this manual. The word “Unit” is also
capitalized when it refers to an OMRON product, regardless of whether or not
it appears in the proper name of the product.
The abbreviation “Ch,” which appears in some displays and on some OMRON
products, often means “word” and is abbreviated “Wd” in documentation in
this sense.
The abbreviation “CM” means Coordinator Module and the abbreviation “MM”
means Motion Control Module.
Visual Aids
The following headings appear in the left column of the manual to help you
locate different types of information.
Note Indicates information of particular interest for efficient and convenient opera-
tion of the product.
1,2,3... 1. Indicates lists of one sort or another, such as procedures, checklists, etc.
OMRON, 2004
All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, o
r
by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission o
f
OMRON.
No patent liability is assumed with respect to the use of the information contained herein. Moreover, because OMRON is con-
stantly striving to improve its high-quality products, the information contained in this manual is subject to change without
notice. Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility
for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in
this publication.
vi
vii
TABLE OF CONTENTS
PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
4 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
5 Data Backup. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
SECTION 1
Features and System Configuration . . . . . . . . . . . . . . . . . . . 1
1-1 Outline of FQM1 Flexible Motion Controller. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1-2 FQM1 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1-3 Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1-4 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1-5 Expanded System Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1-6 Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
1-7 Function Tables Arranged by Purpose. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
SECTION 2
Specifications and Nomenclature . . . . . . . . . . . . . . . . . . . . . 31
2-1 List of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2-2 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2-3 Coordinator Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2-4 Motion Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
2-5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2-6 Module Current Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2-7 Memory Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
SECTION 3
Installation and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
3-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3-3 Wiring Module Connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3-4 Wiring Servo Relay Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .75
3-5 List of FQM1 Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3-6 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
SECTION 4
Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
4-1 Coordinator Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4-2 Motion Control Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .95
4-3 Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
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TABLE OF CONTENTS
4-4 Power OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
SECTION 5
Module Functions and Data Exchange . . . . . . . . . . . . . . . . . 103
5-1 Synchronous Operation between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
5-2 Data Exchange between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
5-3 Cyclic Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
5-4 Synchronous Data Refresh . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
5-5 DM Data Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
5-6 Cycle Time Settings. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
5-7 Operation Settings at Startup and Maintenance Functions . . . . . . . . . . . . . . . . . . . . . . . . . . 118
5-8 Diagnostic Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
SECTION 6
Coordinator Module Functions . . . . . . . . . . . . . . . . . . . . . . . 123
6-1 Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
SECTION 7
Motion Control Module Functions . . . . . . . . . . . . . . . . . . . . 137
7-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7-2 Interrupt Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7-3 Input Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
7-4 Interval Timer Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
7-5 Pulse Inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
7-6 Pulse Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
7-7 Functions for Servo Drivers Compatible with Absolute Encoders . . . . . . . . . . . . . . . . . . . . 199
7-8 Virtual Pulse Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
7-9 Analog Input Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
7-10 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
SECTION 8
Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . 233
8-1 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
8-2 Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
SECTION 9
Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
9-1 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
9-2 Error Processing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
9-3 Troubleshooting Problems in Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
ix
TABLE OF CONTENTS
SECTION 10
Inspection 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375
Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387
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TABLE OF CONTENTS
xi
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.
Section 1 describes the features of the FQM1 and its system configuration.
Section 2 provides the specifications of the FQM1 and describes the parts and their functions on the
Coordinator Module and Motion Control Modules.
Section 3 describes how to install and wire the FQM1
Section 4 describes the operation of the FQM1.
Section 5 describes the functions common to both the Coordinator Module and Motion Control Mod-
ules and the methods to transfer data between the Coordinator Module and Motion Control Modules.
Section 6 describes the serial communications functions, which are supported only by the Coordinator
Module.
Section 7 describes the various functions supported by the Motion Control Module.
Section 8 explains how to connect a personal computer running the CX-Programmer to the FQM1.
Section 9 provides information on identifying and correcting errors that occur during FQM1 operation.
Section 10 provides inspection and maintenance information.
The Appendices provide information on programming, I/O Memory, System Setup, and built-in I/O
allocations, and Auxiliary Area allocations.
Name Cat. No. Contents
FQM1 Series
FQM1-CM001, FQM1-MMP21, FQM1-MMA21
Flexible Motion Controller Operation Manual
(this manual)
O010 This manual provides an overview of and describes
the following information for the FQM1-series Flexible
Motion Controller: features, system configuration,
system design, installation, wiring, maintenance, I/O
memory allocation, troubleshooting, etc.
FQM1 Series
FQM1-CM001, FQM1-MMP21, FQM1-MMA21
Flexible Motion Controller
Instructions Reference Manual
O011 Describes the ladder diagram programming instruc-
tions supported by FQM1-series Flexible Motion Con-
troller. Use this manual together with the Operation
Manual (Cat. No. O010).
SYSMAC WS02-CXP@@-E
CX-Programmer Operation Manual Version 5.@
W437 Provides information on how to use the CX-Program-
mer, a Windows-based programming and monitoring
package for OMRON PLCs.
xii
xiii
PRECAUTIONS
This section provides general precautions for using the FQM1-series Flexible Motion Controller and related devices.
The information contained in this section is important for the safe and reliable application of the FQM1-series
Flexible Motion Controller. You must read this section and understand the information contained before attempting
to set up or operate a control system using the FQM1-series Flexible Motion Controller.
1 Intended Audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
2 General Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
3 Safety Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv
4 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
4-1 Applicable Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
4-2 Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
4-3 Conformance to EC Directives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xix
4-5 Relay Output Noise Reduction Methods . . . . . . . . . . . . . . . . . . . . . xx
5 Data Backup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xxii
xiv
Intended Audience 1
1 Intended Audience
This manual is intended for the following personnel, who must also have
knowledge of electrical systems (an electrical engineer or the equivalent).
• Personnel in charge of installing FA systems.
• Personnel in charge of designing FA systems.
• Personnel in charge of managing FA systems and facilities.
2 General Precautions
The user must operate the product according to the performance specifica-
tions described in the operation manuals.
Before using the product under conditions which are not described in the
manual or applying the product to nuclear control systems, railroad systems,
aviation systems, vehicles, combustion systems, medical equipment, amuse-
ment machines, safety equipment, petrochemical plants, and other systems,
machines, and equipment that may have a serious influence on lives and
property if used improperly, consult your OMRON representative.
Make sure that the ratings and performance characteristics of the product are
sufficient for the systems, machines, and equipment, and be sure to provide
the systems, machines, and equipment with double safety mechanisms.
!WARNING It is extremely important that the FQM1 be used for the specified purpose and
under the specified conditions, especially in applications that can directly or
indirectly affect human life. You must consult with your OMRON representa-
tive before applying a FQM1 System to the above-mentioned applications.
3 Safety Precautions
!WARNING Do not attempt to take any Modules apart while the power is being supplied.
Doing so may result in electric shock.
!WARNING Do not touch any of the terminals or terminal blocks while the power is being
supplied. Doing so may result in electric shock.
!WARNING Do not attempt to disassemble, repair, or modify any Modules. Any attempt to
do so may result in malfunction, fire, or electric shock.
!WARNING Provide safety measures in external circuits, i.e., not in the Flexible Motion
Controller (referred to as the “FQM1”), to ensure safety in the system if an
abnormality occurs due to malfunction of the FQM1 or another external factor
affecting the FQM1 operation. Not doing so may result in serious accidents.
• Emergency stop circuits, interlock circuits, limit circuits, and similar safety
measures must be provided in external control circuits.
• The FQM1 will turn OFF all outputs when its self-diagnosis function
detects any error or when a severe failure alarm (FALS) instruction is exe-
cuted. As a countermeasure for such errors, external safety measures
must be provided to ensure safety in the system.
• The FQM1 outputs may remain ON or OFF due to destruction of the out-
put transistors. As a countermeasure for such problems, external safety
measures must be provided to ensure safety in the system.
xv
Safety Precautions 3
• When the 24-VDC output (service power supply to the FQM1) is over-
loaded or short-circuited, the voltage may drop and result in the outputs
being turned OFF. As a countermeasure for such problems, external
safety measures must be provided to ensure safety in the system.
!WARNING Fail-safe measures must be taken by the customer to ensure safety in the
event of incorrect, missing, or abnormal signals caused by broken signal
lines, momentary power interruptions, or other causes. Not doing so may
result in serious accidents.
!Caution Execute online edit only after confirming that no adverse effects will be
caused by extending the cycle time. Otherwise, the input signals may not be
readable.
!Caution User programs and parameters written to the Coordinator Module or Motion
Control Module will be automatically backed up in the FQM1 flash memory
(flash memory function). The contents of I/O memory (including the DM Area),
however, are not written to flash memory. Part of the DM Area used as a hold-
ing area when recovering from a power interruption is backed up using a
super capacitor, but correct values will not be maintained if an error occurs
that prevents memory backup. As a countermeasure for such problems, take
appropriate measures in the program using the Memory Not Held Flag
(A404.14) when externally outputting the contents of the DM Area.
!Caution Confirm safety at the destination Module before transferring a program to
another Module or editing the I/O area. Doing either of these without confirm-
ing safety may result in injury.
!Caution Tighten the screws on the terminal block of the AC Power Supply Unit to the
torque specified in the operation manual. The loose screws may result in
burning or malfunction.
!Caution Do not touch the Power Supply Unit while the power is ON, and immediately
after turning OFF the power. Touching hot surfaces may result in burning.
!Caution Pay careful attention to the polarities (+/-) when wiring the DC power supply.
A wrong connection may cause malfunction of the system.
3-1 Operating Environment Precautions
!Caution Do not operate the control system in the following places:
• Locations subject to direct sunlight
• Locations subject to temperatures or humidity outside the range specified
in the specifications
• Locations subject to condensation as the result of severe changes in tem-
perature
• Locations subject to corrosive or flammable gases
• Locations subject to dust (especially iron dust) or salts
• Locations subject to exposure to water, oil, or chemicals
• Locations subject to shock or vibration
!Caution Take appropriate and sufficient countermeasures when installing systems in
the following locations:
xvi
Safety Precautions 3
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
!Caution The operating environment of the FQM1 System can have a large effect on
the longevity and reliability of the system. Improper operating environments
can lead to malfunction, failure, and other unforeseeable problems with the
FQM1 System. Make sure that the operating environment is within the speci-
fied conditions at installation and remains within the specified conditions dur-
ing the life of the system.
3-2 Application Precautions
!WARNING Always heed these precautions. Failure to abide by the following precautions
could lead to serious or possibly fatal injury.
• Always connect to a ground of 100 Ω or less when installing the FQM1.
Not doing so may result in electric shock.
• Always connect to a ground of 100 Ω or less when short-circuiting the
functional ground and line ground terminals of the Power Supply Unit, in
particular.
• Always turn OFF the power supply to the FQM1 before attempting any of
the following. Not turning OFF the power supply may result in malfunction
or electric shock.
• Mounting or dismounting Power Supply Unit, Coordinator Module, Mo-
tion Control Module, and End Module
• Assembling the Modules
• Setting DIP switches
• Connecting or wiring the cables
• Connecting or disconnecting the connectors
!Caution Failure to abide by the following precautions could lead to faulty operation of
the FQM1 or the system, or could damage the FQM1. Always heed these pre-
cautions.
• Always use the CX-Programmer (Programming Device for Windows) to
create new cyclic tasks and interrupt tasks.
• The user program and parameter area data in Coordinator Module and
Motion Control Modules is backed up in the built-in flash memory. Do not
turn OFF the power supply to the FQM1 while the user program or param-
eter area data is being transferred. The data will not be backed up if the
power is turned OFF.
• The FQM1 will start operating in RUN mode when the power is turned ON
with the default settings (i.e., if the operating mode at power ON (startup
mode) setting in the System Setup is disabled).
• Configure the external circuits so that the control power supply turns ON
after the power supply to the FQM1 turns ON. If the power is turned ON in
the opposite order, the built-in outputs and other outputs may momen-
tarily malfunction and the control outputs may temporarily not operate cor-
rectly.
xvii
Safety Precautions 3
• Outputs may remain ON due to a malfunction in the built-in transistor out-
puts 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 lad-
der program whenever the Memory Not Held Flag (A404.14) turns ON,
such as resetting the data in the DM Area.
• Part of the DM Area in the Coordinator Module is backed up in the built-in
flash memory when transferring data from the CX-Programmer. Do not
turn OFF the power to the FQM1 while data is being transferred. The data
will not be backed up if the power is turned OFF.
• Confirm that no adverse effect will occur in the system before attempting
any of the following. Not doing so may result in an unexpected operation.
• Changing the operating mode of the FQM1
• Force-setting/force-resetting any bit in memory
• Changing the present value of any word or any set value in memory
• Install external breakers and take other safety measures against short-cir-
cuiting in external wiring. Insufficient safety measures against short-cir-
cuiting may result in burning.
• Be sure that all 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 checking the connectors and terminal
blocks completely.
• Before touching the Module, be sure to first touch a grounded metallic
object in order to discharge any static built-up. Not doing so may result in
malfunction or damage.
• Be sure that the terminal blocks, connectors, and other items with locking
devices are properly locked into place. Improper locking may result in
malfunction.
• Wire correctly according to the specified procedures.
• Always use the power supply voltage specified in the operation manuals.
An incorrect voltage may result in malfunction or burning.
• Take appropriate measures to ensure that the specified power with the
rated voltage and frequency is supplied. Be particularly careful in places
where the power supply is unstable. An incorrect power supply may result
in malfunction.
• Leave the dust protective label attached to the Module when wiring.
Removing the label may result in malfunction.
• Remove the dust protective label after the completion of wiring to ensure
proper heat dissipation. Leaving the label attached may result in malfunc-
tion.
• Use crimp terminals for wiring. Do not connect bare stranded wires
directly to terminals. Connection of bare stranded wires may result in
burning.
• Do not apply voltages to the built-in inputs in excess of the rated input
voltage. Excess voltages may result in burning.
xviii
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 burn-
ing.
• Check that the DIP switches and data memory (DM) are properly set
before starting operation.
• Check the user program for proper execution before actually running it on
the Module. Not checking the program may result in an unexpected oper-
ation.
• Resume operation only after transferring to the new Module the contents
of the DM Areas, programs, parameters, and data required for resuming
operation. Not doing so may result in an unexpected operation.
• Do not pull on the cables or bend the cables beyond their natural limit.
Doing either of these may break the cables.
• Do not place objects on top of the cables. Doing so may break the cables.
• Use the dedicated connecting cables specified in operation manuals to
connect the Modules. Using commercially available RS-232C computer
cables may cause failures in external devices or the Coordinator Module.
• Do not connect pin 6 (+5V) on the RS-232C port on the Coordinator Mod-
ule to any external device other than the NT-AL001 or CJ1W-CIF11 Con-
version Adapter. Doing so may result in damage to the external device
and the Coordinator Module.
• When replacing parts, be sure to confirm that the rating of a new part is
correct. Not doing so may result in malfunction or burning.
• When transporting or storing the product, cover the PCBs with electrically
conductive materials to prevent LSIs and ICs from being damaged by
static electricity, and also keep the product within the specified storage
temperature range.
• Do not touch the mounted parts or the rear surface of PCBs because
PCBs have sharp edges such as electrical leads.
• When connecting the Power Supply Unit, Coordinator Module, Motion
Control Module, and End Module, slide the upper and lower sliders until a
click sound is heard to lock them securely. Desired functionality may not
be achieved unless Modules are securely locked in place.
• Be sure to mount the End Module supplied with the Coordinator Module
to the rightmost Module. Unless the End Module is properly mounted, the
FQM1 will not function properly.
• Make sure that parameters are set correctly. Incorrect parameter settings
may result in unexpected operations. Make sure that equipment will not
be adversely affected by the parameter settings before starting or stop-
ping the FQM1.
xix
Conformance to EC Directives 4
4 Conformance to EC Directives
4-1 Applicable Directives
•EMC Directives
• Low Voltage Directive
4-2 Concepts
EMC Directives
OMRON devices that comply with EC Directives also conform to the related
EMC standards so that they can be more easily built into other devices or the
overall machine. The actual products have been checked for conformity to
EMC standards (see the following note). Whether the products conform to the
standards in the system used by the customer, however, must be checked by
the customer.
EMC-related performance of the OMRON devices that comply with EC Direc-
tives will vary depending on the configuration, wiring, and other conditions of
the equipment or control panel on which the OMRON devices are installed.
The customer must, therefore, perform the final check to confirm that devices
and the overall machine conform to EMC standards.
Note Applicable EMC (Electromagnetic Compatibility) standards are as follows:
EMS (Electromagnetic Susceptibility): EN61000-6-2
EMI (Electromagnetic Interference): EN61000-6-4
(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 Controller
(EN61131-2).
4-3 Conformance to EC Directives
The FQM1-series Flexible Motion Controllers comply with EC Directives. To
ensure that the machine or device in which the Motion Controller is used com-
plies with EC Directives, the Motion Controller must be installed as follows:
1,2,3... 1. The Motion Controller must be installed within a control panel.
2. You must use reinforced insulation or double insulation for the DC power
supplies used for the communications power supply and I/O power sup-
plies.
3. Motion Controllers complying with EC Directives also conform to the Com-
mon Emission Standard (EN61000-6-4). Radiated emission characteris-
tics (10-m regulations) may vary depending on the configuration of the
control panel used, other devices connected to the control panel, wiring,
and other conditions. You must therefore confirm that the overall machine
or equipment complies with EC Directives.
4-4 EMC Directive Conformance Conditions
The immunity testing condition of the Motion Control Modules is as follows:
Overall accuracy of FQM1-MMA21 analog I/O: +4%/−2%
xx
Conformance to EC Directives 4
4-5 Relay Output Noise Reduction Methods
The FQM1-series Flexible Motion Controller conforms to the Common Emis-
sion Standards (EN61000-6-4) of the EMC Directives. However, noise gener-
ated by relay output switching may not satisfy these Standards. In such a
case, a noise filter must be connected to the load side or other appropriate
countermeasures must be provided external to the Motion Controller.
Countermeasures taken to satisfy the standards vary depending on the
devices on the load side, wiring, configuration of machines, etc. Following are
examples of countermeasures for reducing the generated noise.
Countermeasures
(Refer to EN61000-6-4 for more details.)
Countermeasures are not required if the frequency of load switching for the
whole system with the Motion Controller included is less than 5 times per
minute.
Countermeasures are required if the frequency of load switching for the whole
system with the Motion Controller included is more than 5 times per minute.
Countermeasure Examples
When switching an inductive load, connect an surge protector, diodes, etc., in
parallel with the load or contact as shown below.
Circuit Current Characteristic Required element
AC DC
Yes Yes If the load is a relay or solenoid, there
is a time lag between the moment the
circuit is opened and the moment the
load is reset.
If the supply voltage is 24 or 48 V,
insert the surge protector in parallel
with the load. If the supply voltage is
100 to 200 V, insert the surge protector
between the contacts.
The capacitance of the capacitor must
be 1 to 0.5 µF per contact current of
1 A and resistance of the resistor must
be 0.5 to 1 Ω per contact voltage of 1 V.
These values, however, vary with the
load and the characteristics of the
relay. Decide these values from experi-
ments, and take into consideration that
the capacitance suppresses spark dis-
charge when the contacts are sepa-
rated and the resistance limits the
current that flows into the load when
the circuit is closed again.
The dielectric strength of the capacitor
must be 200 to 300 V. If the circuit is an
AC circuit, use a capacitor with no
polarity.
CR method
Power
supply
Inductive
load
C
R
xxi
Conformance to EC Directives 4
When switching a load with a high inrush current such as an incandescent
lamp, suppress the inrush current as shown below.
The following Unit and Cables can be used with the FQM1-series Flexible
Motion Controller.
No Yes The diode connected in parallel with
the load changes energy accumulated
by the coil into a current, which then
flows into the coil so that the current
will be converted into Joule heat by the
resistance of the inductive load.
This time lag, between the moment the
circuit is opened and the moment the
load is reset, caused by this method is
longer than that caused by the CR
method.
The reversed dielectric strength value
of the diode must be at least 10 times
as large as the circuit voltage value.
The forward current of the diode must
be the same as or larger than the load
current.
The reversed dielectric strength value
of the diode may be two to three times
larger than the supply voltage if the
surge protector is applied to electronic
circuits with low circuit voltages.
Yes Yes The varistor method prevents the impo-
sition of high voltage between the con-
tacts by using the constant voltage
characteristic of the varistor. There is
time lag between the moment the cir-
cuit is opened and the moment the load
is reset.
If the supply voltage is 24 or 48 V,
insert the varistor in parallel with the
load. If the supply voltage is 100 to
200 V, insert the varistor between the
contacts.
---
Circuit Current Characteristic Required element
AC DC
Diode method
Power
supply
Inductive
load
Varistor method
Power
supply
Inductive
load
Name Model Cable length
Relay Unit XW2B-80J7-1A ---
Controller Connect-
ing Cables
XW2Z-050J-A28 0.5 m
XW2Z-100J-A28 1 m
XW2Z-050J-A30 0.5 m
XW2Z-100J-A30 1 m
XW2Z-050J-A31 0.5 m
XW2Z-100J-A31 1 m
OUT
COM
R
OUT
COM
R
Providing a dark current of approx.
one-third of the rated value
through an incandescent lamp
Providing a limiting resistor
Countermeasure 2Countermeasure 1
xxii
Data Backup 5
5Data Backup
The user programs, I/O memories, and other data in the Coordinator Module
and Motion Control Modules is backed up either by a super capacitor or flash
memory, as listed in the following table.
The data backup time of the super capacitor is given in the following table and
shown in the following graph.
Note 1. The times give above assume that the capacitor is completely charged.
Power must be supply to the FQM1 for at least 20 minutes to completely
charge the capacitor.
2. The backup time of the super capacitor is reduced as the capacitor ages.
It is also affected by the ambient temperature. Use portion of the DM Area
backed up by the super capacitor only for data that is to be held during mo-
Module Data Data backup
Coordinator Module Error log RAM with super
capacitor
Motion Control Module DM Area words D30000 to D32767
Error log
Coordinator Module User program
System Setup
DM Area words D30000 to D32767
Flash memory
Motion Control Module User program
System Setup
Temperature Initial After 5 years After 10 years
Ta = 2 5°C 101.61 hours
(4.23 days)
96.2 hours
(4.01days)
90.8 hours
(3.78 days)
Ta = 4 0°C 26.39 hours
(1.09 days)
15.28 hours 4.16 hours
25 35 45 55 65 75
0
24
48
72
96
120
Ambient temperature (°C)
Super Capacitor Backup Times
Backup time (h)
25°C: 96.20 h
25°C: 101.61 h
40°C: 26.39 h
Initial value,
40°C: 4.16 h
25°C: 90.80 h
40°C: 15.28 h
After 5 years, After 10 years
xxiii
Data Backup 5
mentary power interruptions. For operating parameters and other long-
term data, use the portion of DM Area stored in flash memory in the Coor-
dinator Module and transfer it to the Motion Control Modules before start-
ing operation.
The data in the DM Area and error log will become unstable or corrupted if the
power to the system is OFF for longer than the backup time.
If the power supply is to be turned OFF for an extended period of time, use
D30000 to D32767 in the Coordinator Module, which is backed up in flash
memory, to store data.
Otherwise, the Memory Not Held Flag (A404.14) can be used as the input
condition for programming using data in areas stored for power interruptions
to perform suitable processing.
A404.14: Turns ON when power is turned ON if data stored for power inter-
ruptions in the DM Area or error log is corrupted.
DM Area words D30000 to D32767 in the Coordinator Module are backed up
in flash memory as described in the next section.
Backing Up DM Area Data in Flash Memory
DM Area words D30000 to D32767 in the Coordinator Module is read from
flash memory when the power supply is turned ON. We recommend using DM
Area words D30000 to D32767 in the Coordinator Module to store operating
parameters and other data required for system operation and then using the
DM transfer function to transfer the data from the Coordinator Module to the
Motion Control Modules at the start of operation.
A404.14
Processing for
corruption of data
backed up for
power interruptions
xxiv
Data Backup 5
1
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
1-5 Expanded System Configuration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1-5-1 Serial Communications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1-5-2 Systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1-6 Basic Operating Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1-6-1 Examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1-7 Function Tables Arranged by Purpose . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1-7-1 Sync Cycles and Synchronized data. . . . . . . . . . . . . . . . . . . . . . . . . 19
1-7-2 Position and Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1-7-3 Measuring Input Pulses. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1-7-4 High-speed Analog I/O Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1-7-5 Controlling Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2
Outline of FQM1 Flexible Motion Controller Section 1-1
1-1 Outline of FQM1 Flexible Motion Controller
The FQM1 (Flexible Quick Motion) is a stand-alone Flexible Motion Controller
that can be used to create flexible high-speed, high-precision motion control
systems for 2 to 8 axes.
Flexible Configurations of
Up To 8 Axes
An FQM1 Flexible Motion Controller System is made up of a Power Supply
Unit, a Coordinator Module, one or more Motion Control Modules, and an End
Module.
Motion Control Modules are available with either pulse I/O or analog I/O, and
a mixture of up to four Motion Control Modules can be included in one system
(up to three if only analog I/O Motion Control Modules are used.) A flexible
system ideal for the application can be created because each Motion Control
Module controls two axes, giving total motion control of eight axes when four
Motion Control Modules are connected.
High-speed Processing Each Motion Control Module and Coordinator Module has independent ladder
programming, allowing high-speed independent control of pulse and analog
I/O. Data can be shared between all Modules. The Coordinator Module per-
forms general-purpose I/O control and manages overall system operation.
RS-422A
CX-Programmer
PT (Monitor
parameter
settings)
or
Host Controller
Power Supply Unit
Coordinator Module Motion Control Modules End Module
Peripheral port
RS-232C port
Servo Relay Units
Servomotors and
Servo Drivers
3
Outline of FQM1 Flexible Motion Controller Section 1-1
Built-in RS-232C Port in
Coordinator Module
A Programmable Terminal (PT) can be connected to the Coordinator Module
to monitor present values on the PT or make parameter settings for Servomo-
tors from the PT.
The RS-232C port is useful for a variety of applications. It can be used, for
example, to connect to a host computer or for a Serial PLC Link connection to
a SYSMAC CJ1M Programmable Controller.
Built-in RS-422A Port in
Coordinator Module
A PT can be connected to the Coordinator Module so that Servo parameters
can be read from and written to Servomotors/Servo Drivers using a Serial
Gateway Function.
Commands can also be sent from the Coordinator Module ladder program to
Servomotors/Servo Drivers.
Motion Control with
Familiar Ladder
Programming
The Coordinator Module and Motion Control Modules each have their own
ladder program, which perform basic I/O and special I/O (pulse I/O and ana-
log I/O).
Built-in General-purpose
I/O in Coordinator Module
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 Motion Control
Modules
Motion Control Modules have 12 contact inputs and 8 contact outputs for I/O
with peripheral devices.
Connections for Absolute
Servomotors
Motion Control Modules can read absolute position data from W-series Abso-
lute Servomotors/Servo Drivers.
High-speed Counter Latch
Function
The high-speed counter latch function latches the high-speed counter's PV
using 2 external signals. Ladder programs can then be used to read the
latched values.
Pulse Input Sampling
Function
The number of pulse inputs within a specified time can be measured.
RS-232C
CX-
Programmer
RS-422A
Coordinator Module
Motion Control
Module #1
Motion Control
Module #4
Motion Control
Module #3
Motion Control
Module #2
Periph-
eral port
Ladder
program
Ladder
program
Ladder
program
Ladder
program
Ladder
program
PT, host
computer,
etc.
Normal I/O
Servo Driver
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
Special I/O
(pulse or
analog I/O)
Basic I/O
4
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 vari-
ety of functions for starting interrupt tasks, in addition to input interrupts, inter-
val timer interrupts, high-speed counter interrupts, and pulse output interrupts.
High-speed Analog I/O
Supported
Motion Control Modules with analog I/O support linear (displacement/length
measurement) sensor input, inverter control, and control of Servomotors with
analog-input Servo Drivers. This gives flexibility for a great variety of motion
applications.
Writing and Monitoring
Ladder Programs
The ladder program for each Module is written using CX-Programmer Ver.
5.01 or later (see note) and then written to each Module via the peripheral
port on the Coordinator Module.The ladder program is saved in each Module
and operation of the program can be monitored from the CX-Programmer.
Note FQM1 Patch Software must be installed for CX-Programmer Ver. 5.0.
1-2 FQM1 Configuration
The FQM1 consists of a Power Supply Unit, a Coordinator Module, one or
more Motion Control Modules, and an End Module. Motion Control Modules
are available with either pulse I/O or analog I/O and up to four Motion Control
Modules can be connected in one system. (See note.)
Note The number of Motion Control Modules with Analog I/O that can be connected
is limited by the output capacity of the Power Supply Unit.
RS-422A
CX-Programmer
Power Supply Unit
Coordinator Module Motion Control Modules
End Module
Peripheral port
RS-232C port
Servo Relay Units
Servomotors/
Servo Drivers
5
FQM1 Configuration Section 1-2
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.
• The Coordinator Module has its own ladder program, which is used to
coordinate Motion Control Module data.
• The Coordinator Module has 24 general-purpose I/O (16 inputs and 8 out-
puts).
• The Coordinator Module has a Cyclic Refresh Bit Area, in which 10 words
are allocated for cyclic refreshing with each Motion Control Module. This
area is refreshed each Coordinator Module cycle.
• The Coordinator Module has a Synchronous Data Link Bit Area, in which
4 words are allocated for sharing with the Synchronous Data Link Bit Area
of each Motion Control Module.
FQM1-MMP21/MMA21
Motion Control Modules
Each Motion Control Module provides the following:
• Rotary Encoders, 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 Module has 20 general-purpose I/O (12 inputs and 8
outputs).
• Each Motion Control Module has 10 words allocated in the Coordinator
Module's Cyclic Refresh Bit Area that is refreshed every Coordinator
Module cycle.
• Each Module cycle, 4 words of Motion Control Module Synchronous Data
Link Bit Area data is shared with the Coordinator Module's Synchronous
Data Link Bit Area.
CJ1W-PA202/PA205R
Power Supply Units
SYSMAC CJ-series Power Supply Units are used.
Select a Power Supply Unit with a capacity greater than the total current con-
sumption of the connected Modules.
Pulse I/O Motion
Control Module
FQM1-MMP21 Program capacity: 5 Ksteps
Pulse inputs: 2
Pulse outputs: 2
General-purpose inputs: 12
General-purpose outputs:8
Analog I/O Motion
Control Module
FQM1-MMA21 Program capacity: 5 Ksteps
Pulse inputs: 2
Analog inputs: 1
Analog outputs: 2
General-purpose inputs: 12
General-purpose outputs: 8
CJ1W-PA202 100 to 240 V AC, output capacity: 5 V DC, 2.8 A, 24 V DC, 0.4 A,
up to 14 W total.
CJ1W-PA205R 100 to 240 V AC, output capacity: 5 V DC, 5.0 A, 24 V DC, 0.8 A,
up to 25 W total.
6
Modules Section 1-3
FQM1-TER01 End Module One End Module is supplied with the Coordinator Module. Always attach the
End Module because it acts as a terminator for the system. A fatal error will
occur if no End Module is attached.
Other Peripheral Devices Special Servo Relay Units are available for connecting the FQM1 Flexible
Motion Control system to OMRON W-series and SMARTSTEP Servo Drivers.
Specific cables suitable for the connected Servomotor/Servo Driver models
and the FQM1 Motion Control Module models are also available.
1-3 Modules
The Coordinator Module acts as the interface between the FQM1 system and
peripheral devices, shares data with each Motion Control Module, and syn-
chronizes specific data (e.g., virtual axis data) between Modules.
Item Details
Functions Interfaces for
peripheral
devices
Connection with the CX-Programmer (peripheral port)
Connection with PT for monitoring and parameter settings (RS-232C port)
Connections with Servo Drivers (RS-422A port)
Sharing data with
each Motion
Control Module
(each Coordina-
tor Module cycle)
The 10 words are allocated for each Motion Control Module in the Cyclic Refresh Bit Area
of the Coordinator Module (CIO 0100 to CIO 0139), based on the Motion Control Module
slot number. These words correspond to CIO 0100 to CIO 0109 in the Cyclic Refresh Bit
Area of each Motion Control Module.
• Coordinator Module to Motion Control Module: 5 words (General-purpose output)
• Motion Control Module to Coordinator Module: 5 words (General-purpose input: 4 words,
program RUN, fatal errors, non-fatal errors)
This cyclic refresh data is refreshed every Coordinator Module cycle.
Synchronized
sharing of special
data between
Modules (broad-
cast at specified
sync cycle)
User-specified synchronous data (see following list) can be allocated to CIO 0200 to CIO
0219 in the Synchronous Data Link Bit Area of the Coordinator Module and each Motion
Control Module, 4 words at a time (2 types of data × 2 words). The allocations are fixed,
starting with the Coordinator Module and followed by Motion Control Modules in order of
slot number.
• Any ladder program data
• High-speed counter PV
• Pulse output PV
• Analog input PV
• Analog output PV
• Built-in I/O input values
The synchronous data is broadcast each specified sync cycle and all other Modules
receive this data in essentially real-time.
DM data transfer
with specific
Motion Control
Modules (as
required)
DM data (499 words max.) can be transferred in the specified direction between the speci-
fied words in the DM Area in the specified Motion Control Module and the specified DM
Area words in the Coordinator Module when the DM Write Request Bit (A530.00) or DM
Read Request Bit (A530.01) in the Auxiliary Area of the Coordinator Module turns ON.
I/O Serial communi-
cations
• Peripheral port: Peripheral bus (for CX-Programmer)
• One RS-232C port: NT Link (for OMRON PTs), Host Link (for host computers), or no pro-
tocol (for PLCs)
• One RS-422A port (Same connector as general-purpose I/O): 1:N communications with
Servo Drivers (for transferring parameters to Servo Drivers)
General-purpose
I/O
General-purpose inputs: 16
General-purpose outputs: 8
40-pin connector (including RS-422A)
Programs Program capacity 5 Ksteps (for data exchange with host computer, coordination of Motion Control Modules,
and other peripheral programming)
7
Modules Section 1-3
Outline of Internal Data Exchange and I/O
PT
CX-Programmer
DM DM
RS-232C
PLC
RS-422A
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)
DM data transfer
(as required)
Peripheral port
16 inputs
8 outputs
12 inputs
8 outputs
Special I/O 12 inputs
8 outputs
Special I/O 12 inputs
8 outputs
Special I/O 12 inputs
8 outputs
Special I/O
(for parameter settings)
W-series/
SMART
STEP
Servo
Driver
W-series/
SMART
STEP
Servo
Driver
Coordinator
Module
• Peripheral port for connecting CX-Programmer and RS-232C port for connecting PTs and other
devices
• Ladder program for coordinating Motion Control Module data and other functions
• 24 general-purpose I/O
• 10 words of cyclic refresh data for each Motion Control Module allocated in Cyclic Refresh Bit Area,
which is refreshed each Coordinator Module cycle
• 4 synchronous data link words allocated for each Motion Control Module in Coordinator Module's Syn-
chronous Data Link Bit Area, which is shared each Module cycle
Motion Control
Modules
• Linear Sensors, Servo Drivers, Inverters, etc., connected to special I/O
• Ladder program for executing motion control and other functions
• 20 general-purpose I/O
• 10 words of cyclic refresh data for each Motion Control Module allocated in its Cyclic Refresh Bit Area,
which is refreshed each Coordinator Module cycle
• 4 synchronous data link words allocated for each Motion Control Module in Coordinator Module's Syn-
chronous Data Link Bit Area, which is shared each Module cycle
8
CX-Programmer Section 1-4
1-4 CX-Programmer
The CX-Programmer provides software functions for programming and
debugging.
FQM1 Patch Software must be installed for the CX-Programmer Ver. 5.0
(Model: WS02-CXPC1-E-V50) to use it to create ladder programs, make set-
tings 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 ear-
lier versions. Refer to 8-1 CX-Programmer.
CX-Programmer
Note The CX-Programmer can be connected online to FQM1 Coordinator Modules
and Motion Control Modules at the same time. If the default baud rate is
changed when Coordinator and Motion Control Modules are connected at the
same time, set the baud rate to 38.4 kpps max.
Item Details
Applicable Motion
Controllers
FQM1 Series
Note CX-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-
patible
IBM PC/AT or com-
patible
IBM PC/AT or com-
patible
Connection method Peripheral port or built-in RS-232C port on the Coordinator
Module
Communications
protocol with FQM1
Peripheral Bus or Host Link
Offline functions Programming, editing of I/O memory, System Setup, printing
Online functions Transferring comparing data, monitoring, System Setup
Main functions 1. Programming functions: Creating and editing of applicable
FQM1 ladder or mnemonic programs.
2. Changing operating modes for each Module.
3. Transfer functions: Transferring programs, I/O memory data,
and System Setup between computer and Modules.
4. Monitoring program execution status: Monitoring I/O bit sta-
tus and PV using ladder display, monitoring I/O bit status
and PV using mnemonic display, and monitoring PV using
I/O memory display.
9
Expanded System Configuration Section 1-5
1-5 Expanded System Configuration
1-5-1 Serial Communications
The FQM1 system can be expanded using the two serial ports built into the
Coordinator Module: Peripheral port and RS-232C port.
System Configuration
1-5-2 Systems
The serial communications port mode (protocol) can be switched in the Coor-
dinator Module’s System Setup. Depending on the protocol selected, the fol-
lowing systems can be configured.
Protocols The following protocols support serial communications.
CX-Programmer
Host computer
Host Link
Automatic detection of
communications parameters
Peripheral
port
RS-232C port
Coordinator Module
Protocol Main connection Use Applicable commands and
communications
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 (cus-
tom) communica-
tions
General-purpose external devices
Servo Drivers
Host controllers
No-protocol communications with
general-purpose devices, host
controllers, and Servo Drivers
TXD(236) instruction and
RXD(235) instruction
NT Links (1: N) OMRON Programmable Termi-
nals (PTs)
High-speed communications with
Programmable Terminals via
direct access
None
Peripheral Bus
(Toolbus)
CX-Programmer Communications between the
CX-Programmer running on a
computer and the FQM1
None
Serial PLC Link
Slave
OMRON PLC Communications between
OMRON PLC and the FQM1
None
Serial Gateway OMRON Programmable Termi-
nals (PTs)
Servo Drivers
Communications between a PT
and W-series or SMARTSTEP
Servo Drivers via the FQM1
FINS commands
10
Expanded System Configuration Section 1-5
Host Link System The Host Link System allows the I/O memory of the Modules to be read/writ-
ten and the operating mode to be changed from a host computer (personal
computer or Programmable Terminal (PT)) by executing Host Link commands
or FINS commands that are preceded by a Host Link header and followed by
a terminator. A Host Link System is possible for either the peripheral port or
the RS-232C port on the Coordinator Module.
No-protocol (Custom)
Communications
System via RS-232C
Port
No-protocol communications allow simple data transmissions, such as input-
ting bar code data and outputting printer data using communications port I/O
instructions TXD(236) and RXD(235). The start and end codes can be set
and, RS and CS signal control is also possible with no-protocol communica-
tions.
NT Link System
(1:N Mode, Standard)
If the FQM1 and a Programmable Terminal (PT) are connected together using
the RS-232C port, the allocations for the PT’s status control area, status notify
area, objects such as touch switches, indicators, and memory maps can be
allocated in the I/O memory of the FQM1.
The NT Link System allows the PT to be controlled by the FQM1, and the PT
can periodically read data from the status control area of the FQM1, and per-
form necessary operations if there are any changes in the area. The PT can
communicate with the FQM1 by writing data to the status notify area of the
FQM1 from the PT. The NT Link System allows the PT status to be controlled
and monitored without using FQM1 ladder programming. The ratio of FQM1
Controllers to PTs is 1: n (n ≥ 1).
RS-232C
Host link commands
or FINS commands
embedded in Host Link
commands
Coordinator Module
Note: Turn ON pin 2 on the DIP switch on the front of the
Coordinator Module and set the serial communications
mode in the System Setup to "Host Link."
Host computer
Applicable Ports
Peripheral port
Yes
(See note.)
RS-232C port
Yes
Applicable Ports
RS-232C
RXD(235) instruction
TXD(236) instruction
Coordinator Module
Peripheral
No
RS-422A
Yes
Coordinator Module
RS-232C
Yes
Note Set the serial communications
mode in the System Setup to
"non-procedural."
11
Expanded System Configuration Section 1-5
Set the PT communications settings for a 1:N or Standard NT Link. An NT
Link System is possible for either the peripheral port or the RS-232C port.
Note (1) The FQM1 can be connected to any PT port that supports 1:N NT Links.
It cannot be connected to the RS-232C ports on the NT30 or NT30C, be-
cause these ports support only 1:1 NT Links.
(2) The Programming Console functionality of a PT (Expansion Function)
cannot be used.
(3) When more than one PT is connected to the same FQM1, be sure that
each PT is assigned a unique unit number. Malfunctions will occur if the
same unit number is set on more than one PT.
(4) The NT Link System includes 1:1 and 1:N modes. These two modes are
not compatible as serial communications modes.
Serial PLC Link Slave The FQM1 can be connected to a Serial PLC Link by linking to a Serial PLC
Master. (It cannot be connected by the Complete Link Method.) Program-free
data exchange can be achieved between the master and slave by connecting
a CJ1M CPU Unit as the master and the FQM1 as the slave. The FQM1 con-
nection is made to the RS-232C port on the Coordinator Module.
CIO 0080 to CIO 0099 in the Serial PLC Link Bit Area in the Coordinator Mod-
ule are shared with the CJ1M master as shown below
Note Use a CJ1W-CIF11 RS-232C to RS-422A/485 Conversion Adapter when con-
necting more than one FQM1 to the same CJ1M CPU Unit (1:N, where N = 8
max.).
RS-232C
RS-422A/485
PT
Coordinator Module
PT
PT
RS-232C
PT
NT Link
1:N Mode
NT Link
1:N Mode
RS-232C to RS-422A/485
Conversion Adapter
Applicable Ports
Peripheral port
Yes
(See note.)
RS-232C port
Yes
Note Turn ON pin 2 on the DIP
switch on the front of the
Coordinator Module and set
the serial communications
mode in the System Setup to
an NT Link.
12
Expanded System Configuration Section 1-5
1:N Connection between CJ1M and FQM1 Controllers
1:1 Connection between CJ1M and FQM1 Controller
Serial Gateway Reading/writing Servo Parameters and other data in Servo Drivers connected
via RS-422A can be performed through the FQM1 Coordinator Module from
an NS-series PT or computer application running on CX-Server. The serial
communications mode for the RS-422A port on the FQM1 Coordinator 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 NS-series PT connected via an NT Link can be used
to access W-series or SMARTSTEP Servo Drivers.
RS-422A/485
CJ1W-CIF11 RS-232C to RS-422A/485
Conversion Adapter connected to RS-232C port
CJ1M CPU Unit (master)
Coordinator Module
Data sharing
FQM1
(slave)
8 nodes max.
CJ1W-CIF11 RS-232C to RS-422A/485
Conversion Adapters connected to RS-232C ports
FQM1
(slave)
FQM1
(slave)
RS-232C
CJ1M CPU Unit (master)
Coordinator Module
Data sharing
FQM1
(slave)
13
Basic Operating Procedure Section 1-6
No-protocol (Custom)
Communications
System via RS-422A
Port
No-protocol communications allow simple data transmissions, such as input-
ting bar code data and outputting printer data using communications port I/O
instructions TXD(236) and RXD(235). The start and end codes can be set
with no-protocol communications.
1-6 Basic Operating Procedure
The following procedure outlines the normal steps to operate the FQM1.
1,2,3... 1. Installation
Connect the Power Supply Unit, Coordinator Module, Motion Control 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
Connect the power supply wiring and ground. Refer to 3-2-1 Wiring Power
Supply Units for details.
Smart Active Parts
FQM1
RS-422A
Coordinator Module
Servo parameters Protocol
conversion
NT
Link
W-series
or SMART
STEP
Servo Driver
W-series
or SMART
STEP
Servo Driver
NS-series PT
Applicable Ports
Peripheral
No
RS-422A
Yes
RS-422A
RXD(235) instruction
TXD
(
236
)
instruction
Coordinator Module
Coordinator Module
RS-232C
Yes
Note Set the serial communications
mode in the System Setup to
"non-procedural."
14
Basic Operating Procedure Section 1-6
Wiring I/O terminals and connectors. Refer to 3-3 Wiring Module Connec-
tors for details.
3. Initial Hardware Settings
Set the DIP switch on the front of the Coordinator Module as required. Re-
fer to 2-3 Coordinator Module for details.
4. Turning ON Power and Checking Initial Operation
Connect the CX-Programmer (using CX-Programmer Ver. 5.0 with the
FQM1 Patch Software installed). Refer to 3-1-4 Connecting FQM1 Com-
ponents for details.
Check the power supply wiring and voltage and then turn ON the power
supply. Check the RDY indicator and CX-Prorammer display. Refer to 8-2
Connecting the CX-Programmer for details.
5. System Setup Settings Using the CX-Programmer
With the FQM1 in PROGRAM mode, change the settings in the System
Setup as necessary from the CX-Programmer online. (Another method is
to change the System Setup in CX-Programmer offline and transfer it to the
Coordinator Module and Motion Control Modules.) Set the Sync Mode un-
der Synchronization between Modules to ASync Mode to make debugging
easier. Refer to System Setup in the Coordinator Module on page 311 in
Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Al-
locations for details.
6. Writing the Programs
Write the programs for the Coordinator Module and Motion Control Mod-
ules with the CX-Programmer. Refer to Appendix A Programming and to
the FQM1 Instructions Reference Manual (Cat. No. O011) for details.
7. Transferring the Programs
Transfer the programs from CX-Programmer to the Coordinator Module
and Motion Control Modules.
8. Testing Operation
a. Checking I/O Wiring
b. Trial Operation
Test operation after switching the FQM1 to MONITOR mode.
c. Monitoring and Debugging
Monitor operation from the CX-Programmer. Use functions such as
force-setting/force-resetting bits, tracing, and online editing to debug
the program.
Note If the Coordinator and Motion Control Modules are connected at
the same time, set the baud rate to 38.4 kpps max.
9. Saving and Printing the Programs
Save the debugged ladder programs and System Setup.
10. Running the Programs
Switch the FQM1 to RUN mode to run the programs.
Output wiring With the FQM1 in PROGRAM mode, force-set output bits
and check the status of the corresponding outputs.
Input wiring Activate sensors and switches and either check the status
of the input indicators or check the status of the corre-
sponding input bits with the CX-Programmer’s Bit/Word
Monitor operation.
15
Basic Operating Procedure Section 1-6
1-6-1 Examples
1. Installation Connect the Power Supply Unit, Coordinator Module, Motion Control Mod-
ules, and End Module to assemble the FQM1.
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.
2. Wiring Connect the power supply, ground, and I/O wiring.
3. Initial Hardware
Settings
Set the DIP switch on the Coordinator Module. In particular, be sure that the
settings for the peripheral port are correct.
Example: When connecting the CX-Programmer to the peripheral port, turn
OFF pin 2.
Note When devices other than the CX-Programmer are connected to the peripheral
port and RS-232C port, turn ON pin 2.
INPUT
AC100
-240V
L2/N
L1
NC
NC
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
BA
1 2
MMP21
2
CN2
CN1
1
12 4039
2526
BABA
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
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
ON OFF
CM001
1 2
16
Basic Operating Procedure Section 1-6
4. Turning ON Power and Checking Initial Operation
Note The System Setup and user programs are backed up in built-in flash memory.
When the data is being backed up, a message indicating the data is being
transferred will be displayed on the CX-Programmer. Never turn OFF the
power supply to the FQM1 while data is being backed up.
5. System Setup
Settings
These settings determine the Modules’ software configuration. Refer to
Appendix C System Setup, Auxiliary Area Allocations, and Built-in I/O Alloca-
tions for details.
Note The FQM1 is set to the Sync Mode by default. This mode must be changed on
the Coordinator Module when programming Motion Control Modules, 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 and creating programs directly from the CX-Pro-
grammer.
6. Writing the
Programs
Write each program with the CX-Programmer, including one cyclic task and
the required number of interrupt tasks.
1,2,3... 1. Add Motion Control Modules to the tree by executing Insert - PC once for
each Motion Control Module connected to the Coordinator Module.
2. When going online to Motion Control Modules through the Coordinator
Module, the node set for the FINS destination address in the network set-
tings on the Change PC Type Window determines the Motion Control Mod-
ule that is connected. Normally the node number is automatically allocated
for the Motion Control Module when Insert - PC is executed.
17
Basic Operating Procedure Section 1-6
7. Transferring the
Programs
When the programs has been created in the CX-Programmer, they must be
transferred to the Motion Control Modules through the Coordinator Module.
8. Testing Operation
8-a) I/O Wiring Checks Check Output Wiring
With the FQM1 in PROGRAM mode, force-set and force-reset output bits
from the CX-Programmer and verify that the corresponding outputs operate
properly.
Check Input Wiring
Activate input devices, such as sensors and switches, and verify that the cor-
responding input indicators light. Also, use the Bit/Word Monitor operation
from the CX-Programmer to verify the operation of the corresponding input
bits.
8-b) Trial Operation Use the CX-Programmer to switch each Module to MONITOR mode.
Using the CX-Programmer
8-c) Monitoring and
Debugging
There are several ways to monitor and debug FQM1 operation, including the
force-set and force-reset operations, differentiation monitoring, time chart
monitoring, data tracing, and online editing.
Force-Set and Force-Reset
When necessary, the force-set and force-reset operations can be used to
force the status of bits and check program execution.
From the CX-Programmer, select the bit to be force-set or force-reset and
then select Force On or Off from the PLC menu.
Differentiation Monitor
The differentiation monitor operation can be used to monitor the up or down
differentiation of particular bits. Use the following procedure from the CX-Pro-
grammer.
CX-Programmer
Trial Operation
Select PC - Mode - MONITOR
.
Actual operation
Select PC - Mode - RUN.
FQM1
Coordinator Module
Peripheral
port
18
Basic Operating Procedure Section 1-6
1,2,3... 1. Select the bit for differential monitoring.
2. Select Differential Monitor from the PLC Menu. The Differential Monitor
Dialog Box will be displayed.
3. Select Rising or Falling.
4. Click the Start Button. The buzzer will sound when the specified change is
detected and the count will be incremented.
5. Click the Stop Button. Differential monitoring will stop.
Time Chart Monitoring
The CX-Programmer’s time chart monitor operation can be used to check and
debug program execution.
Data Tracing
The CX-Programmer’s data trace operation can be used to check and debug
program execution.
Online Editing
When a few lines of the program in a Module have to be modified, they can be
edited online with the FQM1 in MONITOR mode or PROGRAM mode from
the CX-Programmer. When more extensive modifications are needed, upload
the program from the Module to the CX-Programmer, make the necessary
changes, and transfer the edited program back to the Module.
9. Save and Print the
Programs
To save a program, select File and then Save (or Save As) from the CX-Pro-
grammer menus.
To print a program, select File and then Print from the CX-Programmer
menus.
10. Run the Programs Switch the FQM1 to RUN mode to run the programs.
19
Function Tables Arranged by Purpose Section 1-7
1-7 Function Tables Arranged by Purpose
1-7-1 Sync Cycles and Synchronized data
Purpose Operation Function used Details
Synchronizing 3
or more axes
Simple control
of all axes oper-
ations from the
Coordinator
Module
Synchronizing
all Motion Con-
trol Modules to
Coordinator
Module cycle
Sync Mode,
Sync Cycle
Time
5-1 Synchronous Operation between Modules
Set Sync Mode to Sync and Sync Cycle Time to
0 ms. Executes Motion Control Module ladder
programs at the same time as Coordinator Mod-
ule ladder program, which makes it easy to con-
trol Motion Control Module program execution
from the Coordinator Module ladder program.
Synchronous
Data Link Bit
Area
5-2 Data Exchange between Modules
If information to be shared between Modules
every cycle is placed in the Synchronous Data
Link Bit Area, it is automatically shared between
Modules every cycle.
Synchronous operation is also possible because
programs can handle the same data between
different Modules.
Example: Sending position data for VIRTUAL
AXIS (AXIS) instruction from a Module; sending
high-speed counter PVs from pulse inputs, etc.
Constant Cycle
Time (Coordina-
tor Module)
Sync Cycle
Time (matches
cycle time)
5-1 Synchronous Operation between Modules
The cycle time of the Coordinator Module can be
made constant using the Constant Cycle Time
function.
This constant cycle time is set as the Sync Cycle
Time in the FQM1.
Cycle Time
(Motion Control
Modules)
5-1 Synchronous Operation between Modules
The Coordinator Module's constant cycle time is
set as the FQM1 Sync Cycle Time (as above).
The I/O refresh interval for the Motion Control
Module within that Sync Cycle Time is made
constant, and the I/O cycle with external inter-
faces is also made constant.
Prohibit System
Interruption of
the Sync Mode
5-4-4 Settings
Used to synchronize, as much as possible, the
start of processing between Modules.
When system interrupts are prohibited, the vari-
ation in the start of processing between Modules
is approx. 2 µs.
20
Function Tables Arranged by Purpose Section 1-7
Synchronizing 3
or more axes
Make control
cycle as short
as possible with
Modules syn-
chronized
Synchronizing
Motion Control
Modules only
Sync Mode,
Sync Cycle
Time
5-1 Synchronous Operation between Modules
Set Sync Mode to Sync and Sync Cycle Time to
between 0.1 and 10.0 ms.
If the Coordinator Module cycle varies or gets
too long after connecting the FQM1 to peripheral
devices, Motion Control Module operation can
be synchronized to have short control cycles for
Motion Control Modules only.
The Sync Cycle Time can be set to any value.
Synchronous
Data Link Bit
Area
Same as “Synchronous Data Link Bit Area,”
above.
Cycle Time
(Motion Control
Modules)
5-1 Synchronous Operation between Modules
The Coordinator Module's constant cycle time is
set as the FQM1 Sync Cycle Time (as above).
The I/O refresh interval for the Motion Control
Module in that Sync Cycle Time is made 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 the
Sync Mode” above.
Control opera-
tion using pulse
and analog data
simultaneously
Synchronizing
Motion Control
Modules to
Coordinator
Module cycle or
synchronizing
between Motion
Control Mod-
ules only
Synchronous
Data Selection
5-4 Synchronous Data Refresh
Information for I/O from different Motion Control
Modules can be stored within Modules and a
control loop created.
Select the type of synchronous data.
• Ladder execution results
• High-speed counter PV
• Pulse output PV
• Analog input values
• Analog output values
• Built-in I/O inputs
Fast control
loops
Changing to
Async Mode
Sync Mode 5-1 Synchronous Operation between Modules
Set the Sync Mode to Async.
Each Module will no longer be synchronized,
bus refreshing will stop, and the Motion Control
Module overhead time will be minimized.
The minimum overhead time for FQM1-MMP21
is 0.19 ms.
Purpose Operation Function used Details
21
Function Tables Arranged by Purpose Section 1-7
1-7-2 Position and Speed Control
Purpose Operation Main functions
used
Details
PTP positioning
using pulse I/O
Using Servo
Driver compati-
ble with an
incremental
encoder or step-
ping Servomo-
tor/Servo Driver
Controlling posi-
tioning speed
• Relative pulse
output func-
tions
• Pulse output
instructions
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
7-6-6 Pulse Output Function Details
Set operating mode to Relative Pulse Output.
The number of pulses is determined from the
current position. Instructions to control pulses
and speed can be used, depending on what is to
be controlled. Speed can be controlled between
20 Hz and 1 MHz.
• Basic I/O can be used for origin signal and
other I/O, and pulse inputs can be used for
encoder inputs, for Servomotors/Servo Drivers
• For stepping motors, combination with basic
I/O and pulse (CW) + direction control is possi-
ble.
Controlling trap-
ezoidal position-
ing speed
control
• PLS2(887)
instruction
7-6-12 PLS2(887) Pulse Output Direction Prior-
ity Mode
Trapezoidal positioning at any accelera-
tion/deceleration ratio.
The system will automatically switch to triangle
control (trapezoidal control without constant
speed interval) when acceleration/deceleration
conditions with specified total output pulses do
not lead to trapezoidal control.
Speed Change
Cycle Selection
(2 ms/1 ms)
7-6-11 Acceleration/Deceleration Rates in
ACC(888) and PLS2(887) Instructions
The speed change cycle of ACC(888) and
PLS2(887) instructions can be selected.
This is useful for fine control of time taken to
reach target speed or to reduce positioning time.
Defining the ori-
gin
Pulse Output PV
Reset
7-5-8 Pulse Input Function Description
Turn ON the Pulse Output PV Reset Bit at the
origin.
A626.00 (pulse output 1)/A627.00 (pulse output
2) turn ON.
Using Servo
Drivers compati-
ble with an
Absolute
Encoder
Controlling posi-
tioning speed
• Absolute Pulse
Output
• Pulse output
instructions
(SPED(885)(8
85), ACC(888),
PULS(886),
and
PLS2(887))
7-6-6 Pulse Output Function Details
Change operating mode to Absolute Pulse Out-
put.
The number of pulses in the command is han-
dled as an absolute position. Everything else is
the same as relative pulse output.
Controlling trap-
ezoidal position-
ing speed
PLS2(887)
instruction
Same as for Servo Drivers compatible with an
incremental encoder, outlined above.
Pulse Output
Direction/Abso-
lute Position Pri-
ority Mode
Setting
7-6-12 PLS2(887) Pulse Output Direction Prior-
ity Mode
Can switch between giving priority to CW/CCW
output direction specification for PLS2(887)
instructions or absolute position specification to
determine output direction.
22
Function Tables Arranged by Purpose Section 1-7
PTP positioning
using pulse I/O
Using Servo
Drivers compati-
ble with an
Absolute
Encoder
Reading PV
from Servo
Driver
• Absolute
counter opera-
tion (absolute
linear/circular)
• High-speed
counter abso-
lute encoder
read
7-7 Functions for Servo Drivers Compatible with
Absolute Encoders
Set counter operation to Absolute Linear (CW−),
Absolute Circular, or Absolute Linear (CW+).
Uses OMRON W-series Servo Drivers and
reads the absolute position from the Servo
Driver before operation starts.
Once the origin has been set, it is easier to find
the origin by reading the absolute position
before operation starts.
Presetting the
absolute posi-
tion to the pulse
output counter.
Pulse output
counter PV con-
vert (INI(880)
instruction)
7-6-6 Pulse Output Function Details
Reflects in the pulse output instruction the abso-
lute value read using the absolute encoder read
instruction outlined above.
PTP positioning
using analog I/O
Using Servo
Driver compati-
ble with an
incremental
encoder
Position control
in semi-closed
loop using vir-
tual pulse output
function
• Virtual axis
(AXIS instruc-
tion)
• High-speed
counter (FB
pulse)
• Analog output
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 the AXIS instruc-
tion is used as the command pulse to create a
position loop with the high-speed counter PV
(the feedback pulse from the Servo Driver). A
control loop for the analog output instruction is
generated according to this deviation and used.
Use Servo Driv-
ers compatible
with Absolute
Encoder
Position control
in semi-closed
loop using vir-
tual pulse output
function
As above 7-8 Virtual Pulse Output Function
Uses virtual axis (AXIS instruction) in absolute
mode. Everything else is the same as above.
Reading current
position from
Servo Driver
• Absolute
counter mode
(absolute lin-
ear/circular)
• High-speed
counter abso-
lute encoder
read
Same as PTP positioning with pulse I/O when
Servo Drivers compatible with Absolute Encoder
used.
Presets abso-
lute position in
AXIS instruction
• High-speed
counter PV
• MOVL instruc-
tion
7-8 Virtual Pulse Output Function
Presets the high-speed counter PV read using
the high-speed counter absolute encoder read
instruction outlined above, and presets and uses
this PV as the current position output in the
AXIS instruction.
The PV is preset before executing AXIS instruc-
tion.
Purpose Operation Main functions
used
Details
23
Function Tables Arranged by Purpose Section 1-7
PTP positioning
using analog I/O
Simple position-
ing using invert-
ers
Stepped or
sloped analog
output corre-
sponding to the
high-speed
counter PV
• Target value
match instruc-
tion
(CTBL(882)
instruction) for
high-speed
counter
• Analog output
instruction
(SPED(885)
instruction) or
analog output
slope variation
(ACC(888)
instruction) in
interrupt tasks
7-10 Analog Outputs
Used when positioning only using speed com-
mand according to analog output.
Applicable when speed patterns have been
determined based on specified positions.
An instruction to change the output variable
every time instructions are executed
(SPED(885) instruction) and an instruction to
change analog outputs at a specified rate of
change every 2 ms (ACC(888) instruction) are
available for analog outputs.
Fine speed control loops can be included using
the FQM1 high-speed cycle time and analog
output conversion functions (approx. 40 µs).
Path control Drawing path
with linear inter-
polation
Executing elec-
tronic cam con-
trol for 2 axes
synchronized to
virtual axis
• Virtual axis
(AXIS instruc-
tion)
• Create path
tables using
ladder program
(APR instruc-
tion)
• Electronic cam
pulse output
(PULS(886)
instruction)
7-8 Virtual Pulse Output Function
Pulse output operation mode set to electronic
cam control mode (linear).
Virtual axis used as basic axis. Path can be
drawn by synchronizing 2 pulse output axes
(controlled as slave axes) with the basic axis.
Set the desired path pattern to the broken-line
approximation instruction (APR instruction) table
data, and execute pulse output control based on
the APR instruction calculation result for the
basic axis.
The maximum number of line points for one APR
instruction is 256, but multiple APR instructions
can be used in ladder programs so the number
of curve points can be increased by setting the
table data across multiple APR instructions.
Drawing path
with circular
interpolation
As above As above
Drawing ellipti-
cal and other
special locus
As above As above
Synchronous
control
Slave axis con-
trol synchro-
nized to real
axis.
Electronic cam:
Changing target
position and
speed every
cycle based on
input pulse
(position or
angle for one
rotation, etc.) to
execute posi-
tioning.
• High-speed
counter PV
•Cam curve
generation or
cam curve
table every
cycle based on
ladder pro-
gramming
(APR instruc-
tion)
• Pulse output
with specified
target position
and frequency
(PULS(886)
instruction)
• Constant cycle
time
7-6-14 Pulse Output Function Examples
Set pulse output operation mode to electronic
cam control mode (linear) or electronic cam con-
trol mode (circular).
Makes Motion Control Module cycle times con-
stant, specifies target position and speed, and
executes pulse outputs to Servo Driver for the
slave axis according to high-speed counter PV.
If cam curves are generated using ladder pro-
gramming, the cam curves can be changed dur-
ing operation.
High-precision, synchronized control with exter-
nal axes is possible with FQM1 high-speed
cycle.
Purpose Operation Main functions
used
Details
24
Function Tables Arranged by Purpose Section 1-7
Synchronous
control
Slave axis con-
trol synchro-
nized to virtual
axis.
Electronic cam:
Changing target
position and
speed every
cycle based on
virtual pulse out-
put (position or
speed) to exe-
cute positioning.
• Virtual axis
(AXIS instruc-
tion)
•Cam curve
generation or
cam curve
table every
cycle based on
ladder pro-
gramming
(APR instruc-
tion)
• Pulse output
with specified
target position
and frequency
(PULS(886)
instruction)
• Constant cycle
time
7-8 Virtual Pulse Output Function
Execute pulse output control of slave axis based
on virtual axis position and speed using AXIS
instruction, instead of high-speed counter PV for
real axis outlined above.
Instead of the slave axis operation reflecting the
real machinery operation outlined above, this
method is used to operate position control for
multiple axes using the same timing.
Control of a par-
ticular axis oper-
ation at a speed
with a uniform
ratio applied
Electronic gear
operation: Pulse
outputs based
on input pulses
multiplied by a
set factor.
• High-speed
counter PV
• Straight-line
table (APR
instruction)
• Pulse outputs
with specified
target position
and frequency
(PULS(886)
instruction)
• Constant cycle
time
7-6-13 Pulse Output Function Procedures
Set pulse output operating mode to electronic
cam control (circular).
Prepare a straight line table whose slope
becomes the multiplier for APR instruction and
use APR instructions to calculate the pulse out-
put target position for slave axis corresponding
to high-speed counter PV and executes pulse
output control.
Speed is set and controlled to enable distribution
of specified number of pulses within FQM1 con-
trol cycle.
Speed control Creating any
trapezoidal
speed control
pattern (e.g., S-
curve accelera-
tion/decelera-
tion) (fine
control of accel-
eration/deceler-
ation using time)
Electronic cam
operation:
Changing target
position and
speed every
cycle according
to time axis and
perform posi-
tioning.
•Cam curve
generation or
cam curve
table every
cycle based on
ladder pro-
gramming
(APR instruc-
tion)
• Pulse output
with specified
target position
and frequency
(PULS(886)
instruction)
• Constant cycle
time
7-6-13 Pulse Output Function Procedures
Set pulse output operation mode to electronic
cam control mode (linear) or electronic cam con-
trol mode (circular).
Used for applications such as creating ideal Ser-
vomotor control patterns.
Makes the Motion Control Module cycle time
constant, generates a time axis using ladder
programming, specifies the target position and
speed for the Servo Driver of the slave axis
based on that time axis and gives pulse outputs.
The time unit can be set to milliseconds, allow-
ing fine control in FQM1 high-speed cycles.
Purpose Operation Main functions
used
Details
25
Function Tables Arranged by Purpose Section 1-7
1-7-3 Measuring Input Pulses
Speed control Torque control
(position +
torque control)
Individual axis
control for mold-
ing equipment
and similar
applications
Switching
between posi-
tion and torque
control modes.
During torque
control, perform-
ing speed con-
trol using high-
speed control
loops based on
feedback from
torque sensors.
• Analog input
• Pulse input (for
Servo Drivers
compatible
with Absolute
Encoders)
• Analog output
• Feedback cal-
culations using
ladder pro-
grams
7-9 Analog Input Functions
7-10 Analog Outputs
Uses 2 analog outputs for speed and torque
commands for Servo Driver.
Can switch freely between position and torque
control modes in ladder program, allowing for
operations such as position control → torque
control → position control.
Speed and torque commands to Servo Drivers
can be freely controlled during torque control
based on feedback from torque sensors via ana-
log inputs.
Fine speed control is possible in FQM1 high-
speed cycle.
Line control
(winding/feed-
ing control)
Tension control,
etc.
Performing ana-
log output con-
trol based on
feedback using
analog inputs
• Analog input
• Analog output
• Feedback cal-
culations using
ladder pro-
grams
7-9 Analog Input Functions
7-10 Analog Outputs
Performs speed control of winding and feeding
motors while executing feedback calculations in
ladder programs based on analog input informa-
tion from dancer rollers or tension detectors.
High-speed feedback loops can be created
using FQM1 high-speed cycles and analog I/O
conversion (approx. 40 µs).
Simple speed
control corre-
sponding to time
axis using
inverter
Controlling
stepped or trap-
ezoidal analog
outputs based
on time
• Timer instruc-
tions
• Analog output
instructions
(SPED(885)
and ACC(888)
instructions)
7-10 Analog Outputs
Used to create any speed change pattern using
an inverter.
The speed pattern is based on the time axis,
and the speed can be changed to any value
once a set time has passed.
Purpose Operation Main functions
used
Details
Detecting posi-
tion and length
using rotary
encoder inputs
High-precision
positioning
Counts high-
speed encoder
output using
high-speed
counter
Counting at
2MHz (phase
differential × 4)
7-5-8 Pulse Input Function Description
Set counter operation to phase differential × 4
and counting speed to 500 kHz.
Can be used when high-speed pulse inputs
need to be counted using high-speed counter for
positioning in µm-units.
Reading high-
speed counter
PV when mark
has gone past
mark sensor
Latching high-
speed counter
PV when sen-
sor turns ON for
latch input
High-speed
counter PV latch
7-5-8 Pulse Input Function Description
High-speed counter PV captured to latch regis-
ter when external latch inputs change from OFF
to ON.
The values can be read using the PRV(881)
instruction.
Can be quickly read using hardware latch cir-
cuits.
Purpose Operation Main functions
used
Details
26
Function Tables Arranged by Purpose Section 1-7
1-7-4 High-speed Analog I/O Control
Detecting speed
using rotary
encoder inputs
Detecting speed
and use in out-
put control while
managing posi-
tion using
encoder inputs
Measuring dis-
placement of
workpiece per
unit time
Monitoring High-
speed Counter
Movement
(cycle time)
7-5-8 Pulse Input Function Description
Outputs the change in the high-speed counter
PV each cycle, while outputting number of input
pulses as high-speed counter PV.
Used for applications such as detecting speed of
external master axis during synchronous con-
trol.
Monitoring High-
speed Counter
Movement
(sampling time
specified)
7-5-8 Pulse Input Function Description
Outputs the change in the high-speed counter
PV each sampling cycle (1 to 9,999 ms) speci-
fied asynchronously to Motion Control Module
cycle.
Used for applications such as detecting external
device speed or number of pulses within a spec-
ified time (not used for output control).
Monitoring
speed while
managing work-
piece position
using encoder
input
Measure input
pulse cycle
Counter fre-
quency mea-
surement (pulse
input 1 only)
7-5-8 Pulse Input Function Description
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, or
diameter, etc., of
an object
High-speed
tracing of analog
data when
external signal
turns ON
Storing analog
input value in
memory at
specified time
(constant cycle)
•Interval timer
interrupts
• PRV(881)
instruction
7-9-3 Analog Input Function Specifications
Can perform analog sampling at a constant
cycle, using scheduled interrupt processing in
analog input immediate refresh mode.
Sampling can be executed at small time inter-
vals using analog input conversion (40 µs).
Data stored in memory can also be displayed on
PT and other display devices, e.g., to show
trends.
High-speed
tracing of analog
data synchro-
nized with tar-
get object
position
Storing analog
inputs to DM
Area synchro-
nous with posi-
tion (pulse input)
High-speed
analog sam-
pling function
7-9-7 High-speed Analog Sampling (FQM1-
MMA21 Only)
Sampling of target measurement object position
as compared to the sampling based on time.
Interrupt tasks, as outlined above, are not used,
so even more detailed sampling is possible.
Used for applications such as generating dis-
placement data for the measurement object
from one position to another position.
Purpose Operation Main functions
used
Details
27
Function Tables Arranged by Purpose Section 1-7
Control using
measurement
results for undu-
lation, distortion,
thickness,
height, diame-
ter, etc., of an
object
Judgment pro-
cessing based
on measure-
ment results
Reading analog
input values in
high-speed
cycles and per-
forming judg-
ment processing
using ladder
program
Analog input +
ladder program-
ming
7-9 Analog Input Functions
Uses analog sensors to detect objects that can't
be detected with ON/OFF sensors and performs
judgment by comparing the analog input value
and internally held threshold values.
Processing with faster tact time is possible using
high-speed analog input conversion (40 µs) and
high-speed cycle times (approximately 2 µs min-
imum when only analog inputs are enabled).
Also, analog sampling at 50-µs intervals (min.) is
possible if analog inputs are set to immediate
refresh and PRV(881) instructions are used in
parallel processing in the ladder program.
Position control
using measure-
ment results
Performing sync
control using
high-speed
counter PV posi-
tion information
and analog input
information
simultaneously
Synchronous
Data Link Bit
Area
7-6 Pulse Outputs
7-9 Analog Input Functions
Can perform synchronous 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 control
compensation.
MMP21 and MMA21 used together for this appli-
cation.
Responding
quickly to exter-
nal signals with
analog control
Changing ana-
log output
amount as soon
as signal turns
ON
Immediate
refresh of ana-
log output
• Settings for
immediate
refresh
• SPED(885)/AC
C(888) instruc-
tions
7-10 Analog Outputs
SPED(885) or ACC(888) instructions can be
used to directly refresh analog outputs.
Used to change output amount immediately
after external signal triggers.
Reading analog
input value as
soon as signal
turns ON
Immediate
refresh of ana-
log input
• Settings for
immediate
refresh
• PRV(881)
instructions
7-9 Analog Input Functions
PRV(881) instructions can be used to directly
refresh analog inputs.
Used to read input values immediately after
external signal triggers.
Holding analog
output at the
maximum value
or at the value at
that time when
set conditions or
errors occur.
--- Determining
analog output
value at output
enable OFF or
error
Analog output
hold function
7-10 Analog Outputs
The analog output status can be held at the
maximum value, cleared, or held at the current
value at output enable OFF or system errors.
Purpose Operation Main functions
used
Details
28
Function Tables Arranged by Purpose Section 1-7
1-7-5 Controlling Timing
Purpose Operation Main functions
used
Details
Responding
quickly to exter-
nal signals and
operate
Executing pro-
cessing as soon
as change in
external input
signal detected
Starting inter-
rupt processing
when an input
bit turns ON
and/or OFF.
• Input function
settings
• Interrupt inputs
(MSKS(690)
instructions)
7-3 Input Interrupts
- Input Interrupt Mode
Set input function to Interrupt inputs.
Executes interrupt tasks when Motion Control
Module built-in input bits (input No. 0.00 to 0.03)
turn ON and/or OFF.
Executing pro-
cessing after set
amount of exter-
nal signal
changes
counted
Starting inter-
rupt processing
once the speci-
fied number of
input bit rising
edges, falling
edges, or both
have been
counted
• Input function
settings
• Counting inter-
rupts in
counter mode
(MSKS(690)
instruction)
7-3 Input Interrupts
- Counter Mode
Set input function to Interrupt input and counter
mode using MSKS(690) instructions.
Decrements the PV each time the Motion Con-
trol Module built-in input bit (input numbers
0000.00 to 0000.03) turns ON and/or OFF and
executes interrupt tasks when the PV reaches 0.
Repeating pro-
cesses each
time specified
period passes
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 interrupt task execution at scheduled
intervals.
Can be used within interrupt tasks because spe-
cial timer used.
Executing pro-
cessing once
specified timer
interval passes
after startup sig-
nal input
Starting inter-
rupt processing
once only, after
specified inter-
val has elapsed
•Interval timer
interrupt (one-
shot interrupt:
STIM(980)
instruction)
7-4 Interval Timer Interrupts
- 7-4-3 Interval Timer Interrupt Modes
Executes interrupt task once only after specified
period elapses.
Can be used within interrupt tasks because spe-
cial timer used.
Starting inter-
rupt processing
once periods of
any set time
have elapsed
from timer start
• Pulse output
• Target value
comparison
interrupt
(CTBL(882)
instruction)
7-6-9 Target-value Comparison Interrupts from
Pulse Output PVs
Executes specified interrupt task when target
value in registered table matches the pulse out-
put counter PV.
Starting pro-
cessing when
high-speed
counter PV
reaches set
value
Starting inter-
rupt processing
when high-
speed counter
PV reaches
specified value
• High-speed
counter target
value compari-
son interrupt
(CTBL(882)
instruction)
7-5 Pulse Inputs
Executes specified interrupt task when target
value in registered table matches high-speed
counter PV.
29
Function Tables Arranged by Purpose Section 1-7
Operation with
highly precise
timing
Increasing accu-
racy of external
output ON time.
(Feeding, hole
opening, tape
winding, gluing,
and other appli-
cations)
High-precision
ON outputs, with
minimum unit of
0.01 ms
• One-shot pulse
outputs
(STIM(980)
instruction)
7-5 Pulse Inputs
Set pulse output operation mode to one-shot
output.
Specified outputs turn ON during specified inter-
val (0.01 ms to 9,999 ms).
Output OFF after specified time elapses is per-
formed by hardware, which gives accurate ON
time with no fluctuation.
Can be used within interrupt tasks because uses
special timer.
Highly accurate
measurement of
external input
signal ON/OFF
time
Starting/stop-
ping high-preci-
sion timer at
0.001-ms unit
min.
• Pulse output
counter mea-
surement
mode (time
measurement)
(Unit: 0.001 ms
min.)
7-6-8 Time Measurement with the Pulse
Counter
Time measurement starts/stops with input inter-
rupt (MSKS(690) instruction) + STIM(980)
instruction within interrupt tasks. The elapsed
time is stored in Motion Control Module Auxiliary
Area. This data can be read using the PRV
instruction.
Note Pulse output 1 or pulse output 2 must be
set to pulse counter time measurement in
System Setup.
Various pro-
cessing (instruc-
tion execution)
at each one of
multiple time
intervals, using
high-precision
timer
Outputting
ON/OFF pat-
tern when pulse
output counter
PV is within set
value range.
• Pulse output
counter mea-
surement
mode (time
measurement)
• Range com-
parison bit pat-
tern output
7-6-8 Time Measurement with the Pulse
Counter
Can be used to obtain output pattern each time
interval elapsed after timer start.
Timer accuracy can be selected from as low as
0.001 ms.
Timing output
according to
workpiece posi-
tion
Timing output
using high-
speed counter
PV
Outputting
ON/OFF pat-
tern when high-
speed counter
PV within cer-
tain range
• High-speed
counter range
comparison bit
pattern output
(Executes
comparison at
execution of
CTBL(882)
instructions)
7-5-8 Pulse Input Function Description
Outputs set bit pattern when high-speed counter
PV enters the range between set upper and
lower limits.
Purpose Operation Main functions
used
Details
30
Function Tables Arranged by Purpose Section 1-7
31
SECTION 2
Specifications and Nomenclature
This section provides the specifications of the FQM1 and describes the parts and their functions on the Coordinator Module
and Motion Control Modules.
2-1 List of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2-2 General Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
2-3 Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2-4 Motion Control Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2-5 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2-6 Module Current Consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2-7 Memory Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
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 MΩ min. (at 500 VDC) between AC external and GR terminals (See note 1.)
Dielectric strength 2,300 V AC 50/60 Hz for 1 min between AC external and GR terminals (See notes 1 and 2.)
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/s2 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/s2 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.
33
General Specifications Section 2-2
Note (1) Disconnect the Power Supply Unit's LG terminal from the GR terminal
when testing insulation and dielectric strength. Testing the insulation and
dielectric strength with the LG and GR terminals connected will damage
internal circuits.
(2) Do not apply more than 600 V when testing the dielectric strength of an-
alog I/O terminals. Applying more than 600 V may damage the internal
elements.
Power Supply Unit Specifications
Item Specifications
Power Supply Unit CJ1W-PA205R CJ1W-PA202
Supply voltage 100 to 240 V AC (wide-range), 50/60 Hz
Operating voltage
and frequency
ranges
85 to 264 V AC, 47 to 63 Hz
Power consumption 100 VA max. 50 VA max.
Inrush current
(See note 1.)
At 100 to 120 V AC:
15 A/8 ms max. for cold start at room temperature
At 200 to 240 V AC:
30 A/8 ms max. for cold start at room temperature
At 100 to 120 V AC:
20 A/8 ms max. for cold start at room temperature
At 200 to 240 V AC:
40 A/8 ms max. for cold start at room temperature
Output capacity 5.0 A, 5 VDC (including supply to Modules) 2.8 A, 5 VDC (including supply to Modules)
0.8 A, 24 VDC 0.4 A, 24 VDC
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 load)
24 VDC, 2 A (inductive load)
Not provided.
Insulation resis-
tance
20 MΩ min. (at 500 VDC) between AC external and GR terminals (See note 2.)
Dielectric strength 2,300 V AC 50/60 Hz for 1 min between AC external and GR terminals (See note 2.)
Leakage current: 10 mA max.
1,000 V AC 50/60 Hz for 1 min between DC external and GR terminals (See note 1.)
Leakage current: 10 mA max.
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/s2 in X, Y, and Z directions for 80
minutes total (Time coefficient: 8 minutes × coefficient factor 10 = total time 80 min.) (conforming to
JIS C0040)
Shock resistance 147 m/s2 3 times each in X, Y, and Z directions (conforming to JIS C0041)
Ambient operating
temperature
0 to 55°C
Ambient operating
humidity
10% to 90% (with no condensation)
Atmosphere Must be free from corrosive gases.
Ambient storage
temperature
−20 to 75°C
Grounding Less than 100 Ω
Enclosure Mounted in a panel.
Weight 5 kg. total max.
Dimensions 80 × 90 × 65 mm (W × H × D) 45 × 90 × 65 mm (W × H × D)
Safety measures Conforms to cULus and EC Directives.
34
Coordinator Module Section 2-3
Note (1) The inrush current is given for a cold start at room temperature with an
AC power supply. The AC inrush control circuit uses a thermistor element
with a low-temperature current control characteristic. If the ambient tem-
perature is high or the FQM1 is hot-started, the thermistor will not be suf-
ficiently cool, and the inrush currents given in the table may be exceeded
by up to twice the given values. When selecting fuses or breakers for ex-
ternal circuits, allow sufficient margin in shut-off performance. If the
FQM1 is hot-started, the capacitor will not be discharged, and the inrush
currents given in the table may be exceeded by up to twice the given val-
ues.
(2) Disconnect the Power Supply Unit's LG terminal from the GR terminal
when testing insulation and dielectric strength. Testing the insulation and
dielectric strength with the LG terminal and the GR terminals connected
will damage internal circuits.
2-3 Coordinator Module
Nomenclature
Note Cover the peripheral port and RS-232C port with the supplied covers when
the ports are not being used to prevent dust contamination.
Indicators
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
ON OFF
CM001
1 2
࡮
࡮
࡮
࡮
࡮
࡮
Peripheral
port baud rate
detection/System
Setup switch
40-pin connector
㧔24 general-purpose
I/O points and RS-422A㧕
Peripheral
port
RS-232C
port
Coordinator Module
Indicators
Indicator Color Name Status Meaning
RDY Green Module operation Lit The Module is operating normally.
Not lit Module error (e.g., WDT error).
RUN Green Program execution Lit Executing internal Module program.
Not lit Internal Module program stopped.
ERR Red Module error Lit Fatal error.
Flash-
ing
Non-fatal error.
Not lit Module operating normally.
35
Coordinator Module Section 2-3
Switch on Front Panel Peripheral Port Baud Rate Detection/System Setup Switch
Function Specifications
PRPHL Yellow Peripheral port
communications
Lit Communicating via the peripheral
port.
Not lit All other times.
COMM1 Yellow RS-232C commu-
nications
Lit Communicating via the RS-232C
port.
Not lit All other times.
COMM2 Yellow RS-422A commu-
nications
Lit Communicating via RS-422A port
(for Servo Driver)
Not lit All other times
Indicator Color Name Status Meaning
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 2
Item Specifications
Control method Stored program
I/O control method Cyclic scan
Programming Ladder diagram
Instruction length 1 to 7 steps per instruction
Ladder instructions Approx. 260
Execution time Basic instructions 0.1 µs min.
Special instructions 0.3 µs min.
Common processing (overhead)
time
Sync Mode: 390 µs
ASync Mode: 180 µs
Program
capacity
Ladder 5 Ksteps
Comment storage None
Number of tasks Cyclic tasks: 1, interrupt tasks: 50
Subroutines 256
JMP instructions 256
Number of basic I/O 24
36
Coordinator Module Section 2-3
CIO Area Input Bit Area 16 bits (CIO 0000): CIO 0000.00 to CIO 0000.15
Output Bit Area 8 bits (CIO 0001): CIO 0001.00 to CIO 0001.07
Cyclic Refresh Bit
Area
640 bits (40 words): CIO 0100 to CIO 0139
Refresh words for Motion Control Module # 1: CIO 0100 to CIO 0109
Refresh words for Motion Control Module # 2: CIO 0110 to CIO 0119
Refresh words for Motion Control Module # 3: CIO 0120 to CIO 0129
Refresh words for Motion Control Module # 4: CIO 0130 to CIO 0139
Synchronous Data
Link Bit Area
320 bits (20 words): CIO 0200 to CIO 0219
Sent from Coordinator Module: CIO 0200 to CIO 0203
Sent from Motion Control Module #1: CIO 0204 to CIO 0207
Sent from Motion Control Module #2: CIO 0208 to CIO 0211
Sent from Motion Control Module #3: CIO 0212 to CIO 0215
Sent from Motion Control Module #4: CIO 0216 to CIO 0219
Serial PLC Link Bit
Area
320 bits (20 words): CIO 0080 to CIO 0099
CIO 0080 to CIO 0089: CJ1M to FQM1
CIO 0090 to CIO 0099: FQM1 to CJ1M
Can be connected as a Serial PLC Link slave to host PLC (CJ1M).
Work Bit Areas CIO Area 2,784 bits: CIO 0002 to CIO 0079, CIO 0140 to CIO 0199, and CIO 0220 to 0255
Work Area 4,096 bits: W000 to W255
Auxiliary Area Read/Write Read only: 5,568 bits: A000 to A099 and A200 to A447
Read/write: 3,232 bits: A448 to A649
Error Log 100 words: A100 to A199 (20 records)
Temporary Area 16 bits: TR0 to TR15
Holding Area None
Timer Area 256 timers: T0000 to T0255 (1-ms, 10-ms, and 100-ms timers)
Counter Area 256 counters: C0000 to C0255 (decrementing counters and reversible counters)
Note Status not retained when power turned OFF.
DM Area Read/Write (not
retained)
30 Kwords: D00000 to D29999 (Status not retained when power is turned OFF.)
Read/Write
(retained)
2,768 words: D30000 to D32767 (Status retained in flash memory. Not retained if
written by a ladder program, but retained in flash memory if written using the CX-
Programmer.)
System Setup System Setup area (Coordinator Module/Motion Control Module settings and
peripheral service settings), peripheral service setting area
Index Registers IR0 and IR1 used with JSB instruction.
Data Registers None
Interrupt Func-
tions
Input interrupts None
Timer interrupts 1 (Scheduled or one-shot interrupt)
Power interruption hold function
(momentary power interruption)
Super capacitor
Memory backup Super capaci-
tor backup
Error log
Flash memory User programs, System Setup, part of DM Area
Trace memory 4,000 words
Peripheral servicing Servicing for devices connected to peripheral port (only CX-Programmer), RS-
232C port (Host Links, no-protocol communications, NT Links, and Serial PLC
Links (slave)), and RS-422A port (for Servo Driver)
Self-diagnosis function CPU errors (WDT) and memory errors
Program check Programs checked from the CX-Programmer.
Super-capacitor backup time Approximately 100 hours at 25°C
Clock None
Fixed Power OFF detection time AC: 10 to 25 ms (variable)
User-set Power OFF detection time 0 to 10 ms
Item Specifications
37
Motion Control Modules Section 2-4
I/O Specifications
Built-in General-purpose I/O
2-4 Motion Control Modules
Motion Control
Module
FQM1-MMP21 (Pulse I/O)
RUN output 1 (when CJ1W-PA205R used)
Individual func-
tions
Serial communica-
tions
Peripheral port: Peripheral bus (Toolbus), Host Links, NT Links
Built-in RS-232C port on Coordinator Module: Peripheral bus (Toolbus), Host Links,
no-protocol communications, NT Links, and Serial PLC Links (slave).
Built-in RS-422A port on Coordinator Module: Servo Driver interface
Item Specifications
Item Specifications
Inputs Number of inputs 16
Input voltage 20.4 to 26.4 V
Input response Inputs for normal input (16 points):
ON delay time: 100 µs
OFF delay time: 1 ms max.
8 points/common
Outputs Number of outputs 8
Output type NPN transistor
Switching capacity 4.5 to 30 V DC, 0.3 A per output
ON delay time 0.1 ms max.
OFF delay time 1 ms max.
Item Specifications
I/O Pulse I/O Pulse inputs: 2 (compatible 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 The following operations are supported:
• Speed control (fixed, acceleration, deceleration)
• Positioning (Fixed-speed positioning; trapezoid, acceleration/deceleration positioning,
and deceleration positioning)
• Speed control according to the present position (pulse output target value comparison or
range comparison)
• Electronic cam operation (Positioning according to the rotation position of the real or vir-
tual axis.)
• One-shot pulse output (Output ON only for specified time. minimum increment: 0.01 ms)
• Time measurement using pulse counter (minimum increment: 0.0001 ms )
Pulse inputs • High-speed counters: Phase, Increment/decrement, Pulse + direction inputs (50 kHz/1
MHz), or phase differential (50 kHz/500 kHz; phase differential × 4, 2 MHz )
• High-speed counter can be started/stopped using counter start bit.
• Changes in high-speed counter present value can be measured.
• High-speed counter frequency can be measured.
Program Program capacity 5 Ksteps
38
Motion Control Modules Section 2-4
FQM1-MMA21 (Analog I/O)
Nomenclature
Indicators
Note IN0 to IN 11, OUT0 to OUT7, and A1 to B2 are all controlled by hardware.
Item Specifications
I/O Pulse inputs 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
I/O
General-purpose inputs: 12
General-purpose outputs: 8
26-pin
connector
Functions Analog output • Slope
• Output hold
• Offset/gain adjustment
Analog input • Offset/gain adjustment
Program Program capacity 5 Ksteps
MMP21
2
CN2
CN1
1
12 4039
2526
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
21
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
indicators
40-pin connector
Special I/O
General-purpose
I/O indicators
26-pin connector
20 general-purpose
I/O points
Motion Control Module
Indicators
Indicator Color Name Status Meaning
RDY Green Module
operation
Lit Module operating normally.
Not lit Module error (e.g., WDT error)
RUN Green Program
execution
Lit Executing internal Module program
Not lit Internal Module program stopped.
ERR Red Module
error
Lit Fatal error.
Flashing Non-fatal error.
Not lit Module operating normally.
IN0 to
IN11
Yellow Inputs Lit Input signal ON
Not lit Input signal OFF
0UT0 to
OUT7
Yellow Outputs Lit Output signal ON
Not lit Output signal OFF
A1/B1
A2/B2
Yellow Pulse
inputs
Lit Input signal ON
Not lit Input signal OFF
39
Motion Control Modules Section 2-4
Performance Specifications
Item Specifications
Control method Stored program
I/O control method Cyclic scan
Programming language Ladder diagram
Instruction length 1 to 7 steps per instruction
Number of instructions Approx. 270
Instruction
execution
time
Basic instructions 0.1 µs min.
Special instructions 0.3 µs min.
Common
processing
time (over-
head)
MMP21 Sync Mode: 250 µs
ASync Mode: 190 µs
MMA21 Sync Mode: 340 µs
ASync Mode: 280 µs
Each analog input when analog output is disabled: 190 µs
When analog output disabled: 230 µs
Program
capacity
Ladder 5 Ksteps
Comment storage None
Number of tasks Cyclic tasks: 1, interrupt tasks: 50
Subroutines 256
JMP instructions 256
Number of basic I/O 20 per Module
CIO Area Input Bit Area 12 bits (CIO 0000): CIO 0000.00 to CIO 0000.11
Output Bit Area 8 bits (CIO 0001): CIO 0001.00 to CIO 0001.07
Cyclic Refresh Bit
Area
160 bits (10 words): CIO 0100 to CIO 0109
Input refresh for Coordinator to Motion Control Module: CIO 0100 to CIO 0104
Output refresh for Motion Control Module to Coordinator Module: CIO 0105 to CIO 0109
Synchronous Data
Link Bit Area
320 bits (20 words): CIO 0200 to CIO 0219
Sent from Coordinator Module: CIO 0200 to CIO 0203
Sent from Motion Control Module #1: CIO 0204 to CIO 0207
Sent from Motion Control Module #2: CIO 0208 to CIO 0211
Sent from Motion Control Module #3: CIO 0212 to CIO 0215
Sent from Motion Control Module #4: CIO 0216 to CIO 0219
Work Area CIO Area 3,584 bits: CIO 0002 to CIO 0099, CIO 0110 to CIO 0199, and CIO 0220 to CIO 0255
WR Area 4,096 bits: W000 to W255
Auxiliary
Area
Read/Write Read only: 5,568 bits, A000 to A099 and A200 to A447
Read/write: 3,232 bits, A448 to A649
Error Log 100 words: A100 to A199 (20 records)
Temporary Area 16 bits: TR0 to TR15
Holding Area None
Timer Area 256 timers: T0000 to T0255 (1-ms, 10-ms, and 100-ms timers)
Counter Area 256 counters C0000 to C0255 (decrementing counters and reversible counters)
Note Status not retained when power turned OFF.
DM Area Read/write (not
retained)
30 Kwords: D00000 to D29999 (Status not retained when power is turned OFF.)
Read/write
(retained)
2,768 words: D30000 to D32767 (Retained by super capacitor)
System Setup System Setup Area (Coordinator Module/Motion Control Module settings),
motion parameter setting area
Index Registers IR0 and IR1 used with JSB instruction
Data Registers None
Interrupt
Functions
Input interrupts 4 (with adjustment down mode)
Timer interrupts 1(Scheduled or one-shot interrupt)
40
Motion Control Modules Section 2-4
I/O Specifications
General-purpose I/O
Specifications
Common Specifications for FQM1-MMP21 (Pulse I/O) and FQM1-MMA21
(Analog I/O)
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 User programs, System Setup
Trace memory 4,000 words
Peripheral servicing Event requests from Coordinator Module
Self-diagnosis function CPU errors (WDT) and memory errors
Program check Programs checked from the CX-Programmer.
Super-capacitor backup time Approximately 100 hours at 25°C
Clock None
Individual
functions
High-speed
counters
Phase pulse inputs, Up/down pulse inputs, Pulse + direction pulse
inputs (50 kHz/1 MHz)
FQM1-MMP21
(pulse I/O)
Phase differential inputs (50 kHz/500 kHz; phase differential × 4,
2MHz)
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 + direction
pulse inputs (50 kHz/1 MHz)
FQM1-MMA21
(analog I/O)
Phase differential inputs (50 kHz/500 kHz; phase differential × 4,
2MHz)
Analog input Conversion speed: 40 µs/input
Resolution: −10 to 10 V: 1/16,000; 0 to 10 V: 1/8,000; 0 to 5 V: 1/4,000;
1 to 5 V: 1/4,000; 4 to 20 mA: 1/4,000
Analog outputs Conversion speed: 40 µs/output
Resolution: −10 to 10 V: 1/10,000; 0 to 10 V/0 to 5 V/1 to 5 V: 1/4,000
Item Specifications
Item Specifications
Inputs Number of inputs 12 inputs
Input voltage 20.4 to 26.4 V
Input response Interrupt input (4 points
with one common)
ON delay time: 30 µs
OFF delay time: 0.2 ms max.
Normal input (8 points
with one common)
ON delay time: 100 µs
OFF delay time: 1 ms max.
Outputs Number of outputs 8 outputs
Output type Transistor (NPN)
Switching capacity 4.5 to 30 V DC, 0.3 A per output
ON delay time 0.1 ms max.
OFF delay time 1 ms max.
41
Motion Control Modules Section 2-4
Pulse I/O Specifications FQM1-MMP21 (Pulse I/O)
Item Specifications
Pulse
inputs
Number of counters 2
Counter operations Linear counter and circular counter
Input signals Two words each for phase A, phase B, and phase Z.
Signal levels 24 V DC, line-driver
Input method Phase differential ×1
Phase differential ×2
Phase differential ×4
Increment/decrement
Pulse + direction
Counting speed Voltage 50 k Hz
Line-driver 50 k Hz/500k Hz (phase differen-
tial × 4, 2 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 rotations
to this Module. After that, it transmits pulse train cor-
responding to displacement of the number of turns to
the Module.
Pulse
outputs
Number of outputs 2
Output signal CW/CCW
Signal levels Line-driver (equivalent to AM26LS31)
Max. output current: 20 mA
Output speed 1 MHz
One-
shot
pulse
outputs
Number of outputs 2
Output type Open collector (NPN)
Max. switching
capacity
80 mA/5 to 24 V DC ± 10%
Min. switching
capacity
7 mA/5 to 24 VDC ± 10%
Output pulse width Set time ± 1 µs or 0.1% of set time
42
Motion Control Modules Section 2-4
Pulse Inputs and Analog
I/O Specifications
FQM1-MMA21 (Analog I/O)
Item Specifications
Pulse
inputs
Number of counters 2
Counter operations Linear counter, circular counter
Input signals Two words each for phase A, phase B, and phase Z.
Signal levels CH1: 24 V DC, line-driver
CH2: Line-driver
Input method Phase differential ×1
Phase differential ×2
Phase differential ×4
Increment/decrement
Pulse + direction
Counting speed Voltage 50 kHz
Line-driver 50 k Hz/500k Hz (phase
differential × 4, 2 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 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 analog
inputs
1
Input signals Voltage inputs:
−10 to 10 V
0 to 10 V
1 to 5 V
0 to 5 V
Current inputs:
4 to 20 mA
Resolution −10 to 10 V: 14 bits (1/16,000)
0 to 10 V: 13 bits (1/8,000)
0 to 5 V: 12 bits (1/4,000)
1 to 5 V/4 to 20 mA: 12 bits (1/4,000)
Accuracy (FS) Voltage input:
± 0.2% (23 ± 2°C)
± 0.4% (0 to 55°C)
Current input:
± 0.4% (23 ± 2°C)
± 0.6% (0 to 55°C)
Conversion speed 40 µs max./input
Total: 1.5 ms max.
Analog
outputs
Number of outputs 2
Output signal −10 to 10 V, 0 to 10 V, 1 to 5 V, 0 to 5 V
Resolution −10 to 10 V: 14 bits (1/1,0000)
0 to 10 V: 12 bits (1/4,000)
0 to 5 V: 12 bits (1/4,000)
1 to 5 V: 12 bits (1/4,000)
Accuracy (FS) ± 0.3% (23 ± 2°C) ± 0.5% (0 to 55°C)
Conversion speed 40 µs max./output
Total: 200 µs max.
43
Dimensions Section 2-5
2-5 Dimensions
FQM1-CM001 Coordinator Module
FQM1-MMP21/MMA21 Motion Control Modules
FQM1-TER01 End Module
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
49 mm
90 mm
80 mm
MMP21
2
CN2
CN1
1
12 4039
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
49 mm
90 mm
80 mm
14.7
2.7
2.7
90
44
Dimensions Section 2-5
Power Supply Units CJ1W-PA202
CJ1W-PA205R
65
4581.6
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
45
Module Current Consumption Section 2-6
XW2B-80J7-1A Servo Relay Unit
2-6 Module Current Consumption
The amount of current/power that can be supplied to the Modules mounted in
the FQM1 is limited. Refer to the following tables when designing your system
so that the total current consumption of the mounted Modules does not
exceed the maximum current for each voltage system and the total power
consumption does not exceed the maximum for the Power Supply Unit.
Maximum Current and
Maximum Total Power
Consumption
The following table shows the maximum currents and power 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-AL001 Link Adapt-
ers are used.
160
4.5 dia.
Phase B switches
Signal switches
Terminating resistance switch
100 90
41.7
15.9
30.7
Power Supply
Unit
Max. current consumption Max. total
power con-
sumption
5-V system
(internal logic)
24-V system
(analog)
24-V system
(service)
CJ1W-PA202 2.8 A 0.4 A None 14 W
CJ1W-PA205R 5.0 A 0.8 A None 25 W
Name Model 5-V system current
consumption (A)
Coordinator Module
Note The listed value includes the
current consumption for the
CX-Programmer.
FQM1-CM001 0.47 (See note.)
End Module FQM1-TER01 Included in Coordinator
Module current consumption
46
Module Current Consumption Section 2-6
Motion Control Modules
Current Consumption for 24-V Systems
Example Calculation
of Current and Power
Consumption
Example for CJ1W-PA202 Power Supply Unit with the Following Modules
Mounted
Combining Power
Supply Units and
Motion Control
Modules
The following table shows the Power Supply Units that can be connected for
different numbers of Motion Control Modules.
Note These combinations are not possible because the current consumption
exceeds the capacity of the Power Supply Unit.
Name Type Model 5-V system 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
Name Model Quantity Voltage system
5 V 24 V
Coordinator
Module
FQM1-CM001 1 0.47 A ---
Motion Control
Module
FQM1-MMP21 1 0.836 A ---
FQM1-MMA21 1 0.843 A 0.104 A
Current con-
sumption
Calculation 0.47 + 0.836 +
0.843
0.104 A
Result 2.15 A (≤ 2.8 A) 0.104 × 24 V =
2.5 W
Power con-
sumption
Calculation 2.15 × 5 V =
10.75 W
---
Result 10.75 + 2.5 = 13.75 W (≤ 14 W)
Number of axes Number of connected Motion Control
Modules
Power Supply Unit
FQM1-MMP21 FQM1-MMA21
2 1 0 CJ1W-PA202 (or
CJ1W-PA205R)
01
420
11
0 2 CJ1W-PA205R
630
21
12
03
840
31
22
13Not possible
(See note.)
04
47
Memory Block Diagram Section 2-7
2-7 Memory Block Diagram
Coordinator Module and Motion Control Module memory has the following
block configurations.
• I/O Memory Area: Memory accessible from user programs.
• User Memory (UM): User programs and parameter area (See note 1.)
The following tables show the backup methods for these memory areas.
• Coordinator Modules
• Motion Control Modules
Areas Backed Up by Super Capacitors
Data backed up by super capacitors is lost if the super capacitor voltage
drops.
Areas Backed Up to Flash Memory
Data backed up to flash memory is not lost if the super capacity voltage drops.
Data transferred from the CX-Programmer or edited online and written to the
user program or parameters in the user memory is automatically backed up to
flash memory. This means that user memory data (both user program and
parameter area data) is not lost if the super capacitor voltage drops.
Coordinator Module/Motion Control Module
Note (1) The parameter area stores the Coordinator Module system information,
such as the System Setup.
(2) Data transferred to the Coordinator Module, e.g., from the CX-Program-
mer, is saved to flash memory. Motion Control Module data is backed up
only by the super capacitor.
Area Backup method
User memory Flash memory
I/O memory area (part of DM Area) Flash memory
Area Backup method
User memory Flash memory
I/O memory area (part of DM Area) Super capacitor
Internal RAM
I/O Memory Area
I/O bit area
Work bit areas
Cyclic refresh bit area
Sync data link bit area
Flash memory
Super capacitor
DM Area
D30000 to D32767
(See note 2.)
User Program
Parameter Area
(See note 1.)
Backup
48
Memory Block Diagram Section 2-7
49
SECTION 3
Installation and Wiring
This section describes how to install and wire the FQM1.
3-1 Installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3-1-1 Installation and Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . 50
3-1-2 Installation in a Control Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3-1-3 Assembled Appearance and Dimensions . . . . . . . . . . . . . . . . . . . . . 54
3-1-4 Connecting FQM1 Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3-1-5 DIN Track Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3-2 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3-2-1 Wiring Power Supply Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3-2-2 RS-232C Port Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
3-3 Wiring Module Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3-3-1 Connector Pin Arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3-3-2 External Connection Diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
3-3-3 Wiring Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
3-3-4 Wiring Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
3-4 Wiring Servo Relay Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
3-5 List of FQM1 Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
3-6 Wiring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3-6-1 Reducing Electrical Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
3-6-2 Connecting I/O Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
50
Installation Section 3-1
3-1 Installation
3-1-1 Installation and Wiring Precautions
Be sure to consider the following factors when installing and wiring the FQM1
to improve the reliability of the system and make the most of the FQM1’s func-
tions.
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.
• Locations subject to ambient humidity lower than 10% or higher than
90%.
• Locations subject to corrosive or flammable gases.
• Locations subject to excessive dust, salt, or metal filings.
• Locations that would subject the FQM1 to direct shock or vibration.
• Locations exposed to direct sunlight.
• Locations that would subject the FQM1 to water, oil, or chemical reagents.
Be sure to enclose or protect the FQM1 sufficiently in the following locations.
• Locations subject to static electricity or other forms of noise.
• Locations subject to strong electromagnetic fields.
• Locations subject to possible exposure to radioactivity.
• Locations close to power lines.
Installation in
Cabinets or Control
Panels
When the FQM1 is being installed in a cabinet or control panel, be sure to pro-
vide proper ambient conditions as well as access for operation and mainte-
nance.
Temperature Control The ambient temperature within the enclosure must be within the operating
range of 0°C to 55°C. When necessary, take the following steps to maintain
the proper temperature.
• Provide enough space for good air flow.
• Do not install the FQM1 above equipment that generates a large amount
of heat such as heaters, transformers, or high-capacity resistors.
• If the ambient temperature exceeds 55°C, install a cooling fan or air con-
ditioner.
Accessibility for
Operation and
Maintenance
• To ensure safe access for operation and maintenance, separate the
FQM1 as much as possible from high-voltage equipment and power
equipment.
FQM1
Flexible
Motion
Controller
Control
panel
Fan
Louver
51
Installation Section 3-1
• The FQM1 will be easiest to install and operate if it is mounted at a height
of about 1.0 to 1.6 m.
Improving Noise
Resistance
• Do not mount the FQM1 in a control panel containing high-voltage equip-
ment.
• Install the FQM1 at least 200 mm away from power lines.
• Ground the mounting plate between the FQM1 and the mounting surface.
Power lines
200 mm min.
200 mm min.
FQM1
52
Installation Section 3-1
FQM1 Orientation • The FQM1 must be mounted in an upright position to provide proper cool-
ing.
• Do not install the FQM1 in any of the following positions.
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
MMP21
2
CN2
CN1
1
12 4039
2526
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
INPUT
AC100
-240V
L2/N
L1
NC
NC
INPUT
AC100
-240V
L2/N
L1
NC
NC
53
Installation Section 3-1
3-1-2 Installation in a Control Panel
The FQM1 must be mounted inside a control panel on DIN Track.
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.
Wiring Duct Example The following example shows the proper installation of wiring ducts.
Note Tighten terminal block screws and cable screws to the following torques.
Terminal Screws
M4: 1.2 N·m
M3: 0.5 N·m
INPUT
AC100
-240V
L2/N
L1
NC
NC
Duct
Duct
Unit
20 mm min.
20 mm min.
DIN Track
80.0 mm
FQM1
30 mm
40 mm
30 mm
PLC
Mounting
bracket
Duct
54
Installation Section 3-1
Routing Wiring Ducts Install the wiring ducts at least 20 mm away from the FQM1 and any other
objects, (e.g., ceiling, wiring ducts, structural supports, and devices) to pro-
vide enough space for air circulation and replacement of Modules.
3-1-3 Assembled Appearance and Dimensions
The Modules that make up the FQM1 are connected to each other, and an
End Module is connected to the right end.
INPUT
AC100
-240V
L2/N
L1
NC
NC
FQM1
FQM1
FQM1
FQM1
200 mm min.
Input duct Output duct Power duc
t
PLC
Terminal blocks
for power
equipment
Terminal blocks
for FQM1
Fuses, relays, timers, etc.
(NOT heat-generating
equipment, power
equipment, etc.)
Power
equipment
such as
transformers
and
magnetic
relays
Breakers,
fuses
INPUT
AC100
-240V
L2/N
L1
NC
NC
55
Installation Section 3-1
Assembled Dimensions
W = a + 49 + 49 × n* + 14.7
* n is the number of connected Motion Control Modules (Up to 4 can be con-
nected.)
Power Supply Unit width: “a” mm
Coordinator Module width: 49 mm
Motion Control Module width: 49 mm
End Module width: 14.7 mm
Installation Dimensions
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
27
35.4
27.6
80
MMP21
2
CN2
CN1
1
12 4039
2526
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
MMA21
2
CN2
CN1
1
12 4039
2526
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-PA202 100 to 240 V AC, 14 W 45 mm
CJ1W-PA205R 100 to 240 V AC, 25 W 80 mm
Name Model Module width
Coordinator Module FQM1-CM001 49 mm
Name Model Module width
Motion Control Module Pulse I/O FQM1-MMP21 49 mm
Analog I/O FQM1-MMA21
Name Model Module width
End Module FQM1-TER01 14.7 mm
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
MMP21
2
CN2
CN1
1
12 4039
2526
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
56
Installation Section 3-1
Installation Height The installation height of the FQM1 varies from 115 to 165 mm.
When a CX-Programmer or connecting cables are connected, however, even
greater height is required. Allow sufficient depth in the control panel 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 connected
on the far right side of the FQM1.
1,2,3... 1. Insert the two hooks on the top of the Module to the hook holes on the oth-
er Module, and join the Modules so that the connectors fit exactly.
Approx. 115 mm to 165 mm
OMRON
INPUT
AC100
-240V
L2/N
L1
NC
NC
57
Installation Section 3-1
2. Move the yellow sliders at the top and bottom of each Module until they
click into place to lock the Modules together.
Note If the locking tabs are not secured properly, the FQM1 may not function prop-
erly. Be sure to slide the locking tabs until they are securely in place.
3. Attach the End Module to the Module on the far right side of the FQM1.
3-1-5 DIN Track Installation
Use the following procedure to install the FQM1 on DIN Track.
1,2,3... 1. Release the pins on the backs of the Modules.
Slide the sliders towards the back
cover until they click into place.
INPUT
AC100
-240V
L2/N
L1
NC
NC
Lock
Unlock
Slider
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
MMP21
2
CN2
CN1
1
12 4039
2526
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
MMA21
2
CN2
CN1
1
12 4039
2526
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
Release
DIN Track
mounting pins
58
Installation Section 3-1
2. Fit the back of the FQM1 onto the DIN Track by inserting the FQM1 onto
the top of the Track and then pressing in at the bottom of the FQM1, as
shown below.
3. Lock the pins on the backs of the Modules.
4. Install a DIN Track End Plate on each end of the FQM1. To install an End
Plate, hook the bottom on the bottom of the track, rotate the Plate to hook
the top of the Plate on the top of the track, and then tighten the screw to
lock the Plate in place.
1
2
DIN Trac
k
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
40
20
1 2
MMP21
2
CN2
CN1
1
11 4020
25
12
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
DIN Track
mounting pins
1
2
End Plates
59
Installation Section 3-1
DIN Track and
Accessories
Use the DIN Track and DIN Track End Plates shown below.
•DIN Track
Model numbers: PFP-50N (50 cm), PFP-100N (100 cm), and
PFP-100N2 (100 cm)
Secure the DIN Track to the control panel using M4 screws separated by
210 mm (6 holes) or less and using at least 3 screws. The tightening torque is
1.2 N·m.
PFP-100N2 DIN Track
PFP-100N/50N DIN Track
DIN Track End Plates (2 Required)
Model number: PFP-M
15 10
4.5
25 25 25 10 25 15
1000
16
1.51
29.2
24
27
30±0.3
28-25 × 4.5 oblong holes
1000 (500)*
15 10
4.5
25 25 25 10 25 15 (5)* 1
7.3±0.15
35±0.3 27±0.15
* PFP-50N dimensions are
given in parentheses.
60
Wiring Section 3-2
3-2 Wiring
3-2-1 Wiring Power Supply Units
Note The RUN output function is provided only for the CJ1W-PA205R Power Sup-
ply Unit. It is not provided on the CJ1W-PA202 Power Supply Unit.
AC Power Source • Supply 100 to 240 V AC.
• Keep the voltage fluctuations within the specified range.
• If one power supply phase of the equipment is grounded, connect the
grounded phase side to the L2/N terminal.
Isolation Transformer The FQM1's internal noise isolation circuits are sufficient to control typical
noise in power supply lines, but noise between the FQM1 and ground can be
significantly reduced by connecting a 1-to-1 isolation transformer. Do not
ground the secondary coil of the transformer.
Power Supply Capacity The power consumption will be 100 VA max. for the CJ1W-PA205R and 50 VA
for the CJ1W-PA202, but there will be a surge current of at least 5 times the
max. current when the power is turned ON.
AC power supply
M4 self-raising screws
NC
NC
INPUT
AC100
-240V
L2/N
L1
PA202
POWER
AC power supply
100 to 240 V
Isolation
transformer 1:1
RUN output (See note.)
ON when Coordinator Module
is in RUN or MONITOR mode.
OFF when in PROGRAM mode
or during a fatal error.
Power
supply
Supply voltage Allowable voltage fluctuations
100 to 240 V AC 85 to 264 V AC
61
Wiring Section 3-2
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.
!Caution Tighten AC power supply terminal block screws to a torque of 1.2 N·m. Loose
screws may cause shorts, malfunctions, or fire.
Note (1) Supply power to all of the Power Supply Units from the same source.
(2) Do not remove the protective label from the top of the Power Supply Unit
until the wiring has been completed. This label prevents wire strands and
other foreign matter from entering the Unit during wiring procedures.
(3) Do not forget to remove the label from the top of the Power Supply Unit
after wiring the Unit. The label will block air circulation needed for cooling.
Grounding
• GR is the ground terminal. To help prevent electric shock, ground this ter-
minal to less than 100 Ω and use special ground wire (minimum cross-
sectional area of 2 mm2).
7 mm max.
M4 self-raising terminal screws
Tightening torque 1.2 N
•
m
20 mm max.
Crimp Terminals for AC Power Supply
POWER
PA205R
DC24V
AC240V
OUTPUT
RUN
INPUT
AC100-240V
L2/N
L1
LG (Noise-filtered neutral terminal)
Ground separately with a resistance of
less than 100 Ω to increase resistance to
noise and to prevent electric shocks.
GR (Ground)
Ground this terminal separately to less
than 100 Ω to prevent electric shock.
62
Wiring Section 3-2
• LG is a noise-filtered neutral terminal. If noise is a significant source of
errors and to prevent electrical shocks, connect the line ground terminal
to the ground terminal and ground both with a ground resistance of less
than 100 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.
• The FQM1 is designed to be mounted so that it is isolated (separated)
from the mounting surface to protect it from the effects of noise in the
installation environment (e.g., the control panel).
• Do not share the FQM1's ground with other equipment or ground the
FQM1 to the metal structure of a building. Doing so may worsen opera-
tion.
FQM1
ground terminal
Control panel
Ground the FQM1 system
separately to a resistance
of 100 Ω or less.
63
Wiring Section 3-2
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.
(4) Use M4 crimp terminals for AC power supplies.
Crimp Terminals for Ground Wire
LG
GR
Other equipmentFQM1
FQM1
FQM1
GR
LG
GR
Other equipment
GR
LG
GR
Other equipment
GR
Ground to
100 Ω or less.
Ground to
100 Ω or less.
Ground to
100 Ω or less.
Ground to
100 Ω or less.
7 mm max. 7 mm max.
64
Wiring Section 3-2
3-2-2 RS-232C Port Wiring
Connector Pin Arrangement
Note Do not connect the 5-V power supply on pin number 6 of the RS-232C port to
any devices other than a NT-AL0001 Converter. Doing so may damage the
external device and the Coordinator Module.
Connection Methods
1:1 Connections with
Personal Computers
Host Link Serial Communications Mode
Pin No. Signal Name Direction
1 FG Protection earth ---
2 SD (TXD) Send data Output
3 RD (RXD) Receive data Input
4 RS (RTS) Request to send Output
5 CS (CTS) Clear to send Input
6 5V Power supply ---
7 DR (DSR) Data set ready Input
8 ER (DTR) Data terminal ready Output
9 SG (0V) Signal ground ---
Connector hood FG Protection earth ---
5
1
9
6
1
2
3
4
5
6
7
8
9
CD
RD
SD
ER
SG
DR
RS
CS
CI
Coordinator Module
1
2
3
4
5
6
7
8
9
FG
SD
RD
RS
CS
5V
DR
ER
SG
IBM PC/AT or compatible
RS-232C
interface
Signal Signal
RS-232C
interface
9-pin D-sub
connector (male)
9-pin D-sub
connector (female)
Pin
No.
Pin
No.
65
Wiring Section 3-2
Peripheral Bus (Toolbus) Serial Communications Mode
Use the following connectors and cables if making the RS-232C cable for RS-
232C port connections.
Applicable Connectors
■Coordinator Module Connector
■IBM PC/AT or Compatible Connector (9-pin, Male)
■Connecting to an IBM PC/AT or Compatible
Recommended Cables Fujikura Ltd.: UL2464 AWG28 × 5P IFS-RVV-SB (UL product)
AWG 28 × 5P IFVV-SB (non-UL product)
Hitachi Cable, Ltd.: UL2464-SB (MA) 5P × 28AWG (7/0.127) (UL product)
CO-MA-VV-SB 5P × 28AWG (7/0.127) (non-UL product)
Note Use the special cables provided from OMRON for all connections whenever
possible. If cables are produced in-house, be sure they are wired correctly.
External devices and the Coordinator Module may be damaged if general-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
SD
ER
SG
DR
RS
CS
CI
Coordinator Module
1
2
3
4
5
6
7
8
9
FG
SD
RD
RS
CS
5V
DR
ER
SG
IBM PC/AT or compatible
RS-232C
interface
Signal Signall
RS-232C
interface
9-pin D-sub
connector (male)
9-pin D-sub
connector (female)
Pin
No.
Pin
No.
Item Model Specifications
Plug XM2A-0901 9-pin male Used together
Hood XM2S-0911-E 9-pin, millimeter screws,
static resistant
Item Model Specifications
Plug XM2D-0901 9-pin female Used together
Hood XM2S-0913 9-pin, inch screws, static
resistant
IBM PC/AT or
compatible
(9-pin, male)
Plug: XM2D-0901
(9-pin, female)
Hood: XM2S-0913 Recommended cable
Coordinator Module
RS-232C
port
Hood: XM2S-0911-E Plu
g
: XM2A-0901
66
Wiring Section 3-2
Connection Example to Programmable Terminal (PT)
Direct Connection from RS-232C to RS-232C
• Communications Mode: NT Link (1:N, N = 1 node only)
• OMRON Cables with Connectors: XW2Z200T (2 m)
XW2Z500T (5 m)
RS-232C Port Specifications
Note Baud rates for the RS-232C are specified only up to 19.2 kbps. The FQM1
supports serial communications from 38.4 kbps to 57.6 kbps, but some com-
puters 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
RD
RS
CS
5V
DR
ER
SG
RS-232C
interface
Signal Signal
RS-232C
interface
9-pin D-sub
(male)
9-pin D-sub
(male)
Pin
No.
Pin
No.
Item Specification
Communications method Half duplex
Synchronization Asynchronous
Baud rate 0.3, 0.6, 1.2, 2.4, 4.8, 9.6, 19.2, 38.4, or 57.6 kbps
(See note.)
Transmission distance 15 m max.
Interface EIA RS-232C
Protocol Host Link, 1:N NT Link, No-protocol, or Peripheral Bus
(Toolbus)
67
Wiring Module Connectors Section 3-3
3-3 Wiring Module Connectors
3-3-1 Connector Pin Arrangement
The following tables provide the connector pin arrangement for FQM1 Mod-
ules.
FQM1-CM001 Coordinator Module
General-purpose I/O 40-pin Connector
Pin
No.
Name Address Pin
No.
Name Address
1 External input 0 CIO 0000.00 2 External input 8 CIO 0000.08
3 External input 1 CIO 0000.01 4 External input 9 CIO 0000.09
5 External input 2 CIO 0000.02 6 External input 10 CIO 0000.10
7 External input 3 CIO 0000.03 8 External input 11 CIO 0000.11
9 External input 4 CIO 0000.04 10 External input 12 CIO 0000.12
11 External input 5 CIO 0000.05 12 External input 13 CIO 0000.13
13 External input 6 CIO 0000.06 14 External input 14 CIO 0000.14
15 External input 7 CIO 0000.07 16 External input 15 CIO 0000.15
17 Common for external
inputs 0 to 7
--- 18 Common for external
inputs 8 to 15
19 External output 0 CIO 0001.00 20 External output 4 CIO 0001.04
21 External output 1 CIO 0001.01 22 External output 5 CIO 0001.05
23 External output 2 CIO 0001.02 24 External output 6 CIO 0001.06
25 External output 3 CIO 0001.03 26 External output 7 CIO 0001.07
27 Common for external
outputs 0 to 8
28 Power supply for exter-
nal outputs 0 to 8
29 Not used. 30 Not used.
31 Not used. 32 Not used.
33 SDA− (RS-422A) 34 RDA− (RS-422A)
35 SDB+ (RS-422A) 36 RDB+ (RS-422A)
37 Not used. 38 Not used.
39 Not used. 40 Not used.
1
39
2
40
CN1
68
Wiring Module Connectors Section 3-3
FQM1-MM@21 Motion Control Modules
General-purpose I/O 26-pin Connector
FQM1-MMP21 Pulse I/O 40-pin Connector
Pin
No.
Name Address Pin
No.
Name Address
26 Not used. 25 Not used.
24 External input 0
(interrupt input)
CIO 0000.00 23 External input 6 CIO 0000.06
22 External input 1
(interrupt input)
CIO 0000.01 21 External input 7 CIO 0000.07
20 External input 2
(interrupt input)
CIO 0000.02 19 External input 8 CIO 0000.08
18 External input 3
(interrupt input)
CIO 0000.03 17 External input 9 CIO 0000.09
16 External input 4 CIO 0000.04 15 External input 10 CIO 0000.10
14 External input 5 CIO 0000.05 13 External input 11 CIO 0000.11
12 Common for external
inputs 0 to 3
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 0001.05
6 External output 2 CIO 0001.02 5 External output 6 CIO 0001.06
4 External output 3 CIO 0001.03 3 External output 7 CIO 0001.07
2 Common for external
outputs 0 to 7
1 Power supply for exter-
nal outputs 0 to 7
26
2
25
1
CN1
1
39
2
40
CN2
Pin No. Name Pin No. Name
1 Counter 1 Phase A 24 V 2 Counter 2 Phase A 24 V
3 Phase A LD+ 4 Phase A LD+
5 Phase A LD−/0 V 6 Phase A LD−/0 V
7 Phase B 24 V 8 Phase B 24 V
9 Phase B LD+ 10 Phase B LD+
11 Phase B LD−/0 V 12 Phase B LD−/0 V
13 Phase Z 24 V 14 Phase Z 24 V
15 Phase Z LD+ 16 Phase Z LD+
17 Phase Z LD−/0 V 18 Phase Z LD−/0 V
19 Latch signal 1 input 20 Latch signal 2 input
21 Latch signal common 22 Latch signal common
69
Wiring Module Connectors Section 3-3
FQM1-MMA21 Analog I/O 40-pin Connector
23 Counter 1 SEN
output signal for
absolute Servo
Driver
SEN output 24 Counter 2 SEN
output signal for
absolute Servo
Driver
SEN output
25 SEN_0 V 26 Power supply for
pulse outputs
5-V GND
27 5-V power for SEN output 28 5-V power for pulse outputs
29 Pulse 1 CW+ 30 Pulse 2 CW+
31 CW−32 CW−
33 CCW+ 34 CCW+
35 CCW−36 CCW−
37 One-shot pulse output 1 38 One-shot pulse output 2
39 Common for one-shot pulse
output
40 24-V power for one-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 8 Not used.
9 Phase B LD+ 10 Phase B LD+
11 Phase B LD−/0 V 12 Phase B LD−/0 V
13 Phase Z 24 V 14 Not used.
15 Phase Z LD+ 16 Phase Z LD+
17 Phase Z LD−/0 V 18 Phase Z LD−/0 V
19 Latch signal 1 input 20 Latch signal 2 input
21 Latch signal common 22 Latch signal common
23 Counter 1 SEN
output signal for
absolute Servo
Driver
SEN output 24 Counter 2 SEN
output signal for
absolute Servo
Driver
SEN output
25 SEN_0 V 26 --- Not used.
27 5-V power for SEN output 28 Not used.
29 --- Not used. 30 Not used.
31 Not used. 32 Not used.
70
Wiring Module Connectors Section 3-3
Note Connect the voltage input (+) and the current input when using with a current
input between 4 and 20 mA.
3-3-2 External Connection Diagrams
The connections with the Servo Drivers, the main type of device connected,
are outlined in the following tables.
FQM1-MM@21 Motion Control Modules
Pulse Outputs
Analog Outputs
33 Analog input Voltage input (+) 34 Analog input Current input (See note.)
35 Voltage input (−) 36 (Current input common)
37 Analog output 1 Voltage output (+) 38 Analog output 2 Voltage output (+)
39 Voltage output (−) 40 Voltage output (−)
Pin.
No.
Name Pin.
No.
Name
Motion Control Module W-series Servo Driver
General-
Purpose I/O
Connector
(26 pin)
Inputs Positioning Completed Signal INP1 Positioning completed output
Origin Proximity Input Signal
CCW Limit Input
CW Limit Input
Outputs Servo ON RUN RUN command input
Alarm reset RESET Alarm reset input
Error Counter Reset ECRST Error Counter Reset Input
Special I/O
Connector
(40 pin)
Inputs Phase Z LD+ +Z Encoder output phase Z
Phase Z LD−−Z Encoder output phase Z
Outputs Pulse output CCW CCW Forward pulse
Pulse output CW CW Reverse pulse
Motion Control Module W-series Servo Driver
General-
purpose I/O
Connector
(26 pin)
Inputs Origin Proximity Input Signal
CCW Limit Input
CW Limit Input
Outputs Servo ON RUN Run command input
Alarm reset RESET Alarm reset input
Special I/O
Connector
(40 pin)
Inputs Phase A LD+ +A Encoder output phase A
Phase A LD−−A Encoder output phase A
Phase B LD+ +B Encoder output phase B
Phase B LD−−B Encoder output phase B
Phase Z LD+ +Z Encoder output phase Z
Phase Z LD−−Z Encoder output phase Z
Outputs Analog output 1 (+) REF Speed command input
Analog output 1 (−) AGND Speed command input
Analog output 2 (+) TREF Torque command input
Analog output 2 (−) AGND Torque command input
71
Wiring Module Connectors Section 3-3
3-3-3 Wiring Examples
Connecting Pulse
Inputs (FQM1-MMP21/
MMA21)
Connect the output from an encoder to the connector in the following way,
according to the port's counter operation.
Note The numbers in parentheses are the pin numbers on the negative side.
Example • The wiring for an encoder (24 V) with an open-collector output is shown
below. These examples are for encoders with phases A, B, and Z.
Port 1 Port 2 Signal name Encoder output
Pin number Pin number Phase Differential
Input Mode
Increment/Decrement
Pulse Input Mode
Pulse + 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 signal input
1Pulse input 1: Phase A, 24 V
FQM1
Differential phase input mode
Phase A
Black
Phase B
White
Phase Z
Orange
+Vcc
Brown
0 V (COM)
Blue
24-V DC power supply
0 V
24 V
Encoder
(Power supply: 24 V DC)
5Pulse input 1: Phase A, 0 V
7Pulse input 1: Phase B, 24 V
11 Pulse input 1: Phase B, 0 V
13 Pulse input 1: Phase Z, 24 V
17 Pulse input 1: Phase Z, 0 V
1
5
7
11
13
17
0 V
24 V 0 V
Encoder
Power supply
−
Shielded twisted-pair cable
Do not share the power supply with other I/O)
IA
IB
IZ
Phase A
Phase B
Phase Z
+FQM1
Example:
E6B2-CWZ6C
NPN open-
collector output
Power
supply
72
Wiring Module Connectors Section 3-3
• The wiring for an encoder with a line-driver output (Am26LS31 or equiva-
lent) is shown below.
Connecting a Servo Driver (OMRON's W Series) Compatible with an Absolute
Encoder (FQM1-MMP21/MMA21)
3
Differential phase input mode
Encoder 5
9
11
15
17
A+
Black
B+
White
Z+
Orange
5 V DC
Brown
0 V
Blue
A−
Black striped
B−
White striped
Z−
Orange 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
11
15
17
Encoder
Power supply
Shielded twisted-pair cable
Z−
Z+
B+
A+
B−
A−
FQM1
Example:
E6B2-CWZ1X
line driver output
25
3
5
9
11
15
17
4
6
10
12
16
18
IA
IB
IZ
FQM1
27
23 24
SEN
SENGND
OMRON W-series Servo Driver Compatible
with Absolute Encoder
Encoder phase A
output
Encoder phase Z
output
Encoder phase B
output
Shielded twisted-pair
cable
External
power
supply
(5 V)
73
Wiring Module Connectors Section 3-3
Connecting Pulse Outputs (FQM1-MMP21)
Example Connections with a Servo Driver are given below, as an example.
FQM1-MMP21
−+
26
28
31/32
29/30
35/36
33/34
(−)
(+)
(−)
(+)
5-V DC
power
supply for
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
outputs
5-V DC
power
supply Servo Driver
(Line receiver input)
Note: When connecting a line receiver, connect the
signal ground (SG for the Servo Driver's line
receiver input and the GND for the 5-V DC
power supply.
74
Wiring Module Connectors Section 3-3
Connecting Analog
Outputs (FQM1-
MMA21)
Output signals are connected as shown in the following diagram.
Connecting Analog Inputs (FQM1-MMA21)
Voltage Input
Current Input
3-3-4 Wiring Methods
Either make a cable using the special connector (purchased separately), or
connect to a terminal block using an OMRON special cable with a connector.
Note (1) Do not apply voltages that exceed the maximum switching capacity of
output circuits and the input voltage of I/O circuits.
(2) Do not mistake positive and negative when wiring power supply, where
there are positive and negative terminals.
(3) To conform to the EC Low Voltage Directive, use a DC power supply for
I/O that has reinforced or double insulation.
(4) Check that the connector wiring has been performed correctly before
supplying power.
(5) Do not pull on cables. Doing so may result in disconnection.
(6) Do not bend cables beyond their natural limit. Doing so may result in dis-
connection.
Connectors
Connecting MIL Connectors
Pin No.
Analog output 2
Shield
38 (V2+)
40 (V2−)
+
−
Analog output 1
37 (V1+)
39 (V1−)
+
−
40-pin connector
FQM1-MMA21
Pin No.
Shield
Analog input
33 (V1+)
35 (V1−)
+
−
Special I/O connector
FQM1
Pin No.
Shield
Analog input
33 (V1+)
35 (V1−)
+
−
Special I/O connector
FQM1
34 Current input
Connector type Number of
pins
Ordering as a set
(OMRON)
DDK Ltd.
Pressure welded 26 pins XG4M-2630-T FRC5-A026-3T0S
40 pins XG4M-4030-T FRC5-A040-3T0S
75
Wiring Servo Relay Units Section 3-4
Applicable Connector-Terminal Block Conversion Units
Recommended Wire
Size
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.
3-4 Wiring Servo Relay Units
XW2B-80J7-1A Servo Relay Units can be used to connect Motion Control
Modules and Servo Drivers.
A Servo Relay Unit simplifies wiring, e.g., from a Motion Control Module to
two Servo Drivers, for general-purpose I/O wiring, such as for switches and
sensors, and for RS-422A line wiring.
The Servo Relay Unit uses a special cable and simplifies connections from
one Motion Control Module to two Servo Drivers, such as the W Series and
SMARTSTEP Series.
Servo Relay Units can be mounted to DIN Track or on the panel itself.
Connecting Cable Connector-Terminal Block
Conversion Unit
Number of
pins
Size
XW2Z-@@@K XW2D-40G6 40 pins Miniature
XW2B-40G5 Standard
XW2B-40G4 Standard
XW2Z-@@@J-A28 XW2D-34G6 34 pins Miniature
INC
servo1
ABS _CW-
0
19
76
Wiring Servo Relay Units Section 3-4
Nomenclature and Functions
1,2,3... 1. Motion Control Module 40-pin Connector
Connects to the 40-pin connector on the Motion Control Module.
2. Motion Control Module 34-pin Connector
Connects to the 26-pin connector on the Motion Control Module. The Mo-
tion Control Module general-purpose I/O is allocated to the clamp terminal
block.
3. Servo Driver Connectors
Connects to two Servo Drivers.
4. RS-422 Connector
5. Screw-less, Clamp Terminal Block (80 Terminals)
The clamp terminal block is used for the Motion Control Module general-
purpose I/O and the Servo Driver 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. Signal switches
4. RS-422 connectors
7. Terminating resistance switch
8. Servo Driver # 2
phase B switch
8. Servo Driver # 1
phase B switch
3. Servo Driver #2
connector
3. Servo Driver #1
connector
Mounting hole
(Can be mounted
to DIN Track.)
5. Screw-less Clamp Terminal
Block (40 terminals each on
upper and lower tiers)
Motion Control
Module
Corresponding
connecting cable
Servo Driver
cable
Servo Driver
FQM1-MMP21 XW2Z-@@@J-A28
XW2Z-@@@J-A30
XW2Z-@@@J-B9 W-series Servo
Driver
XW2Z-@@@J-B10 SMARTSTEP
FQM1-MMA21 XW2Z-@@@J-A28
XW2Z-@@@J-A31
XW2Z-@@@J-B13 W-series Servo
Driver
Pin No. Signal
1TXD−
2TXD+
3 ---
4 ---
5 ---
6RXD−
7 ---
8RXD+
9 ---
Case FG
77
Wiring Servo Relay Units Section 3-4
Upper Terminal Block Pin Arrangement
Lower Terminal Block Pin Arrangement
Note (1) Allocated when connecting an FQM1-MMA21 Analog I/O Motion Control
Module.
(2) Used as the power supply for FQM1-MMP21 pulse outputs or SEN out-
puts for Servo Drivers compatible with absolute encoder.
(3) IN4 to IN11 and OUT0 to OUT7 are used for the servo control signal pow-
er supply.
(4) IN0 to IN3 (interrupt inputs) are used for the latch input power supply.
No.6061626364656667686970717273747576777879
Signal name
5 V (See note 2.)
Latch signal input 1
Latch signal input 2
CNT1 phase A LD + input
CNT1 phase B LD + input
Servo # 1 phase Z LD + output
Voltage input (+) (See note 1.)
Servo #1 ALM
Servo #1 TGON
IN4
IN5
IN6
IN7
---
Servo #1 RUN
Servo #1 RESET
Servo #1 ECRST
Servo #1 MING
TXD+
RXD+
No.4041424344454647484950515253545556575859
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 phase Z LD
−
Voltage input (
−
) (See note 1.)
Servo #1 INP
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
---
OUT0
OUT1
OUT2
OUT3
TXD
−
RXD
−
No.2021222324252627282930313233343536373839
Signal name
+24 V (See note 3.)
+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
No.012345678910111213141516171819
Signal name
0 V
0 V
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
60 79
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
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
019
Upper terminal block
Lower terminal block
78
Wiring Servo Relay Units Section 3-4
6. Signal Switches
Note (a) An external encoder with a line-driver output can be connected.
(b) For 4 to 20 mA current inputs, voltage input (+) and current input
do not need to be connected.
7. Terminating Resistance Switch
Set this terminating resistance switch to ON when the Servo Relay Unit is
at the end of the RS-422A line and the PORT2 terminal is not connected
to PORT1 on another Servo Relay Unit.
8. Servo Driver Phase B Switches
When the high-speed counter is set to absolute mode CW in the System
Setup, inputs are the inverse of the phase from the encoder output phase
B from the Servo Driver. The high-speed counter is used in incremental
mode for all other System Setup settings.
Switch Setting details
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
SER_B
SER_B Connects the Servo #1 phase B to the Motion Control
Module's CNT1 phase B.
TER_B Connects the external encoder phase B to the Motion
Control Module's CNT1 phase B. (See note a.)
CNT1
SER_Z
SER_Z Connects the Servo #1 phase Z to the Motion Control
Module's CNT1 phase Z.
TER_Z Outputs the Servo #1 phase Z output from the terminal.
DA2 Y axis Connects FQM1-MMA21 analog output 2 to Servo #2
REF.
X axis Connects FQM1-MMA21 analog output 2 to Servo #1
TREF.
AD VOL Sets analog inputs as voltage inputs.
CUR Sets analog inputs as current inputs. (See note b.)
TER_A
SER_A
CNT1
SER_B
CNT1
TE
R_B
CUR
SER_Z
CNT1
DA2
VOL
AD
TER_Z X axis
Y axis
TERM
ON
OFF
SW6
INC INC
SW7
SW8
servo2
ABS_CW-
servo1
ABS_CW-
Servo #2
phase B switch
Servo #1
phase B switch
79
Wiring Servo Relay Units Section 3-4
External Dimensions
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 ter-
minal blocks can be used to connect sensors and external devices. A ferrule,
however, must be connected to the sensor or external device cable when con-
necting to clamp terminal blocks.
The following table shows the suitable ferrules.
Wiring 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 wire.
The following screwdriver can be used when removing wires.
160
4.5 dia.
100 90
41.7
15.9
30.7
Signal switches
Terminating resistance switch
Phase B switches
Manufacturer Model Applicable wire
Phoenix Contact Inc. AI-0.5-10 0.5 mm2 (20AWG)
AI-0.75-10 0.75 mm2 (18AWG)
AI-1.5-10 1.25 mm2 (16AWG)
Nihon Weidmuller Co. Ltd. H 0.5/16 D 0.5 mm2 (20AWG)
H 0.75/16 D 0.75 mm2 (18AWG)
H 1.5/16 D 1.25 mm2 (16AWG)
0
8
07
0
6
0
5
0
4
0
3
02
+
V
+V
+
V
+
V
+
V
+
V
+
V
NC
4
3
2
1
Small minus screwdrive
r
Release button
80
Wiring Servo Relay Units Section 3-4
Recommended Screwdriver
Model Manufacturer
SZF1 Phoenix Contact Inc.
3.5 mm0.6 mm
Side Front
81
Wiring Servo Relay Units Section 3-4
Wiring when Using Servo Relay Units
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
MMP21
2
CN2
CN1
1
12 4039
2526
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
MMA21
2
CN2
CN1
1
12 4039
2526
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
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 Supply Unit End Cover
Servo Relay Unit Cable
XW2Z-@@@K Connector-
Terminal Block
Conversion Unit Cable
Coordinator Module Motion Control Modules
(Up to 4 Modules can
be connected)
Servo Relay Unit Cable
RS-422A Cable
XW2D-40G6 or other
Connecter-Terminal Block
Conversion Unit
RS-422A Cable
(Modified by user)
Servo Relay Unit Servo Relay Unit
Servo Driver
Cable
Servo Driver
Servomotor Cable
Servomotor
82
Wiring Servo Relay Units Section 3-4
Example Servo Relay
Unit Wiring
When Servo Relay Units for the FQM1 are used, the I/O power supply is pro-
vided from terminals 20-0, 21-1, and 60-40. The only additional wiring
required are the connections between the signals, as shown in the following
diagram.
Upper Terminal Block Arrangement
Lower Terminal Block Arrangement
60 79
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
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
019
5 V
24 V
Upper
terminal
block
Lower
terminal
block
60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79
5 V
IN4
IN5
IN6
IN7
TXD+
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 Z LD + output
Voltage input (+)*
Servo #1 ALM
Servo #1 TGON
Servo #1 RUN
Servo #1 RESET
Servo #1 ECRST
Servo #1 MING
Latch signal 1 0 V
Latch signal 2 0 V
CNT1 phase A LD −/0 V
CNT1 phase B LD −/0 V
Servo #1 phase Z LD −/0 V
Voltage input (−)*
Servo #1 INP
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
---
20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39
24 V
24 V
IN0
IN1
IN2
IN3
IN8
IN9
IN10
IN11
FG
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19
0 V
0 V
OUT4
OUT5
OUT6
OUT7
FG
---
---
---
---
---
---
24 V
Servo #2 ALM
Servo #2 TGON
Servo #2 RUN
Servo #2 RESET
Servo #2 ECRST
Servo #2 MING
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Common (0 V)
Servo #2 INP
83
List of FQM1 Connecting Cables Section 3-5
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.
Connecting Cable Models
1,2,3... 1. Connector-Terminal Block Conversion Unit Cables (for FQM1-CM001, 40-
pin MIL Connector)
2. Servo Relay Unit Connecting Cables (for FQM1-MMP21/MMA21, 26-pin
MIL Connector)
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
PORT
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
MMP21
2
CN2
CN1
1
12 4039
2526
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
MMA21
2
CN2
CN1
1
12 4039
2526
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. Connector-Terminal
Block Conversion Unit
Cable
Coordinator Module Motion Control Modules
2. Servo Relay Unit Cable
3. Servo Relay Unit Cable
4. RS-422A Cable
XW2D-40G6 Connector
Terminal Block
Conversion Unit
7. RS-422A Cable
(Modified by user)
5. Servo Driver
Cables
Servo Driver
6. Servomotor Cable
Servomotor
Specifications Model
Connects FQM1-CM001 and XW2D-40G6
Connector-Terminal Block Conversion Unit.
1 m XW2Z-100K
1.5 m XW2Z-150K
2 m XW2Z-200K
3 m XW2Z-300K
5 m XW2Z-500K
Specifications Model
Connects FQM1-MMP21 and Servo Relay
Unit.
0.5 m XW2Z-050J-A28
1 m XW2Z-100J-A28
84
List of FQM1 Connecting Cables Section 3-5
3. Servo Relay Unit Connecting Cables (for FQM1-MMP21/MMA21, 40-pin
MIL Connector)
4. RS-422A Connecting Cables (with 9-pin D-sub Connector)
5. Servo Driver Connecting Cables (Servo Relay Unit to Servo Driver)
6. Servomotor Connecting Cables
Refer to the catalog for the Servo Driver or Servomotor to be connected.
7. RS-422A Cable, connects Connector-Terminal Block Conversion Unit and
Servo Relay Unit.
• Cut off one end of the RS-422A cable 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-050J-A31
1 m XW2Z-100J-A31
Specifications Model
Connects RS-422A between Servo Relay
Units.
1 m XW2Z-100J-C1
2 m XW2Z-200J-C1
Specifications Model
FQM1-MMP21 Connects Servo Relay
Unit and W-series Servo
Driver.
1 m XW2Z-100J-B9
2 m XW2Z-200J-B9
Connects Servo Relay
Unit and SMARTSTEP.
1 m XW2Z-100J-B10
2 m XW2Z-200J-B10
FQM1-MMA21 Connects Servo Relay
Unit and W-series Servo
Driver.
1 m XW2Z-100J-B13
2 m XW2Z-200J-B13
Pin No. Signal
1TXD−
2TXD+
3 ---
4 ---
5 ---
6RXD−
7 ---
8RXD+
9 ---
Case FG
85
Wiring Precautions Section 3-6
• Attach the modified cable to the XW2D-40G6 Connector-Terminal Block
Conversion Unit.
3-6 Wiring Precautions
3-6-1 Reducing Electrical Noise
I/O Signal Wiring Whenever possible, place I/O signal lines and power lines in separate ducts or
raceways both inside 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 Cable Connector-Terminal Block
Conversion Unit terminal
number
No. Signal
2SDB+A18
1SDA−A17
8 RDB+ B18
6RDA−B17
XW2D-40G6 Connector-
Terminal Block Conversion Unit
XW2Z-100J-C1 or
XW2Z-200J-C1
RS-422A Cable
1
2
1 2
1 2
1 = I/O cables
2 = Power cables
Suspended ducts In-floor ducts Conduits
86
Wiring Precautions Section 3-6
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.
Note Use surge suppressors and diodes with the following specifications.
External Wiring Observe the following precautions for I/O wiring, power supply wiring, and
power line wiring.
• When multi-conductor signal cable is being used, do not combine I/O
wires and other control wires in the same cable.
• If wiring racks are parallel, allow at least 300 mm between the racks.
• 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
triac output Surge suppressor
Relay output or
transistor output Diode
Surge suppressor specifications Diode specifications
Resistor: 50 Ω
Capacitor: 0.47 µF
Voltage: 200 V
Breakdown voltage: 3 times load voltage min.
Mean rectification current: 1 A
FQM1 I/O wiring
FQM1 power supply and
general control circuit wiring
Power lines
Ground to 100 Ω or less
Low-current cables
Control cables
Control cables
300 mm min.
300 mm min.
FQM1 I/O wiring
FQM1 power
supply and general
control wiring Power lines Steel sheet metal
Ground to 100 Ω or less
200 mm min.
87
Wiring Precautions Section 3-6
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.
IN
COM
7 mA
0 V
+
+
COM
IN
IN
COM
++
Output
Contact output
Two-wire DC output
NPN open-collector output
DC input
DC input
DC input
Sensor
power
supply
Sensor power
supply
88
Wiring Precautions Section 3-6
• The circuit below should NOT be used for I/O devices having a voltage
output.
Precautions when
Connecting a Two-wire DC
Sensor
When using a two-wire sensor with a 24-V DC input device, check that the fol-
lowing conditions have been met. Failure to meet these conditions may result
in operating errors.
1,2,3... 1. Relation between the FQM1 ON voltage and the sensor residual voltage:
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 a bleeder resistor R. The bleeder
resistor constant can be calculated as follows:
R ≤ (VCC – VR)/(IOUT (min.) – ION)
Power W ≥ (VCC – VR)2/R × 4 [allowable margin]
IN
7 mA
0 V
+
COM
+
IN
COM
7 mA
0 V
+
IN
COM
0 V
++
Output
Output
Output
NPN current output
PNP current output
Voltage output
Sensor
power
supply
Sensor power
supply
Sensor
power
supply
DC input
DC input
DC input
Current
regulator
+
IN
0 V
+
COM −
Sensor
power
supply DC input
Output
89
Wiring Precautions Section 3-6
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.
R ≤ (RIN × VOFF)/(Ileak × RIN – VOFF)
Power W ≥ (VCC – VR)2/R × 4 [allowable margin]
4. Precautions on Sensor Surge Current
An incorrect input may occur if a sensor is turned ON after the FQM1 has
started up to the point where inputs are possible. Determine the time re-
quired for sensor operation to stabilize after the sensor is turned ON and
take appropriate measures, such as inserting into the program a timer de-
lay after turning ON the sensor.
Programming Example In this example, the sensor’s power supply voltage is used as the input to
CIO 0000.00 and a 100-ms timer delay (the time required for an OMRON
Proximity 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
Output Short-circuit
Protection
If a load connected to the output terminals is short-circuited, output compo-
nents and printed circuit boards may be damaged. To guard against this,
incorporate a fuse in the external circuit. Use a fuse with a capacity of about
twice the rated output.
Transistor Output
Residual Voltage
A TTL circuit cannot be connected directly to a transistor output because of
the transistor’s residual voltage. It is necessary to connect a pull-up resistor
and a CMOS IC between the two.
RVR
VCC
RIN
V
CC
:
V
ON
:
V
OFF
:
I
ON
:
I
OFF
:
R
IN
:
V
R
:
I
OUT
:
I
leak
:
R:
Sensor output residual voltage
Sensor control current (load current)
Sensor leakage current
Bleeder resistance
Power voltage
FQM1 ON voltage
FQM1 OFF voltage
FQM1 ON current
FQM1 OFF current
FQM1 input impedance
Two-wire sensor
DC input
TIM
0000
#0001
0000.00
TIM0000 0000.01
0001.00
90
Wiring Precautions Section 3-6
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.
Method 2
Add a control resistor as shown in the following diagram.
OUT
R
COM
L+
FQM1
OUT
R
COM
L+
FQM1
91
SECTION 4
Operation
This section describes the operation of the FQM1.
4-1 Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4-1-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
4-1-2 Coordinator Module Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
4-1-3 I/O Refreshing and Peripheral Servicing . . . . . . . . . . . . . . . . . . . . . 94
4-1-4 Startup 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 Status and Operations in Each Operating Mode. . . . . . . . . . . . . . . . 99
4-3-3 Operating Mode Changes and I/O Memory . . . . . . . . . . . . . . . . . . . 100
4-4 Power OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4-4-1 Power OFF Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
4-4-2 Instruction Execution for Power Interruptions . . . . . . . . . . . . . . . . . 102
92
Coordinator Module Section 4-1
4-1 Coordinator Module
The FQM1 Coordinator Module and each Motion Control Module have sepa-
rate 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, RS-
232C port, and RS-422 port. The following diagram shows the internal struc-
ture of the Coordinator Module.
User Program The CX-Programmer (see note) is used to create the user programs, which
are transferred to the Coordinator Module via the peripheral port. The user
programs includes a cyclic task, which is executed once per cycle, and inter-
rupt tasks, which are 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 to read from and write to I/O
memory. Once the cyclic task has been completed, cyclic refreshing with the
Motion Control Modules is executed, and then the cyclic task is executed
again (cyclic scan method).
Note Install the FQM1 Patch Software for CX-Programmer Ver. 5.0. CX-Program-
mer Ver. 4.0 or earlier cannot be used. Refer to 8-1 CX-Programmer for
details.
I/O Memory I/O memory is the RAM memory area accessed by the user programs. Part of
I/O memory area is cleared and part of the memory area is retained when the
power is turned OFF and ON again.
I/O memory is also divided into an area that exchanges data with the Motion
Control Modules and an area that is used for internal processing.
Coordinator Module
User program
Cyclic task
Access
I/O memory
Automatic
backup
Flash memory PLC Set-
up and
other pa-
rameters
Auto-
matic
backup
93
Coordinator Module Section 4-1
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 allo-
cated for settings in the System Setup. The addresses can normally be
ignored when making the settings, however, because the settings follow CX-
Programmer menus.
Flash Memory When the user writes to the Coordinator Module, the user program, System
Setup settings, other parameters, and part of the DM Area are automatically
backed up to flash memory.
4-1-2 Coordinator Module Operation
The following flowchart shows the operation of the Coordinator Module. Pro-
gramming is executed 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 Modules.
• Clear I/O memory.
• Check user memory.
• Clear forced status, etc.
Common
processing
• Read DIP switch settings. • Check I/O bus.
• Check user program memory.
Program
execution
• Operation processing: Execute the user programming.
• Error processing: Turn OFF outputs.
• After error: Clear I/O memory (unless a FALS instruction caused
the error.)
I/O
refreshing
Refresh built-in I/O.
Cyclic
refreshing
(See note.)
Exchange cyclic data with Motion Control Modules. (Refreshing is
stopped if there is a bus error.)
Note: Cyclic refreshing occurs in PROGRAM mode as well.
Peripheral
servicing
Perform the following servicing if any events have occurred.
• Motion Control Module event servicing
• Peripheral port servicing
• RS-232C port servicing
• RS-422A port servicing
Cycle
time
94
Coordinator Module Section 4-1
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.
Peripheral Servicing Peripheral servicing involves servicing non-scheduled events for external
devices. This includes both processing for service requests from external
devices and service requests to external devices. Most peripheral servicing
involves FINS commands.
The time specified in the system is allocated to each type of servicing and
executed every cycle. If the servicing is finished before the end of the allo-
cated time, the remaining time is not used and the next servicing is started.
Note Servicing for Motion Control Modules, peripheral ports, RS-232C ports, and
RS-422A ports is allocated 6.25% of the immediately preceding cycle time by
default. If 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 the Timer/Peripheral
Service Tab Page in the System Setup.
4-1-4 Startup Initialization
The following initialization is performed once each time the power is turned
ON.
• Detecting mounted Modules
• Clearing the non-retained areas of I/O memory
• Clearing forced-set/reset status
• Performing self-diagnosis (user memory check)
• Restoring the user program
• Restoring retained DM Area data
Servicing Contents
Motion Control Mod-
ule event servicing
• Non-scheduled servicing for FINS commands from Motion
Control Modules.
• Non-scheduled servicing for FINS commands from the Coor-
dinator Module to the Motion Control Modules.
Peripheral port ser-
vicing
• Non-scheduled servicing for FINS or Host Link commands
received via the peripheral or RS-232C ports from the CX-
Programmer, PTs, or host computers (e.g., requests for pro-
gram transfer, monitoring, forced-set/reset operations, or
online editing).
• Non-scheduled servicing from the Coordinator Module trans-
mitted from the peripheral or RS-232C port.
RS-232C port ser-
vicing
RS-422A port servic-
ing
• Non-scheduled servicing to Servo Driver.
95
Motion Control Modules Section 4-2
4-2 Motion Control Modules
4-2-1 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.
Note (1) User Memory (UM) Protect
The following data can be write-protected using settings in the System
Setup.
• User program
• System Setup Area
These Areas are stored in RAM and flash memory.
(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
ladder programs and set the System Setup. Programs and settings are trans-
ferred to each Motion Control Module through the peripheral port on the Coor-
dinator Module.
The user program is written using ladder diagram programming and executed
using a cyclic scan method.
D00000
D32767
to RAM (See note 2.)
Motion Control Module
User program (See note 1.)
RAM and flash memory
I/O memory
General-purpose
Read/Write DM Area
System Setup Area
(See note 1.) RAM and flash memory
96
Motion Control Modules Section 4-2
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-Program-
mer. Part of I/O Memory Area is cleared and part of it is retained when the
power is turned OFF and ON again.
I/O memory is also divided into an area that exchanges data with other Motion
Control Modules and an area that is used for internal processing.
System Setup The System Setup contains software switches used to make initial settings
and other settings for the Motion Control Module. Addresses are allocated for
the settings in the System Setup, but these addresses can normally be
ignored when making the settings, because the settings follow CX-Program-
mer menus.
The System Setup is stored in RAM and flash memory, 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 cleared when the power is turned OFF and ON again.
D30000 to D32767 is retained for a set period by the super capacitor. The
data is lost when the super capacitor backup time has been exceeded.
4-2-3 Motion Control Module Operation
Operation between the Coordinator Module and the Motion Control Modules
can be set to synchronous (“Sync”) or asynchronous (“Async”) modes using a
setting in the System Setup of the Coordinator Module.
System Setup Using CX-Programmer
ASync Mode Operation In ASync Mode, scan processing by the Motion Control Modules is not syn-
chronized with the Coordinator Module. Motion Control Module built-in I/O
refreshing is executed within the scan cycle in the Motion Control Module. I/O
refreshing with the Coordinator Module is determined by the Coordinator
Module and is executed asynchronously to the Motion Control Module scan
processing.
Synchronous Data Link Bit Area refreshing is not executed in ASync Mode.
Tab page Item Settings
Module Settings Synchronization between
Modules
• Sync Mode
• ASync Mode
97
Motion Control Modules Section 4-2
Sync Mode Operation In Sync Mode, the Motion Control Module's cyclic scan is synced with the
Coordinator Module's cyclic scan or the sync cycle time set in the System
Setup. The program in each Motion Control Module is thus executed at the
same time.
When operation is synchronized to the Coordinator Module cycle scan, the
start of program execution in every cycle is the same for all Modules. When
operation is synchronized to the sync cycle time, the start of program execu-
tion in every cycle is the same for all Motion Control Modules.
Motion Control Modules send all synchronous data link bits to the Coordinator
Module and all other Motion Control Modules each Coordinator Module cyclic
scan or at the specified sync cycle time. (See note 1.)
Each Module can access the synchronous data link bits from all other Mod-
ules. (Refer to 5-4 Synchronous Data Refresh for details.)
Note (1) This depends on the sync cycle time set in the System Setup of the Co-
ordinator Module (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
MONITOR modes, the Motion Control Modules will switch to RUN or MONI-
TOR mode one cycle later. Similarly, when the Coordinator Module switches
from RUN or MONITOR modes to PROGRAM mode, the Motion Control Mod-
ules will switch one cycle later. The operating modes for all Motion Control
Modules will switch in the same cycle.
Motion Control Module
Initialization at power ON
Common processing
Program execution
I/O refreshing in Module
1. Basic I/O refreshing
2. Special I/O refreshing
3. Refreshing with
Coordinator Module
Peripheral servicing
Pulse or
analog
outputs (2)
Special I/O
Pulse
inputs (2)
or analog
input (1)
Basic
outputs
(8)
Basic
inputs
(12)
Basic I/O
Coordinator Module
Initialization at power ON
Common processing
Program execution
RUN/STOP and
other commands
General-purpose
I/O, e.g., status
Cyclic refreshing
Peripheral servicing
The cyclic refreshing with the Coordinator Module
is performed during the scan cycle of each Motion
Control Module and involves the asynchronous
read/write of shared memory.
98
Motion Control Modules Section 4-2
Initialization at At
power ON
Internal Module initialization (determining the operating mode, initializing user
memory, clearing specified memory areas, checking for memory corruption,
reading the System Setup, etc.) is performed and the bus that exchanges data
with the Coordinator Module is initialized.
Common Processing Common processing, which does not depend on special I/O, is performed.
Program Execution The Motion Control Module's ladder program is executed. Basic I/O is
refreshed whenever the IORF instruction is executed. Special I/O can also be
refreshed for Modules with analog I/O.
Cycle Time
Calculation
The execution time for one cycle is monitored. If a constant cycle time is set,
processing is performed to make the cycle time constant. (Refer to 5-6-1 Con-
stant Cycle Time Function for information on constant cycle time processing.)
Motion Control
Module Built-in I/O
Refreshing
The following 3 types of built-in I/O refreshing are performed by Motion Con-
trol Modules.
1,2,3... 1. Basic I/O Refreshing
Output bits to 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 Module
Note (1) Special I/O refreshing refreshes high-speed counter present values and
other special I/O.
(2) Motion Control Module built-in I/O refreshing is also executed in PRO-
GRAM mode and during fatal errors (including FALS instructions) (input
refresh only).
(3) Coordinator Module cyclic refreshing (allocated data exchange) is exe-
cuted at the same time as the Coordinator Module scan processing. This
refreshing exchanges data between the Coordinator Module and the Mo-
tion Control Modules, so it is asynchronous with the Motion Control Mod-
ule's cyclic refreshing. Coordinator Module cyclic refreshing is also
executed in PROGRAM mode and during fatal errors (including FALS in-
structions).
Peripheral Servicing Event servicing requests from the Coordinator Module are serviced.
Coordinator
Module
Motion
Control
Module
Start operation (RUN mode entered)
PROGRAM
PROGRAM
Operation
(See note.)
Operation
(See note.)
Operation
(See note.)
1 cycle later
Start operation (RUN start)
Program Operation
(See note.)
Operation
(See note.)
Cycle Note: "Operation" means either RUN or MONITOR mode.
99
Operating Modes Section 4-3
4-3 Operating Modes
4-3-1 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, force-
setting, force-resetting, and checking wiring can be executed prior to program
execution. Motion Control Module built-in I/O refreshing and Coordinator Mod-
ule cyclic refreshing are, however, executed in this mode.
MONITOR Programs are executed, but some operations, such as online editing and
changing present values in I/O memory, are enabled for trial operation and
other adjustments.
RUN Programs are executed but some operations, such as online editing and
changing the present values in I/O memory using CX-Programmer, cannot be
performed. The CX-Programmer can monitor the program execution status
(program and I/O memory monitoring). The main system operation is per-
formed in RUN mode.
Note (1) The operating mode of Motion Control Modules cannot be changed inde-
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 System Setup and change the operating
mode for that Motion Control Module.
4-3-2 Status and Operations in Each Operating Mode
PROGRAM, RUN, and MONITOR are the three FQM1 operating modes. The
following tables list status and operations for each mode.
Note The following table shows the relationship of operating modes to tasks.
Mode Program
execu-
tion
(See
note.)
I/O
refresh
External
outputs
I/O Memory CX-Programmer operations
Cleared
areas
Retained
areas
I/O
Memory
monitor-
ing
Program
monitor-
ing
Program transfers Program
check
System
Setup
changes
Program
changes
Force-
set/reset
Chang-
ing timer/
counter
SV
Chang-
ing timer/
counter
PV
Chang-
ing I/O
Memory
PV
FQM1 to
com-
puter
Com-
puter to
FQM1
PROGRAM Stopped Exe-
cuted OFF Clear Retained OK OK OK OK OK OK OK OK OK OK OK
RUN Per-
formed Exe-
cuted Con-
trolled by
program
Controlled by pro-
gram OK OK OK ×× ×× ×× × ×
MONITOR Per-
formed Exe-
cuted Con-
trolled by
program
Controlled by pro-
gram OK OK OK ×× ×OK OK OK OK OK
Mode Cyclic task status Interrupt task status
PROGRAM Disabled Stopped
RUN Enabled Executed if interrupt condition is
met.
MONITOR
100
Power OFF Operation Section 4-4
4-3-3 Operating Mode Changes and I/O Memory
Note (1) The cycle time will increase by approximately 10 ms when the operating
mode is changed from MONITOR to RUN mode. This will not cause an
error for exceeding the maximum cycle time limit.
(2) In Sync Mode, the Motion Control Module operating mode will change
one cycle after the Coordinator Module operating mode has changed.
4-4 Power OFF Operation
4-4-1 Power OFF Operation
The following processing is performed if FQM1 power is interrupted during
operation. The following power OFF processing will be performed if the power
supply falls below 85% of the minimum rated voltage while in RUN or MONI-
TOR mode.
1,2,3... 1. The Motion Control Modules and Coordinator Module will stop.
2. All outputs from all Modules will be turned OFF.
85% of the rated voltage (AC power):
85 V AC for 100 V
170 V AC for 200 V
85 V AC for 100 to 240 V (wide range)
The following processing 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 ms, i.e., the time it takes the minimum rated
voltage at 85% or less to return to 85% or higher is less than 10 ms.
2. A momentary power interruption that lasts more than 10 ms but less than
25 ms is difficult to determine and a power interruption may or may not be
detected.
3. The system will stop unconditionally if the momentary power interruption
lasts more than 25 ms.
It thus requires between 10 and 25 ms to detect a power interruption. This
time can be increased by setting the User-set Power OFF Detection Time (0
to 10 ms) in the System Setup.
Note The User-set Power OFF Detection Time appears in the System Setup simply
as the “Power OFF Detection Time.”
Mode Changes Cleared areas Retained areas
• I/O bits
• Data Link bits
• Work bits
•Timer PV
•DM Area
• Counter PV
RUN or MONITOR to
PROGRAM
Cleared (See note 1.) Retained
PROGRAM to RUN
or MONITOR
Cleared (See note 1.) Retained
RUN to MONITOR or
MONITOR to RUN
Retained (See note 2.) Retained
101
Power OFF Operation Section 4-4
Note The above timing chart shows an example when the User-set Power OFF
Detection Time is set to 0 ms.
The following timing chart shows the Coordinator Module power OFF opera-
tion in more detail.
Power OFF Timing Chart
Fixed Power OFF Detection Time
The time it takes to detect power OFF after the power supply falls below 85%
of the minimum rated voltage.
User-set Power OFF Detection Time
The time after power OFF is detected until it is confirmed. This can be set in
the System Setup within a range from 0 to 10 ms (default: 0 ms).
If an unstable power supply is causing power interruptions, set a longer User-
set Power OFF Detection Time (10 ms max.) in the System Setup.
Power Holding Time
The maximum amount of time (fixed at 10 ms) that 5 V will be held internally
after power interruption is detected.
10 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 or less
Operation will continue or stop
depending on whether or not a
momentary power interruption
is detected.
Momentary power
interruption detected
and operation stops.
Reset signal
Stopped
Fixed Power OFF
Detection Time:
Default is 10 to
25 ms (Power OFF
undetermined)
Holding time for 5 V internal
power supply after power
OFF detection: 10 ms.
Power OFF detected Power OFF confirmed
User-set Power
OFF Detection
Time: 0 to 10 ms
(set in System
Setup)
Operation always stopped at this
point regardless.
Processing time after
power OFF is confirmed:
10 ms minus User-set
Power OFF Detection
Time
Note: The interrupt task
execution time must be
less than or equal to pro-
cessing time after power
OFF is confirmed.
85% of rated
voltage
Power OFF
detected signal
Program execution
status Cyclic task or interrupt tasks not associated with power OFF
102
Power OFF Operation Section 4-4
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.
4-4-2 Instruction Execution for Power Interruptions
If power is interrupted and the interruption is confirmed when the Coordinator
Module or Motion Control Module is operating in RUN or MONITOR mode, the
instruction currently being executed will be completed and then the Module
will be reset.
103
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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
5-3-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
5-3-2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
5-3-3 Cyclic Refresh Area Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
5-3-4 Cyclic Refresh Area Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
5-4 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
5-5-3 Executing DM Data Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
5-6 Cycle Time Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
5-6-1 Constant Cycle Time Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
5-6-2 Watch Cycle Time Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
5-6-3 Cycle Time Monitoring Function . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
5-6-4 Clearing Constant Cycle Time Exceeded Errors . . . . . . . . . . . . . . . 117
5-7 Operation Settings at Startup and Maintenance Functions . . . . . . . . . . . . . . . 118
5-7-1 Specifying the Startup Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
5-7-2 Program Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
5-7-3 Flash Memory. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
5-8 Diagnostic Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
5-8-1 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
5-8-2 Failure Alarm Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
104
Synchronous Operation between Modules Section 5-1
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 opera-
tion 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.
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 overall system operation.
System Setup Default Settings
Module Settings Tab Page
Synchronization between
Modules
Sync Mode Use in Sync Mode (default).
Sync Cycle Time = 0 ms
Coordinator Module cycle time
To operate only the Motion Control Modules with high-speed
synchronous operation, set a value for the Coordinator Mod-
ule sync cycle time.
System Setup Default Settings
Module Settings Tab Page
Synchronization between
Modules
Sync Mode Set to ASync Mode.
105
Data Exchange between Modules Section 5-2
5-2 Data Exchange between Modules
The three methods for data exchange between Coordinator and Motion Con-
trol 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.
A Cyclic Refresh Area is allocated for each Motion Control
Module in the Coordinator Module.
2. Synchronous
data refresh
Broadcasts data at a spec-
ified sync cycle.
Specified synchronous data is broadcast from each Motion
Control Module and the Coordinator Module. All other
Modules receive and share the data in the Synchronous
Data Link Bit Area.
3. DM data
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 Area words of a specified Motion Control
Module and the specified DM Area words of the Coordina-
tor Module when the DM Write Request Bit (A530.00) or
DM Read Request Bit (A530.01) in the Auxiliary Area of
the Coordinator Module is turned ON.
Coordinator
Module
Motion Control
Module #1
Motion Control
Module #4
Motion Control
Module #3
Motion Control
Module #2
Cyclic
Refresh
Area
Cyclic
Refresh
Area
Cyclic
Refresh
Area
Cyclic
Refresh
Area
Cyclic
Refresh
Area
1. Cyclic refresh
Sync Data
Link Bit
Area
Sync Data
Link Bit
Area
Sync Data
Link Bit
Area
Sync Data
Link Bit
Area
Sync Data
Link Bit
Area
2. Synchronous data refresh
Specified
DM Area
words
Specified
DM Area
words
3. DM data transfer
106
Cyclic Refresh Section 5-3
5-3 Cyclic Refresh
5-3-1 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).
As shown in the following diagram, 10 words per Motion Control Module (5
output words and 5 input words) are allocated according to the Motion Control
Module slot number (#1 to #4 in the following diagram) in the Cyclic Refresh
Area of the Coordinator Module (CIO 0100 to CIO 0139).
Note Cyclic refreshing between the Coordinator Module and Motion Control Mod-
ules is asynchronous. Information may take up to 2 cycles to be 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.
Information for which high-speed data exchange between Modules is not
required can be allocated anywhere, and a ladder program written for the
Coordinator Module and Motion Control Modules to access these areas dur-
ing operation can be created.
CIO 0000
CIO 0099
CIO 0100
CIO 0104
CIO 0105
CIO 0109
CIO 0110
CIO 0114
CIO 0115
CIO 0119
CIO 0120
CIO 0124
CIO 0125
CIO 0129
CIO 0130
CIO 0134
CIO 0135
CIO 0139
CIO 0100
CIO 0104
CIO 0105
CIO 0109
CIO 0100
CIO 0104
CIO 0105
CIO 0109
CIO 0100
CIO 0104
CIO 0105
CIO 0109
CIO 0100
CIO 0104
CIO 0105
CIO 0109
to
to
to
to
to
to
to
to
to
to
to
to
to
to
to
to
to
Coordinator
Module
Motion Control
Module #1
Motion Control
Module #4
Motion Control
Module #3
Motion Control
Module #2
107
Cyclic Refresh Section 5-3
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.
CM: Coordinator Module
MM: Motion Control Module
Motion Control
Module Cyclic
Refresh Areas
Motion Control Modules use CIO 0100 to CIO 0109, as shown in the following
table.
CM: Coordinator Module
MM Motion Control Module
Word
address
Bits Details
CIO 0100 to
CIO 0104
00 to
15
CM Output Refresh Area (CM to MM)
The data in this area is allocated to the MM Input Refresh Area (CM to MM) for Motion Control
Module #1.
CIO 0105 00 to
07
Reserved.
08 Refresh Area for
MM #1
CM Input
Refresh Area
(MM to CM)
The data in the
MM Output
Refresh Area
(MM to CM) for
MM #1 is allo-
cated here.
Reserved
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 FALS instructions)
OFF: No fatal error
ON: Fatal error
12 to
14
Reserved
15 MM #1 program status
OFF: Stopped (PROGRAM mode)
ON: Executing (RUN or MONITOR mode)
CIO 0106 to
CIO 0109
00 to
15
CM Input Refresh Area (MM to CM)
The data in the MM Output Refresh Area (MM to CM) for MM #1 is allocated to this area.
CIO 0110 to
CIO 0119
00 to
15
Refresh Area for
MM #2
Same as for MM #1.
These areas can be used as work bits by the Coordinator Module when no
Motion Control Modules are connected.
CIO 0120 to
CIO 0129
00 to
15
Refresh Area for
MM #3
CIO 0130 to
CIO 0139
00 to
15
Refresh Area for
MM #4
Word
address
Bits Details
CIO 0100 00 to 15 MM Input Refresh Area (CM
to this MM)
The data in the Coordinator
Module's CM Output Refresh
Area (CM to MM) is allocated
to this area.
General-purpose refresh data from CM to MM.
CIO 0101 00 to 15
CIO 0102 00 to 15
CIO 0103 00 to 15
CIO 0104 00 to 15
108
Cyclic Refresh Section 5-3
5-3-4 Cyclic Refresh Area Allocations
CM: Coordinator Module
MM: Motion Control Module
CIO 0105 00 to 07 MM Output Refresh Area
(This MM to CM)
Data from this area is allo-
cated to the Coordinator Mod-
ule's CM Input Refresh Area
(MM to CM).
Reserved
08 Reserved
09 Cycle time over warning
OFF: No error
ON: MM cycle time exceeded 10 ms.
10 Non-fatal error for this Motion Control Module (including FAL
instructions)
OFF: No non-fatal error
ON: Non-fatal error
11 Fatal error for this Motion Control Module (including FALS instruc-
tions)
OFF: No fatal error
ON: Fatal error
12 to 14 Reserved
15 Program status for this Motion Control Module
OFF: Stopped (PROGRAM mode)
ON: Executing (RUN or MONITOR mode)
CIO 0106 00 to 15 General-purpose refresh data from MM to CM
CIO 0107 00 to 15
CIO 0108 00 to 15
CIO 0109 00 to 15
Word
address
Bits Details
Direc-
tion
Motion Control Module
allocation
Coordinator Module allocation
Word
address
Bits Details #1 #2 #3 #4
Word
address
Bit Word
address
Bit Word
address
Bit Word
address
Bit
CM to
MM
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 CIO 0121 00 to 15 CIO 0131 00 to 15
CIO 0102 00 to 15 CIO 0102 00 to 15 CIO 0112 00 to 15 CIO 0122 00 to 15 CIO 0132 00 to 15
CIO 0103 00 to 15 CIO 0103 00 to 15 CIO 0113 00 to 15 CIO 0123 00 to 15 CIO 0133 00 to 15
CIO 0104 00 to 15 CIO 0104 00 to 15 CIO 0114 00 to 15 CIO 0124 00 to 15 CIO 0134 00 to 15
MM to
CM
CIO 0105 00 to 07 Reserved CIO 0105 00 to 07 CIO 0115 00 to 07 CIO 0125 00 to 07 CIO 0135 00 to 07
08 Reserved 08 08 08 08
09 Cycle time
over warning
09 09 09 09
10 Non-fatal
error
10 10 10 10
11 Fatal error 11 11 11 11
12 to 14 Reserved 12 to 14 12 to 14 12 to 14 12 to 14
15 Program sta-
tus
15 15 15 15
CIO 0106 00 to 15 General-pur-
pose refresh
data from
MM to CM
CIO 0106 00 to 15 CIO 0116 00 to 15 CIO 0126 00 to 15 CIO 0136 00 to 15
CIO 0107 00 to 15 CIO 0107 00 to 15 CIO 0117 00 to 15 CIO 0127 00 to 15 CIO 0137 00 to 15
CIO 0108 00 to 15 CIO 0108 00 to 15 CIO 0118 00 to 15 CIO 0128 00 to 15 CIO 0138 00 to 15
CIO 0109 00 to 15 CIO 0109 00 to 15 CIO 0119 00 to 15 CIO 0129 00 to 15 CIO 0139 00 to 15
109
Synchronous Data Refresh Section 5-4
5-4 Synchronous Data Refresh
5-4-1 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 spec-
ified sync cycle.
Each other Module receives this data. Every Module can access the synchro-
nous data for every other linked Module.
If Synchronization between Modules is set to Sync, the cycle for every Motion
Control Module will be automatically synchronized to the Coordinator Module
or specified sync cycle, which enables the use of the synchronous Data Link
Bit Areas as synchronous data.
The Synchronous Data Link Bit Area is from CIO 0200 to CIO 0219, with 4
words allocated to each Module (Coordinator Module and all Motion Control
Modules).
Sync Cycle Time When Sync Mode is set, the Sync Cycle Time can be set under Sync Cycle
Time in the Coordinator Module’s System 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.
Synchronous Data Any of the following data can be set as synchronous data for each Module (4
words max.)
• Ladder execution results
• High-speed counter 1/2 PV
• Pulse output 1/2 PV
• Analog input value
• Analog 1/2 output value
• Built-in I/O input
5-4-2 Applications
An example application would be the creation of a virtual axis in any Module
for all Modules to refer to when synchronizing operation. Another application
is for the results of ladder program execution to be used as synchronous data.
#0
(4 words)
#1
(4 words)
#2
(4 words)
#3
(4 words)
#4
(4 words)
#0
(4 words)
#1
(4 words)
#2
(4 words)
#3
(4 words)
#4
(4 words)
#0
(4 words)
#1
(4 words)
#2
(4 words)
#3
(4 words)
#4
(4 words)
#0
(4 words)
#1
(4 words)
#2
(4 words)
#3
(4 words)
#4
(4 words)
#0
(4 words)
#1
(4 words)
#2
(4 words)
#3
(4 words)
#4
(4 words)
CIO 208
to
CIO 211
CIO 212
to
CIO 215
CIO 200
to
CIO 203
CIO 204
to
CIO 207
CIO 216
to
CIO 219
Coordinator
Module
Motion Control
Module #1
Motion Control
Module #4
Motion Control
Module #3
Motion Control
Module #2
Synchronous
data transfer
110
Synchronous Data Refresh Section 5-4
Synchronous Data
Note (1) Synchronous data for Coordinator Modules is fixed to general-purpose
(ladder execution results) data.
(2) If there is no synchronous data to be sent, select no data for Select Syn-
chronous Data in the System Setup to shorten the synchronous data
transfer time.
(3) Auxiliary Area data is transferred when input and output refresh method
is set to Immediate refresh and the synchronous data is set to an analog
input or analog output value in the System Setup.
5-4-3 Synchronous Data Link Bit Area
+0
+1
+2
+3
Normal (via Ladder)
Counter 1 values
Counter 2 values
Pulse output 1
Pulse output 2
Analog input
Analog output 1
Analog output 2
Inner I/O input
(Built-in input)
4 words of data transferred for each Module
System Setup
Select Synchronous
Data
Set in upper
2 words
Example: 4 words of data sent
by Motion Control Module #1
Counter 1 values
Pulse output 1 Transfer
System Setup
Select Synchronous
Data
Set in lower
2 words
Above example: Motion Control
Module #1 sends its high-speed
counter 1 PV and pulse output 1 PV
as the synchronous data 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 00 to 15 Fixed to general-purpose data (e.g., ladder execution results)
CIO 0201 00 to 15
CIO 0202 00 to 15 Fixed to general-purpose data (e.g., ladder execution results)
CIO 0203 00 to 15
Sent from Motion
Control Module #1
CIO 0204 00 to 15 Set using upper 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #1.
CIO 0205 00 to 15
CIO 0206 00 to 15 Set using lower 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #1.
CIO 0207 00 to 15
Sent from Motion
Control Module #2
CIO 0208 00 to 15 Set using upper 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #2.
CIO 0209 00 to 15
CIO 0210 00 to 15 Set using lower 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #2.
CIO 0211 00 to 15
Sent from Motion
Control Module #3
CIO 0212 00 to 15 Set using upper 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #3.
CIO 0213 00 to 15
CIO 0214 00 to 15 Set using lower 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #3.
CIO 0215 00 to 15
111
Synchronous Data Refresh Section 5-4
Note (1) Addresses are the same for the Coordinator Module and all Motion Con-
trol Modules.
(2) When the synchronous data is one-word data (analog input values, ana-
log output values, built-in I/O, etc.), the other word can be used for gen-
eral-purpose data.
5-4-4 Settings
The following settings must be made beforehand when using the synchronous
data refresh function.
System Setup
(Coordinator Module)
Synchronization between Modules and Sync Cycle Time must be set in the
Coordinator Module's System Setup.
Synchronization between Modules
Sync Cycle Time
When the Sync Cycle Time is specified, all Motion Control Modules will syn-
chronize with the Coordinator Module cycle time in PROGRAM mode. The
specified Sync Cycle Time is enabled in RUN and MONITOR modes, and the
Motion Control Module cycle times will change to the set Sync Cycle Time
when in these modes.
Synchronous data link bits will be broadcast from each Module at the time
specified under Sync Cycle Time.
If an interrupt task 000 is created, it can be used as a regular interrupt task
executed each Sync Cycle Time.
When the Sync Cycle Time is on the default setting, 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 Time Too Long Flag (A404.06) turns ON in the Coordinator
Module, it means that the Motion Control Module cycle time is longer than the
Sync Cycle Time. Either change the Sync Cycle Time or check the Motion
Control Module ladder program and shorten the Motion Control Module cycle
time to less than the Sync Cycle Time.
Sent from Motion
Control Module #4
CIO 0216 00 to 15 Set using upper 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #4.
CIO 0217 00 to 15
CIO 0218 00 to 15 Set using lower 2 words of Select Synchronous Data in the System
Setup for Motion Control Module #4.
CIO 0219 00 to 15
Synchronous Data
Link Bit Areas in
Coordinator and
Motion Control
Modules
Word
address
(See note
1.)
Bits Method for selecting type of synchronous data
Name Settings Default Description Auxiliary Area
Flags
Enabled
Module Settings Tab Page
Sync Mode
Sync/Async Sync Synchronization
between Modules
--- At power ON
Name Settings Default Description Auxiliary Area
Flags
Enabled
Module Settings Tab Page
Sync Cycle Time
Default (cycle time)
(0.1 to 10.0 ms)
CM cycle time Sync cycle time
(unit: 0.1 ms)
A404.06
Sync Cycle Time
Too Long Flag
At power ON
112
DM Data Transfer Section 5-5
System Setup (Motion Control Modules)
Selecting Synchronous
Data
Select the type of synchronous data to be sent by each Motion Control Mod-
ule in the System Setup for that Motion Control Module, as shown in the fol-
lowing table.
Note The time for synchronous data exchange can be shortened by selecting No
data.
Prohibit System
Interruption of the Sync
Mode
Use this function to keep the timing of the calculation start for each Motion
Control Module as close as possible, when using Sync Mode.
!Caution Do not set this function to Prohibit system interruption of the sync mode when
the cycle time is 10 ms or longer. Doing so may cause the System Clock Bits
to malfunction.
Note Settings are made using the CX-Programmer Ver. 5.0@ menus.
5-5 DM Data Transfer
5-5-1 Outline
Large volumes of any DM data can be transferred between the Coordinator
Module and a Motion Control Module at any specified timing.
• Only DM Area words can be used for transfer in both the Coordinator
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 specified DM Area words
in the Coordinator Module when the DM Write Request Bit (A530.00) or DM
Read Request Bit (A530.01) in the Auxiliary Area of the Coordinator Module is
turned ON.
This function is used, for example, to manage data in the Coordinator Module
for use by Motion Control Modules when the data must be backed up.
DM data transfer is possible in PROGRAM, RUN, or MONITOR mode for the
Coordinator Module and Motion Control Modules.
Tab page Function Settings Enabled
Module
Settings
Select Syn-
chronous
Data
Upper 2 words
(+0 and +1)
Normal (via Ladder)
Counter 1 values
Counter 2 values
Pulse output 1
Pulse output 2
Analog input
Reserved
Analog output 1
Analog output 2
Inner I/O input (built-in input)
No data (See note.)
At power
ON
Lower 2 words
(+2 and +3)
Name Function Settings Enabled
Module Settings Tab Page
Execution Process
Prohibit system interrup-
tion of the sync mode
OFF: Allow system interruption of the sync
mode
ON: Prohibit system interruption of the
sync mode
At start of operation
113
DM Data Transfer Section 5-5
5-5-2 Settings Details
The settings for using the DM data transfer function are made in the Auxiliary
Area.
5-5-3 Executing DM Data Transfer
Step 1: Make Auxiliary
Area Settings
To transfer data, the Auxiliary Area settings, described earlier, must be made.
The following settings are made in the Auxiliary Area.
• Slot No. of Motion Control Module for DM Transfer
Specifies the slot number for the Motion Control Module to which DM data
is being transferred.
• Transfer details
• DM Transfer Size (number of words)
• First DM Transfer Source Word
• First DM Transfer Destination Word
Name Address Description Read/write
DM Write Request Bit (Coordinator
Module to Motion Control Module)
A530.00 DM data transfer is executed from the Coordinator Mod-
ule to Motion Control Module when this bit turns ON.
Enabled
DM Read Request Bit (Motion
Control Module to Coordinator
Module)
A530.01 DM data transfer is executed from the Motion Control
Module to Coordinator 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
transferred.
0001: Motion Control Module #1
0002: Motion Control Module #2
0003: Motion Control Module #3
0004: Motion Control Module #4
DM Transfer Size (number of
words)
A532 Specifies the size, in number of words, of the DM data to
be transferred.
0001 to 01F3 hex (1 to 499 words)
First DM Transfer Source Word A533 Specifies the first address of the DM transfer source in
the Coordinator Module or Motion Control Module.
0000 to 7FFF hex
First DM Transfer Destination
Word
A534 Specifies the first address of the DM transfer destination
in the Coordinator Module or Motion Control Module.
0000 to 7FFF hex
Transfer Error Flag A535.14 Turns ON when a DM data transfer error occurs.
Transfer Busy Flag A535.15 Turns ON during DM data transfer and turns OFF when
the transfer has been completed.
DM Read/Write
Request Bit
A535.15
Transfer Busy Flag
A535.14
Transfer Error Flag
Error cleared at start of transfer. Turns ON when transfer
has been completed if an
error has occurred.
114
Cycle Time Settings Section 5-6
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).
Programming Example The following diagram shows a programming example for the Coordinator
Module when transferring DM data from the Coordinator Module (CM) to the
Motion Control Module mounted to slot #1 (MM).
Note When executing a DM data transfer from a Motion Control Module to the
Coordinator Module (DM read request), do not set the First DM Transfer
Source Word to D30000 or higher
5-6 Cycle Time Settings
This section describes the constant cycle time function, the watch cycle 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 allows the control cycles for Servomotors to
be constant.
The constant cycle time is set using the Cycle Time setting in the System
Setup (0.1 to 100.0 ms, unit: 0.1 ms).
If the real cycle time is longer than the set cycle time, the constant cycle time
function will be ignored and operation will be based on the real cycle time.
CM
D00200 to D00299
MM
D00100 to D00199
@MOV
#0001
A531
@MOV
#0064
A534
@MOV
#00C8
A533
@MOV
#0064
A532
㨃000.00
Transfer of 100 words
of DM data
Set to slot #1, the slot for
the Motion Control
Module for the DM data
transfer.
DM Transfer Size:
Set to 100 (64 hex).
First DM Transfer
Source Word (in CM):
Set to C8 Hex (D00200).
First DM Transfer
Destination Word (in
MM):
Set to 64 Hex (D00100).
A530.00 (CM to MM
transfer request)
Constant cycle
time (enabled)
Constant cycle
time (enabled)
Constant cycle
time (enabled)
Real cycle time Real cycle timeReal cycle time
115
Cycle Time Settings Section 5-6
System Setup
Constant Cycle Time Exceeded Flag
Constant Cycle Time Exceeded Error Clear Bit
Constant Cycle Time
Function in Sync
Mode
When in Sync Mode with a Sync Cycle Time set for the Coordinator Module
cycle time (default), and the constant cycle time function is used, the cycle
time for Motion Control Modules will be as described below.
Constant Cycle Time
Function Enabled for
Coordinator Module
The Motion Control Module cycle time is synchronized with the Coordinator
Module constant cycle time, and will therefore be constant.
Constant Cycle Time
Function Enabled for
Motion Control Module
The Motion Control Module cycle time is synchronized with the Coordinator
Module constant cycle time, and gradually is made constant, while the Motion
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 (enabled)Constant cycle time Constant cycle time
Real time Real timeReal time
Tab page Name Settings Default
Timer/Peripheral servicing or
Cycle Time
Cycle Time 0.1 to 100.0 ms,
0.1 ms units
Variable
Name Address Description
Constant Cycle Time
Exceeded Flag
A404.05 This flag turns ON when the constant cycle
time function is used and the cycle time
exceeds the constant cycle time set value.
Name Address Description
Constant Cycle Time
Exceeded Error
Clear Bit
A509.15 The constant cycle time function can be
enabled again after the cycle time has
exceeded the constant cycle time and A404.05
has turned ON.
Coordinator
Module
Motion
Control
Module
Constant cycle time
Processing
Constant cycle time
Processing
I/O refresh I/O refresh
Waiting to
synchronize
Waiting to
synchronize
116
Cycle Time Settings Section 5-6
Note When the constant cycle time function is enabled for the Motion Control Mod-
ule in ASync Mode, the Motion Control Module's cycle time will be constant.
5-6-2 Watch Cycle Time Function
If the real cycle time is longer than the set watch cycle time, operation will stop
for all Modules and the Cycle Time Too Long Flag (A401.08) in the Auxiliary
Area will turn ON.
System Setup
!Caution If the Cycle Time Too Long Flag turns ON for one Module in Sync Mode, the
Cycle Time Too Long Flag will turn ON for all Modules.
Note The settings are made using CX-Programmer Ver. 5.0@ menus.
Cycle Time Too Long Flag
5-6-3 Cycle Time Monitoring Function
Every cycle, the maximum cycle time is stored in A206 and A207 and the PV
is stored in A208 and A209 in the Auxiliary Area.
Auxiliary Area Words
The average cycle time for the last 8 scans 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
Control
Module
Constant cycle time Constant cycle time
Waiting for I/O refresh
to become constant
Waiting for I/O refresh
to become constant
Processing Processing
I/O refresh I/O refresh
Waiting to
synchronize
Waiting to
synchronize
Constant I/O
refresh timing
Constant I/O
refresh timing
Tab page Name Details Default
Timer/Peripheral Servic-
ing or Cycle Time
Cycle Time 0.1 to 100.0 ms
(unit: 0.1 ms)
Variable
Watch Cycle Time 1 to 100 ms
(unit: 1 ms)
50 ms
Name Address Details
Cycle Time Too Long
Flag
A401.08 Turns ON if the cycle time PV exceeds the
Watch Cycle Time in the System Setup.
Name Addresses Meaning
Maximum Cycle
Time
A206 to A207 The maximum cycle time value is stored in
binary each cycle. The time is measured in
0.01-ms units.
Cycle Time PV A208 to A209 The cycle time PV is stored in binary each
cycle. The time is measured in 0.01-ms
units.
117
Cycle Time Settings Section 5-6
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).
This function allows a constant cycle time to be restored and variations in I/O
processing time to be kept to a minimum even if the cycle time is temporarily
long as a result of special processing, e.g., initialization 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 Error Clear Function
The constant cycle time function can be enabled again by turning ON the
Constant Cycle Time Exceeded Clear Bit.
Auxiliary Area Bits
Constant cycle time cleared
Constant cycle
time
Real cycle time
Time
Constant cycle
time value
Cycle time
Constant cycle
time
Cycle time
Constant cycle
time
Constant cycle time cleared
Constant cycle time
enabled again
Real cycle time
Time
Constant Cycle Time
Exceeded Flag
(A404.05)
Constant Cycle Time
Exceeded Error Clear Bit
(A509.15) ON for 1 scan
Bit Function Controlled by
Constant Cycle Time
Exceeded Error
Clear Bit
A509.15 OFF to ON:
Constant cycle time exceeded
error cleared.
User
118
Operation Settings at Startup and Maintenance Functions Section 5-7
5-7 Operation Settings at Startup and Maintenance Functions
This section describes the following operation settings at startup and mainte-
nance 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.
System Setup
Note The operating mode at startup for Motion Control Modules will be the same as
that for the Coordinator Module when in Sync Mode, but will be RUN mode
when in ASync Mode.
5-7-2 Program Protection
The FQM1 provides the following kinds of protection 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
the program and loss of intellectual property.
A password is set for program protection from the CX-Programmer and read
access is prevented to the whole program.
Note (1) If you forget the password, the program in the FQM1 cannot be trans-
ferred to the computer.
(2) If you forget the password, programs can be transferred from the comput-
er to the FQM1. Programs can be transferred from the computer to the
FQM1 even if the password protection has not been released.
Power ON
Tab page Name Details Settings Default
Startup Startup
Mode
Specifies the
initial operating
mode when the
power is turned
ON.
System Setup disabled
• RUN mode
System Setup enabled
• PROGRAM mode
• MONITOR mode
• RUN mode
System Setup
disabled
119
Operation Settings at Startup and Maintenance Functions Section 5-7
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. Click the OK Button.
5-7-3 Flash Memory
Automatic Backup to
Flash Memory
The user program and parameters are automatically backed up in flash mem-
ory whenever they are written.
• The following data is backed up automatically: User program, parameters
(including the System Setup, 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
parameter area is written (e.g., for data transfer operations from the CX-
Programmer and online editing).
• The user program and parameter data written to flash memory is auto-
matically transferred to user memory at startup.
Note The backup status will be displayed in a Memory Backup Status Window by
the CX-Programmer when backing up data from the CX-Programmer for
transfer operations other than normal data transfers (PLC/Transfer). To
obtain this window, display of the backup status dialog box must be selected
Module
User memory
Automatic backup
Flash memory
User program
Parameters
Automatically restored when Module is turned ON.
Data transfer from
CX-Programmer
Online editing from
CX-Programmer
Transfer operation
120
Diagnostic Functions Section 5-8
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 dur-
ing these backup operations. The flash memory will be corrupted if the power
is turned OFF.
Auxiliary Area Flags
5-8 Diagnostic Functions
This section provides a brief overview of the following diagnostic and debug-
ging functions.
• Error Log
• Failure Alarm Functions (FAL(006) and FALS(007))
5-8-1 Error Log
Each time that an error occurs, the Module stores error information in the
Error Log 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-defined
FAL(006) and FALS(007) errors, making it easier to track the operating status
of the system.
Refer to SECTION 9 Error Processing for details.
Note A user-defined error is generated when FAL(006) or FALS(007) is executed in
the program. The input conditions of these instructions constitute the user-
defined error conditions. FAL(006) generates a non-fatal error and FALS(007)
generates a fatal error that stops program execution.
When more than 20 errors occur, the oldest error data (in A100 to A104) is
deleted, the remaining 19 records are shifted down by one record, and the
newest record is stored in A195 to A199.
Name Address Meaning
Flash Memory Error
Flag
A403.10 Turns ON when the flash memory is cor-
rupted.
121
Diagnostic Functions Section 5-8
The number of records is stored in binary in the Error Log Pointer (A408). The
pointer is not incremented when more than 20 errors have occurred.
Note The FQM1 does not support a clock and the time data in the error log will
always be 0101.
5-8-2 Failure Alarm Functions
The FAL(006) and FALS(007) instructions generate user-defined errors.
FAL(006) generates a non-fatal error and FALS(007) generates a fatal error
that stops program execution.
When the user-defined error conditions (input conditions for FAL(006) or
FAL(007)) are met, the Failure Alarm instruction will be executed and the fol-
lowing processing will be performed.
1,2,3... 1. The FAL Error Flag or FALS Error 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 will flash or light.
5. If FAL(006) has been executed, the Modules will continue operating.
If FALS(007) has been executed, the Modules will stop operating. (Pro-
gram execution will stop.)
Operation of FAL(006)
When input condition A goes ON, an error with FAL number 2 is generated
and A402.15 (FAL Error Flag) is turned ON. Program execution continues.
A100 1 0 2
A101
A102 1 0 1
A103 1 0 1
A104 1 0 1
A105 1 0 1
A106
A107 1 0 1
A108 1 0 1
A109 1 0 1
A195 0 C 0
A196
A197 1 0 1
A198 1 0 1
A199 1 0 1
4102
C101
80C0
1
2
20
A408
4
0
0
0
C
0
0
0
8
0
0
0
Error code
Error Log Area
Error code
Error contents
Error code
Error contents
Error code
Error contents
Order of
occurrence
Error Log Pointer
A
FAL
002
#0000
122
Diagnostic Functions Section 5-8
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-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 generated by FALS(007) can be cleared by eliminating the cause of the
error and performing the error read/clear operation from the CX-Programmer.
B
FALS
003
#0000
123
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) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
6-1-4 Serial PLC Links. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
6-1-5 Serial Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
6-1-6 No-protocol Communications (RS-422A Port) . . . . . . . . . . . . . . . . 136
124
Serial Communications Section 6-1
6-1 Serial Communications
The FQM1 supports the following serial communications functions.
Protocol Connections Description Ports
Peripheral RS-
232C
RS-
422A
Host Link Host computer or
OMRON PT (Programmable Terminal)
Various control commands,
such as reading and writing
I/O memory, changing the
operating mode, and force-
setting/resetting bits, can be
executed by sending Host
Link (C-mode) commands or
FINS commands from the
host computer to the Coordi-
nator Module.
Use Host Link communica-
tions to monitor data, such as
status trace data, or to send
data, such as operating con-
ditions information, to the
FQM1.
OK OK Not al-
lowed
No-protocol Communicate with general-
purpose devices connected
to the RS-232C port without
a command–response for-
mat. The TXD(236) and
RXD(235) instructions are
executed from the program to
transmit data from the send
port or 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 exchanged with
PTs without using a commu-
nications program in the
Coordinator Module.
OK OK Not al-
lowed
Serial PLC
Link Slave
Up to ten words per Module
can be shared with up to
eight Coordinator Modules
as slaves using a CJM1 CPU
Unit as the maser.
An RS-422A Converter can
be connected to the RS-
232C port on each Coordina-
tor Module to communicate
via RS-422A/485, or one
Coordinator Module can
communicate via an RS-
232C connection to the
CJ1M master.
The Serial PLC Links can
also include PTs as slaves
via NT Links (1:N) combined
with Coordinator Modules.
Not
allowed
OK Not al-
lowed
Monitor and
set parameters
Host computer
or
OMRON PT
(Programmable
Terminal)
General-purpose
external device
OMRON PT
(Programmable Terminal)
FQM1
FQM1
FQM1
RS-422A/485
RS-232C
CJ1M CPU Unit
Master
CJ1W-CIF11
connected to
RS-232C port
(See note.)
For NS-
series PT:
NS-AL002
8 Units max.
CJ1M CPU Unit
Master
125
Serial Communications Section 6-1
Note The CJ1W-CIF11 is not insulated and the total transmission distance is 50
meters max. If the total transmission distance is greater than 50 meters, use
the insulated NT-AL001 and do not use the CJ1W-CIF11. If only the NT-
AL001 is used, the total transmission distance is 500 meters max.
Peripheral
Bus
Provides high-speed commu-
nications with the CX-Pro-
grammer.
(Remote 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 connected to the RS-
422A port.
Not
allowed
Not al-
lowed
OK
No-protocol TXD(236) and RXD(235)
instructions in the Coordina-
tor Module program can be
used to send data to and
receive data from Servo Driv-
ers.
Not
allowed
Not al-
lowed
OK
Protocol Connections Description Ports
Peripheral RS-
232C
RS-
422A
Programming Device
(CX-Programmer)
Servo Drivers
Host computer
or
OMRON PT
(Programmable
Terminal)
Servo Drivers
FQM1
126
Serial Communications Section 6-1
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.
Procedure
A list of Host Link commands is provided next. Refer to the C-series Host Link
Units System Manual (W143) for details on Host Link and FINS commands.
Command
flow
Command type Communica-
tions method
Configuration Application and
remarks
Create frame in
the host com-
puter and send
command to
the FQM1.
Receive the
response from
the FQM1.
Use this method
when communi-
cating primarily
from the host com-
puter to the FQM1.
To u s e F IN S c o m -
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
Command
Directly connect the host computer in a 1:1 or
1:N system.
FINS
Header Terminator
FINS command (with
Host Link header
and terminator)
OR
Command
Directly connect the host computer in a 1:1
or 1:N system.
Set the System Setup from the
CX-Programmer. (Settings such
as the Host Link communica-
tions mode and parameters.)
Refer to CX-Programmer
Operation Manual for CX-
Programmer procedures.
Power OFF
Connect the Coordiator Module
to the general-purpose external
device using RS-232C.
Power ON
Host computer to FQM1
Send host link
commands from
the host computer.
Send FINS com-
mands from the
host computer.
127
Serial Communications Section 6-1
Host Link Commands The following table lists the Host Link commands. Refer to the C-series Host
Link Units System Manual (W143) for details.
Type Header
code
Name Function
Reading I/O
memory
RR CIO AREA READ Reads the contents of the specified number of CIO Area
words, starting from the specified word.
RC PV READ Reads the contents of the specified number of timer/counter
PVs (present values), starting from the specified
timer/counter.
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.
RD DM AREA READ Reads the contents of the specified number of DM Area
words, starting from the specified word.
RJ AR AREA READ Reads the contents of the specified number of Auxiliary Area
words, starting from the specified word.
Writing I/O
memory
WR CIO AREA WRITE Writes the specified data (word units only) to the CIO Area,
starting from the specified word.
WC PV WRITE Writes the PVs (present values) of the specified number of
timers/counters, starting from the specified timer/counter.
WD DM AREA WRITE Writes the specified data (word units only) to the DM Area,
starting from the specified word.
WJ AR AREA WRITE Writes the specified data (word units only) to the Auxiliary
Area, starting from the specified word.
Changing
timer/counter
set values
R# SV READ 1 Reads the 4-digit BCD constant or word address 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 or word address of the SV.
R% SV READ 3 Searches for the specified timer/counter instruction beginning
at the specified program address and reads the 4-digit BCD
constant or word address of the SV.
Status com-
mands
W# SV CHANGE 1 Changes the 4-digit BCD constant or word address in the SV
of the specified timer/counter instruction.
W$ SV CHANGE 2 Searches for the specified timer/counter instruction beginning
at the specified program address and changes the 4-digit con-
stant or word address of the SV.
W% SV CHANGE 3 Searches for the specified timer/counter instruction beginning
at the specified program address and changes the 4-digit con-
stant or word address of the SV.
MS STATUS READ Reads the operating status of the Coordinator Module (operat-
ing mode, force-set/reset status, fatal error status).
SC STATUS CHANGE Changes the Coordinator Module’s operating mode.
MF ERROR READ Reads errors in the Coordinator Module (non-fatal and fatal).
Force-set/reset
commands
KS FORCE SET Force-sets the specified bit.
KR FORCE RESET Force-resets the specified bit.
FK MULTIPLE FORCE
SET/RESET
Force-sets, force-resets, or clears the forced status of the
specified bits.
KC FORCE SET/RESET CAN-
CEL
Cancels the forced status of all force-set and force-reset bits.
Reading model
codes
MM PLC MODEL READ Reads the model type of the FQM1.
Test commands TS TEST Returns, unaltered, one block of data transmitted from the
host computer.
128
Serial Communications Section 6-1
FINS Commands The following table lists the FINS commands. Refer to the C-series Host Link
Units System Manual (W143) for details.
Program area
access com-
mands
RP PROGRAM READ Reads the contents of the Coordinator Module’s user program
area in machine language (object code).
WP PROGRAM WRITE Writes the machine language (object code) program transmit-
ted from the host computer into the Coordinator Module’s user
program area.
Compound
reading of I/O
memory
QQMR COMPOUND COMMAND Registers the desired bits and words in a table.
QQIR COMPOUND READ Reads the registered words and bits from I/O memory.
Processing Host
Link communi-
cations
XZ ABORT (command only) Aborts the Host Link command that is currently being pro-
cessed.
** INITIALIZE (command
only)
Initializes the transmission control procedure of all Host Link
Units connected to the host computer.
IC Undefined command
(response only)
This response is returned if the header code of a command
was not recognized.
Type Header
code
Name Function
Type Command
code
Name Function
I/O Memory
Area Access
01 01 MEMORY AREA READ Reads consecutive data from the I/O memory area.
01 02 MEMORY AREA WRITE Writes consecutive data to the I/O memory area.
01 03 MEMORY AREA FILL Fills the specified range of I/O memory with the same
data.
01 04 MULTIPLE MEMORY AREA
READ
Reads non-consecutive data from the I/O memory area.
01 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 area.
02 02 PARAMETER AREA WRITE Writes consecutive data to the parameter area.
02 03 PARAMETER AREA FILL Fills the specified range of the parameter area with the
same data.
Program Area
Access
03 06 PROGRAM AREA READ Reads data from the user program area.
03 07 PROGRAM AREA WRITE Writes data to the user program area.
03 08 PROGRAM AREA CLEAR Clears the specified range of the user program area.
Execution
Control
04 01 RUN Switches the Coordinator Module to RUN or MONITOR
mode.
04 02 STOP Switches the Coordinator Module to PROGRAM mode.
Configuration
Read
05 01 CONTROLLER DATA READ Reads Coordinator Module information.
05 02 CONNECTION DATA READ Reads the model numbers of the specified Units.
Status Read 06 01 CONTROLLER STATUS READ Reads the Coordinator Module’s status information.
06 20 CYCLE TIME READ Reads the average, maximum, and minimum cycle
times.
Message
Access
09 20 MESSAGE READ/CLEAR Reads/clears messages and FAL(S) messages.
Access Right 0C 01 ACCESS RIGHT ACQUIRE Acquires the access right if no other device holds it.
0C 02 ACCESS RIGHT FORCED
ACQUIRE
Acquires the access right even if another device cur-
rently holds it.
0C 03 ACCESS RIGHT RELEASE Releases the access right regardless of what device
holds it.
Error Access 21 01 ERROR CLEAR Clears errors and error messages.
21 02 ERROR LOG READ Reads the error log.
21 03 ERROR LOG CLEAR Clears the error log pointer to zero.
129
Serial Communications Section 6-1
6-1-2 No-protocol Communications (RS-232C Port)
No-protocol Mode is used to send and receive data using the communications
port TXD(236) and RXD(235) I/O instructions in the Coordinator Module lad-
der program, without using retry processing, data conversion, branch pro-
cessing based on received data, or other communications procedures and
without converting the data.
No-protocol mode can be used with the RS-232C and RS-422A ports in the
Coordinator Module. Data can be sent or received in one direction only
between the Module and the general-purpose external device connected to
the RS-232C or RS-422A port.
For example, data can be input from a bar code reader or output to a printer,
or parameter data can be sent and received from a host controller.
The following table lists the no-protocol 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 Cancels the forced status of all force-set and force-reset
bits.
Type Command
code
Name Function
FQM1
RS-232C
RS-232C port
Coordinator Module Coordinator Module ladder program
TXD/RXD
instructions
No protocol
General-purpose external device
Send/receive Transfer
direction
Method Max.
amount of
data
Frame format Other functions
Start code End code
Sending data FQM1 to Gen-
eral-purpose
external
device
Execute
TXD(236) in
the program
256 bytes Yes: 00 to FF
No: None
Yes: 00 to FF
CR+LF
None
(Specify recep-
tion data size to
between 1 and
256 bytes when
set to none.)
• Send delay time
(delay between
TXD(236) execution
and sending data
from specified port):
0 to 99,990 ms (unit:
10 ms)
• RS and ER signal
ON/OFF
Receiving
data
General-pur-
pose external
device to
FQM1
Execute
RXD(235) in
the program
256 bytes Monitoring of CS and
DR signals
130
Serial Communications Section 6-1
Procedure
Message Frame
Formats
Data can be placed between a start code and end code for transmission by
TXD(236) and frames with that same format can be received by RXD(235).
When transmitting with TXD(236), just the data from I/O memory is
transmitted, and when receiving with RXD(235), just the data itself is stored in
specified area in I/O memory.
Up to 256 bytes (not including the start and end codes) can be transferred
each time TXD(236) or RXD(235) are used. The start and end codes are
specified in the System Setup.
Message Frame Formats for No-protocol Mode Transmission and Reception
• When more than one start code is used, the first start code will be valid.
• When more than one end code is 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 data after the execution of TXD(236) can be delayed by a
specified transmission delay time, as shown in the following diagram.
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
Execute TXD.
General-purpose external
device → FQM1
Execute RXD.
Item End code setting
No Yes CR+LF
Start code
setting
No
Ye s
Data
256 b
y
tes max.
ED
Data
256 b
y
tes max.
CR+LF
Data
256 bytes max.
ST
Data
256 bytes max.
ST ED
Data
256 bytes max.
ST CR+LF
Data
256 bytes max.
131
Serial Communications Section 6-1
Refer to the Instructions Reference Manual (Cat. No. O011) for more details
on the TXD(236) and RXD(235) instructions.
System Setup RS-232C Settings (Host Link Port Settings)
Note The settings are made using CX-Programmer Ver. 5.0@ menus.
6-1-3 NT Link (1:N Mode)
With the FQM1, communications are possible with PTs (Programmable Ter-
minals) using NT Links (1:N mode).
Note Communications are not possible using the 1:1-mode NT Link protocol. Also,
the standard baud rate must be used.
The settings can be made using System Setup and the PT system menu.
System Setup
PT System Menu Set the PT as follows:
1,2,3... 1. Select NT Link (1:N) from the Comm. A Method 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
delay time Transmission
TXD(236) instruction
Time
Item Setting Default Enabled
Mode RS-232C Host Link Each cycle
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 1 to 255 bytes 256 bytes
Use of end code Received bytes or CR+LF Received bytes
Use of start code None None
Communi-
cations
port
Name Settings
contents
Default Other
conditions
Peripheral
port
Mode NT Link (1:N
mode)
Host Link Turn ON pin 2
on the Coordi-
nator Module
DIP switch.
Baud Standard NT
Link
Standard NT
Link
NT Link max. 0 to 7 0 ---
RS-232C
port
Mode NT Link (1:N
mode)
Host Link ---
Baud Standard NT
Link
Standard NT
Link
NT Link max. 0 to 7 0 ---
132
Serial Communications Section 6-1
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 con-
nection is made to the RS-232C port on the Coordinator Module.
CIO 0080 to CIO 0099 in the Serial PLC Link Bit Area in the Coordinator Mod-
ule are shared with the CJ1M master as shown below.
CIO 0080 to CIO 0089: CJ1M master to FQM1 slave
CIO 0090 to CIO 0099: FQM1 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 the CJM1 and FQM1. Fewer words can be
sent by setting the number of link words, but the number of words will be the
same for both the CJM1 and FQM1.
System Configuration 1:N Connection between CJ1M and FQM1 Controllers (8 Nodes Max.)
1:1 Connection between CJ1M and FQM1 Controller
RS-422A/485
CJ1W-CIF11 RS-232C to RS-422A/485
Conversion Adapter connected to RS-232C port
CJ1M CPU Unit (master)
Coordinator Module
Data sharing
FQM1
(slave)
8 nodes max.
CJ1W-CIF11 RS-232C to RS-422A/485
Conversion Adapters connected to RS-232C ports
FQM1
(slave)
FQM1
(slave)
RS-232C
CJ1M CPU Unit (master)
Coordinator Module
Data sharing
FQM1
(slave)
133
Serial Communications Section 6-1
Direction of Data Transfer 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.
Source Words and
Number of Link Words
The words that will be sent depend on the number of link words as shown in
the following table.
Note CJ1M CPU Unit I/O memory addresses are given in parentheses.
Procedure The Serial PLC Links operate according to the following settings in the PLC
Setup and System Setup.
CJ1M (Master) Settings
1,2,3... 1. Set the serial communications mode of the RS-232C communications port
to Serial PLC Links (Polling Unit).
2. Set the link method to the Polling Unit Link Method.
3. Set the number of link words (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 number of the Serial PLC Link slave.
CIO 3100 to CIO 3109
No. 0 CIO 3110 to CIO 3119
No. 1 CIO 3120 to CIO 3129
No. 2 CIO 3130 to CIO 3139
No. 3 CIO 3140 to CIO 3149
No. 4 CIO 3150 to CIO 3159
No. 5 CIO 3160 to CIO 3169
No. 6 CIO 3170 to CIO 3179
No. 7 CIO 3180 to CIO 3189
CIO 0080 to CIO 0089
CIO 0090 to CIO 0099
CIO 0080 to CIO 0089
CIO 0090 to CIO 0099
CIO 0080 to CIO 0089
CIO 0090 to CIO 0099
Serial PLC Link Bit Area Serial PLC Link Bit Area Serial PLC Link Bit Area
FQM1 (slave) No. 0 FQM1 (slave) No. 1 FQM1 (slave) No. 2CJ1M CPU Unit (master)
Send direction Send words
No. of link words 1 word 2 words 3 words ... 10 words
CJ1M (master) to
(FQM1) slave
(CIO 3100) (CIO 3100 to
CIO 3101)
(CIO 3100 to
CIO 3102)
... (CIO 3100 to
CIO 3109)
CJ1M to FQM1 No. 0 CIO 0080 CIO 0080 to
CIO 0081
CIO 0080 to
CIO 0082
... CIO 0080 to
CIO 0089
CJ1M to FQM1 No. 1
CJ1M to FQM1 No. 2
CJ1M to FQM1 No. 3
CJ1M to FQM1 No. 4
CJ1M to FQM1 No. 5
CJ1M to FQM1 No. 6
CJ1M to FQM1 No. 7
134
Serial Communications Section 6-1
Settings
CJ1M (Master) PLC Setup
Note (1) Automatically allocates 10 words (A hex) when the default setting of 0
hex is used.
(2) Connection to the FQM1 is not possible at 115,200 bits/s.
FQM1 (Slave) System Setup
Note The settings are made using CX-Programmer Ver. 5.0@ menus.
6-1-5 Serial Gateway
Serial Gateway
Function
Servo parameters and other data can be read and written from NS-series PTs
or personal computers (applications that operate on the CX-Server) to Servo
Drivers that are connected to the FQM1 Coordinator Module's RS-422A port.
This function can be executed by setting the FQM1 Coordinator Module’s RS-
422A serial communications mode to Serial Gateway.
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 PT using an NT Link
Item Address Set value Default Refresh timing
Word Bits
RS-232C
port setting
Serial communica-
tions mode
160 08 to 11 8 hex: Serial PLC Links
Polling Unit
0 hex Every cycle
Port baud rate 161 00 to 07 00 to 09 hex: Standard
(0A hex: High-speed can-
not be used.)
00 hex
Link method 166 15 ON: Polling Unit links
(OFF: Complete links
cannot be used.)
0
Number of link
words
04 to 07 1 to A hex 0 hex (See
note 1.)
Highest unit num-
ber
00 to 03 0 to 7 hex 0 hex
Item Set value Default Refresh timing
RS-232C port
settings
Mode 7 hex: PC Link (Slave) Host Link Every cycle
Baud 00 to 09 hex: Standard
(0A hex: High-speed cannot be used.)
Standard
(38,400:1, 8, 1, 0)
PC Link Unit No. 0 to 7 hex 0 hex
135
Serial Communications Section 6-1
Note When the Serial Gateway function is used, the FQM1 receives FINS com-
mands (encapsulated W-series or SMARTSTEP commands) via the RS-422A
port from NT-series PTs or personal computers and converts them to W-
series or SMARTSTEP Servo Driver commands (removes the encapsulation)
and transfers them to the W-series or SMARTSTEP Servo Drivers.
System Setup
Note The settings are made using CX-Programmer Ver. 5.0@ 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 Settings Screen. No. 251 indicates the RS-422A port for the FQM1.
FQM1
Smart Active Parts
RS-422A
NS-series PT
NT Link Coordinator Module
Protocol
conversion
Servo parameters or
other data
W-series or
SMARTSTEP
Servo Driver
W-series or
SMARTSTEP
Servo Driver
Item Settings Default Enabled
Drive Tab Page Mode Serial Gateway or Non-procedural
(no-protocol)
Serial Gateway Each cycle
RS-422 Response Time-
out of Command
0.1 to 25.5 s (unit: 0.1 s) 5 s
136
Serial Communications Section 6-1
6-1-6 No-protocol Communications (RS-422A Port)
RS-422A Settings
Note The settings are made using CX-Programmer Ver. 5.0@ menus.
Item Settings Default Enabled
Mode No-protocol Serial Gateway Each cycle
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 bytes
Use of start
code
No
Ye s
No
FQM1
RS-422A
RS-232C
RS-232C port
No-protocol
Coordinator Module Coordinator Module ladder program
TXD/RXD
instructions
RS-422A port
No-protocol
General-
purpose
external
device
Servo Driver Servo Driver
137
SECTION 7
Motion Control Module Functions
This section describes the various functions supported by the Motion Control Module.
7-1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
7-2 Interrupt Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7-2-1 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7-2-2 Interrupt Priority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
7-2-3 Disabling and Enabling All Interrupts . . . . . . . . . . . . . . . . . . . . . . . 141
7-3 Input Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
7-3-1 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
7-3-2 Overview of the Input Interrupt Function. . . . . . . . . . . . . . . . . . . . . 142
7-3-3 Interrupt Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
7-3-4 Input Interrupt Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
7-3-5 Using Input Interrupts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
7-3-6 Application Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
7-4 Interval Timer Interrupts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
7-4-1 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
7-4-2 Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
7-4-3 Interval Timer Interrupt Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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 Specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
7-5-5 Latch Input Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7-5-6 Applicable Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7-5-7 Internal Circuit Configurations. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
7-5-8 Pulse Input Function Description . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
7-5-9 Pulse Input Function Procedures . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
7-5-10 Pulse Input Function Example Application . . . . . . . . . . . . . . . . . . . 162
7-6 Pulse Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
7-6-1 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
7-6-2 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
7-6-3 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
7-6-4 Pulse Output Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
7-6-5 Applicable Instructions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
7-6-6 Pulse Output Function Details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7-6-7 One-shot Pulse Output Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
7-6-8 Time Measurement with the Pulse Counter . . . . . . . . . . . . . . . . . . . 178
7-6-9 Target-value Comparison Interrupts from Pulse Output PVs . . . . . . 179
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
7-6-15 Pulse Output Starting Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
7-7 Functions for Servo Drivers Compatible with Absolute Encoders . . . . . . . . . 199
7-7-1 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
7-7-2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
7-7-3 Data Format of Absolute Encoder Output. . . . . . . . . . . . . . . . . . . . . 200
7-7-4 Counter Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
7-7-5 Absolute Number of Rotations PV (Counter 1: A604 and A605) . . 202
7-7-6 Absolute Present Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
7-7-7 Absolute Present Value Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
7-7-8 Absolute Offset Preset. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
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 Programs (Connecting an OMRON W-series Servo Driver) 209
7-8 Virtual Pulse Output Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
7-8-1 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
7-8-2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
7-8-3 AXIS Instruction (For Virtual Pulse Outputs). . . . . . . . . . . . . . . . . . 213
7-8-4 Application Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
7-9 Analog Input Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
7-9-1 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
7-9-2 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
7-9-3 Analog Input Function Specifications. . . . . . . . . . . . . . . . . . . . . . . . 217
7-9-4 Related Areas and Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
7-9-5 Applicable Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
7-9-6 A/D Conversion Value. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
7-9-7 High-speed Analog Sampling (FQM1-MMA21 Only). . . . . . . . . . . 223
7-10 Analog Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
7-10-1 Applicable Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
7-10-2 Outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225
7-10-3 Analog Output Function Specifications . . . . . . . . . . . . . . . . . . . . . . 226
7-10-4 Applicable Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
7-10-5 Procedure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
7-10-6 Application Example. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230
139
Overview Section 7-1
7-1 Overview
The FQM1 Modules have the following functions.
Main function
(Applicable Modules)
Sub-functions
Basic interrupt functions
(FQM1-MMP21/MMA21)
Input Interrupts (4 points) (Input Interrupt Mode or Counter Mode)
Interval Timer Interrupt (1 point)
Setting range: 0.5 to 99,990 ms
Unit: 0.1 ms
Scheduled Interrupts
One-shot Interrupts
Constant Cycle Time Exceeded Error Clear Function
High-speed Counters
(FQM1-MMP21/MMA21)
High-speed Counter PVs (2 points)
Phase differential, Increment/decre-
ment, or Pulse + direction;
50 kHz or 500 kHz
No interrupts
Target Value Comparison Interrupts
(Count check interrupts)
Range Comparison and Bit Pattern Outputs
High-speed Counter Movement Measurement
Sampling time (1 to 9,999 ms) or cycle time
High-speed Counter Frequency Measurement
Measured frequency: 0 to 500 kHz (1 point)
High-speed Counter Latch (2 latch inputs)
(Latched high-speed counter PV can be read with PRV(881) instruction.)
Functions for Servo Drivers
Compatible with Absolute
Encoders
(FQM1-MMP21/MMA21)
Absolute Number of Rotations PV
Absolute PV
Absolute PV Preset Function
Absolute Offset Preset Function
Pulse 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 control
One-shot Pulse Output
Pulse ON time: 0.01 to 9,999 ms
Pulse Counter (for time measurement)
Measurement unit: Select 0.001 ms, 0.01 ms, 0.1 ms, or 1 ms.
Measurement range: 0000 0000 to FFFF FFFF hex
These three interrupt/bit pattern output
settings can be set for the Pulse Out-
puts, One-shot Pulse Outputs, and
Pulse Counter Functions listed above.
No interrupts
Target Value Comparison Interrupts
(Count check interrupts)
Range Comparison and Bit Pattern Outputs
Virtual Pulse Outputs
(FQM1-MMP21/MMA21)
The AXIS instruction generates trapezoidal acceleration/deceleration in a virtual axis.
Analog Outputs
(FQM1-MMA21 only)
Sloped Output by Instruction (2 points)
1 to 5 V, 0 to 5 V, 0 to 10 V, or −10 to 10 V
Immediate refreshing at instruction execution, analog output value hold function, offset/
gain adjustment supported
Analog Inputs
(FQM1-MMA21 only)
Immediate Refreshing by Instruction (1 point)
1 to 5 V, 0 to 5 V, 0 to 10 V, −10 to 10 V, or 4 to 20 mA
Offset/Gain Adjustment of Analog Input Value
High-speed Analog Sampling
The CTBL(882) instruction starts analog sampling when the high-speed counter 1 PV
matches the preset target value.
140
Interrupt Functions Section 7-2
7-2 Interrupt Functions
7-2-1 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. If they are set as interrupt inputs, an interrupt will be gen-
erated when the input turns ON, OFF, or both. If they are set for Counter
Mode, an interrupt will be generated when a specified counter value is
reached.
Interval Timer Interrupts An interrupt will be generated for an interval timer that can be set to a preci-
sion of 0.1 ms. Interval timer interrupts can also be used in the Coordinator
Module.
High-speed Counter
Interrupts
An interrupt will be generated when the PV of the counter equals a preset tar-
get value.
Pulse Output Interrupts An interrupt will be generated when the PV of the pulse output (or the pulse
counter’s PV/measured time) equals a preset target value.
Note In addition 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-shot pulse elapsed
times can be used as the PVs for bit pattern output.
7-2-2 Interrupt Priority
A specified interrupt task will be executed when an interrupt is generated. The
priority of interrupts is shown below.
If an additional interrupt occurs while another interrupt is already being pro-
cessed, the new interrupt will be executed after the first interrupt task has
been completed.
If two or more interrupts occur simultaneously, the higher-priority interrupt will
be executed first. Interrupts have the following priority:
• Input interrupt 0 → Input interrupt 1 → Input interrupt 2 → Input interrupt 3
• Interval timer interrupt → Pulse output 1 interrupt → Pulse output 2 inter-
rupt → High-speed counter 1 interrupt → High-speed counter 2 interrupt
An instruction controlling a port operation cannot be programmed in an inter-
rupt task if an instruction in the main program is already controlling pulse I/O
or a high-speed counter for the same port. If this is attempted, the ER Flag will
turn ON. The following instructions are included: INI(880), PRV(881),
CTBL(882), SPED(885), PULS(886), PLS2(887), ACC(888), and STIM(980).
141
Interrupt Functions Section 7-2
This situation can be avoided with the programming methods shown in the fol-
lowing diagram.
Note Only one interrupt task number is recorded for pulse output and high-speed
counter interrupts. When a pulse output or high-speed counter interrupt is on
standby (because another interrupt is being executed or interrupts are dis-
abled) and another interrupt occurs, the earlier interrupt task number is
replaced with the most recent interrupt task number. Design the system to
allow sufficient time between interrupts for the length of the interrupt tasks to
prevent unwanted conflicts between interrupts.
7-2-3 Disabling and Enabling All Interrupts
All interrupts can be disabled using the DI(802) instruction, as shown below.
The following interrupts are disabled and enabled by DI(802) and EI(694).
• Input interrupts
• Interval timer interrupts
• High-speed counter interrupts
• Pulse output interrupts
Observe the following precautions when using DI(802).
• 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
Interrupts
The DI(802) instruction will disable all interrupts.
Note Interrupt processing will not be executed for an interrupt that occurs while
interrupts are disabled, but the interrupt event will be recorded for each type of
interrupt and interrupt processing will be executed when interrupts are
enabled.
Enabling All
Interrupts
The EI(694) instruction clears the prohibition on all interrupts that was set with
the DI(802) instruction.
Note Executing the EI(694) instruction merely returns the interrupts to the status
they were in before all interrupts were prohibited (disabled by DI(802)).
Method 1:
Disabling all interrupts
in the main program
MSKS
0100
0000
0000
@PLS2
0001
0000
D00010
MSKS
0200
0000
0000
PRV
0001
0002
D00000
@CTBL
0001
0000
D00000
RSET 0002.00
0002.00
SET 0002.00
CTBL
0001
0000
D00000
P_On
P_ER
(Interrupt task)
ER Flag
Always
ON
Method 2:
Executing the routine in the main program instead of
the interrupt task, where it could not be executed.
(Main program)
(@)DI
(@)EI
142
Input Interrupts Section 7-3
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
The CLI(691) instruction clears the interrupt event information recorded while
all interrupts were disabled by the DI(802) instruction.
7-3 Input Interrupts
7-3-1 Applicable Models
7-3-2 Overview of the Input Interrupt Function
Contact inputs 0 to 3 in the Motion Control Modules can be used for external
interrupt inputs. These inputs correspond to CIO 0000.00 to CIO 0000.03.
The interrupt tasks corresponding to these inputs are fixed and cannot be
changed. Contact inputs 0 to 3 call interrupt tasks 000 to 003, respectively.
Note If the input interrupts are not being used, interrupt tasks 000 to 003 can be
used as interrupt tasks for 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 Mode:
An interrupt is generated when the external input turns ON, OFF, or both.
• Counter Mode:
External signals are counted, decrementing the PV from an SV, and an
interrupt is generated when the PV equals 0.
The interrupt mode for each interrupt input is set using the MSKS(690)
instruction.
7-3-4 Input Interrupt Specifications
Input Interrupt Mode
Model number Functions
FQM1-MMP21 Motion Control Module for Pulse I/O
FQM1-MMA21 Motion Control Module for Analog I/O
Item Specification
Interrupt condition Contact inputs 0 to 3 (CIO 0000.00 to CIO 0000.03) turn ON,
OFF, or both
Note Set the interrupt condition in the System Setup.
Interrupt task num-
bers
CIO 0000.00 to CIO 0000.03: Interrupt tasks 000 to 003
Response time 0.1 ms for ON interrupt condition
The response time is measured from when interrupt condition
is met until interrupt task execution starts.
Signal pulse width ON: 0.1 ms min., OFF: 0.2 ms min.
143
Input Interrupts Section 7-3
Counter Mode
7-3-5 Using Input Interrupts
Input Interrupt Mode Procedure
1,2,3... 1. Determine which input interrupt number will be used.
2. Wire the input.
3. Make the necessary System Setup settings.
• Set the Interrupt Input Settings (set whether an interrupt will be generated
when the input turns ON, OFF, or both).
Note The default input setting is for a normal input.
4. Create the necessary ladder programming.
• Use the MSKS(690) instruction (SET INTERRUPT MASK) to enable the
input as an interrupt input.
• Create the interrupt task program.
Item Specification
Interrupt condition 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.
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
Counting speed 2 kHz
Counter value 0000 to FFFF hex
Counter PV storage Input interrupts 0 to 3 (CIO 0000.00 to CIO 0000.03):
A524 to A527
Counter SV storage Input interrupts 0 to 3 (CIO 0000.00 to CIO 0000.03):
A520 to A523
Input Allocated input bit 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
Interrupt
input 0 CIO 0000.00
1CIO 0000.01
2CIO 0000.02
3CIO 0000.03
Interrupt input 0
MSKS Interrupt control
Enable interrupt inputs
Ladder program
Interrupt input
settings
System Setup
Interrupt generated.
Execute specified task.
END
Interrupt input 1
Interrupt input 2
Interrupt input 3
144
Input Interrupts Section 7-3
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.
4. Make the necessary System Setup settings.
• Set the Interrupt Input Settings (set whether an interrupt will be generated
when the input turns ON, OFF, or both).
Note The default input setting is for a normal input.
5. Create the necessary ladder programming.
• Use the MSKS(690) instruction (SET INTERRUPT MASK) to refresh the
counter’s SV in counter mode.
• Create the interrupt task program.
Input Allocated input bit 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 0000.00
1CIO 0000.01
2CIO 0000.02
3CIO 0000.03
MSKS
Change SV (Decrementing)
Counter SV
A520Counter 0
A521Counter 1
A522Counter 2
A523Counter 3
(Auxiliary Area)
Interrupt input (counter mode)
END
See note.
Note:
Refresh PV (once each cycle)
Counter PV
Interrupt
input Counter 0, 1 kHz
Interrupt control
Refresh PV
(Decrementing)
Ladder program
Interrupt input
settings
System Setup
Interrupt generated.
Execute specified task.
Counter 1, 1 kHz
Counter 2, 1 kHz
Counter 3, 1 kHz
A524Counter 0
A525Counter 1
A526Counter 2
A527Counter 3
(Auxiliary Area)
Interrupt used only when
the counter counts out.
145
Input Interrupts Section 7-3
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_On (Always ON)
P_First_Cycle
0002.00
END
CLC
END
0002.00
MOV
#000A
A521
@CLI
#0000
#0001
@CLI
#0001
#0001
@MSKS
#0000
#0000
@MSKS
#0001
#0002
@MSKS
#0001
#0001
@MSKS
#0000
#0001
ADB
A521
#000A
A521
MSKS
#0001
#0002
Interrupt
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 executed.
When CIO 0002.00 is OFF, MSKS(690)
masks input interrupts 0 and 1 and
disables those interrupts.
Interrupt task 000 is called when
there is an interrupt from input
interrupt 0, 10 is added to the
counter SV for input interrupt 1 (the
SV increases to 20), and the
counter is refreshed.
(1) Clears any masked interrupts
for input interrupts 0 and 1.
(2) Enables interrupts by input
interrupt 0 in Input interrupt
mode.
(3) Enables interrupts by input
interrupt 1 in counter mode.
(The counter SV is 10 decimal.)
When input interrupt 1 counts down
to 0, interrupt task 001 is called and
executed.
146
Interval Timer Interrupts Section 7-4
The following timing chart shows the operation of the program as it is exe-
cuted.
Note (1) Counting continues even while the interrupt task is being executed.
(2) The input interrupts are masked after this point.
7-4 Interval Timer Interrupts
7-4-1 Applicable Models
7-4-2 Overview
Interval timers can be used to perform high-speed, high-precision timer inter-
rupt processing. The Motion Control Modules and Coordinator Module are
equipped with one interval timer each.
7-4-3 Interval Timer Interrupt Modes
There are two modes for interval timer operation.
• One-shot Mode
In one-shot mode, the 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 regularly at a fixed interval.
7-4-4 Using Interval Timer Interrupts
1,2,3... 1. Interrupt Mode
• Determine whether the timer will operate in one-shot mode or scheduled
interrupt mode.
2. Ladder Programming
• Use the STIM(980) instruction to set the timer SV and start the timer in
one-shot or scheduled interrupt mode.
• Create the interrupt task program.
10 counts 10 counts 20 counts
CIO 0000.00
Interrupt task 000
CIO 0000.01
Interrupt task 001
CIO 0002.00
(See note 1.) (See note 1.)
(See note 2.)
Model number Functions
FQM1-CM001 Coordinator Module
FQM1-MMP21 Motion Control Module for Pulse I/O
FQM1-MMA21 Motion Control Module for Analog I/O
147
Interval Timer Interrupts Section 7-4
7-4-5 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.)
When the program is being executed, the interrupt task will be executed every
2.4 ms while CIO 0002.00 is ON, as shown in the following diagram.
Interval timer
STIM INTERVAL TIMER
Ladder Program
Generate 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
D00010
#0023
@STIM
#000A
0000
0000
Interrupt task program
END
END
Interval timer set values:
Every 2.4 ms the interval timer
times out and the interrupt task is
executed.
Sets 4 for the decrementing counter
set value.
Sets 0.6 ms for the decrementing
time interval.
The interval timer stops when
CIO 0002.00 turns OFF.
The interval timer starts when
CIO 0002.00 turns ON.
Task 23 hex = 35 BCD
Interrupt
task 35
Interrupt task
CIO 0002.00 2.4 ms 2.4 ms
2.4 ms
148
Pulse Inputs Section 7-5
7-5 Pulse Inputs
7-5-1 Applicable Models
7-5-2 Outline
The FQM1-MMP21 and FQM1-MMA21 Motion Control Modules can receive
pulse inputs. The following table shows the processes that can be performed
by combining the pulse input function with the high-speed counters to count
pulse signals from a rotary encoder or other device and perform processing
based on the counter PV.
Note Interrupts cannot be generated for range comparisons. Only bit patterns are
output.
The high-speed counter PV movement during a fixed time interval (equivalent
to the travel distance) and the high-speed counter’s frequency can also be
monitored as required.
7-5-3 Specifications
Model Functions
FQM1-MMP21 Motion Control Module for Pulse I/O
FQM1-MMA21 Motion Control Module for Analog I/O
Process Description
Target value comparison
interrupts
An interrupt task is executed when the high-speed
counter PV equals a preset target value.
Bit pattern outputs for
range comparisons
When the high-speed counter PV 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 can be displayed while monitoring the
high-speed counter PV.
High-speed counter PV
latch
High-speed counters 1 and 2 each have a latch register.
Two latch inputs can be used to capture the high-speed
counter PVs at high speed.
Item Specification
Number of counters 2
Pulse input operation mode
(Set in System Setup.)
Phase differential Increment/decrement Pulse + direction
Input pin
numbers
High-speed
counter 1
High-speed
counter 2
24 V: 1 (5)
LD: 3 (5)
24 V: 2 (6)
LD: 4 (6)
Phase A Increment pulse Pulse
24 V: 7 (11)
LD: 9 (11)
24 V: 8 (12)
LD: 10 (12)
Phase B Decrement pulse Direction pulse
24 V: 13 (17)
LD: 15 (17)
24 V: 14 (18)
LD: 16 (18)
Phase Z Reset pulse Reset pulse
Input method Phase differential ×1,
×2, or ×4 (switchable)
Single-phase ×2 Single-phase + direc-
tion
Set in the System Setup.
(Set input for pulse input counter 1 and counter 2.)
Counting speed (Set separately for each
port in the System Setup.)
50 kHz (default) or 500 kHz (2 MHz when using phase differential ×4)
Counter operation Linear Counter or Circular Counter (Set in the System Setup.)
149
Pulse Inputs Section 7-5
Counter values 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.)
High-speed counter PV storage locations High-speed counter 1: A601 (upper bytes) and A600 (lower bytes)
High-speed counter 2: A603 (upper bytes) and A602 (lower bytes)
These values can be used for target-value comparison interrupts or
range-comparison bit pattern outputs.
Note The PVs are refreshed during the Motion Control Module’s I/O
refresh. The PVs can also be read with the PRV(881) instruction.
Data storage format: 8-digit hexadecimal
• Linear Counter: 8000 0000 to 7FFF FFFF hex
• Circular Counter: 0000 0000 to Circular maximum count
Latch inputs There are two latch inputs. One latch input can be for each high-speed
counter or both latch inputs can be used for one high-speed counter. It is
also possible for both high-speed counters to share one latch input.
The latched PV can be read with the PRV(881) instruction.
Control
method
Target value comparison Register up to 48 target values and interrupt tasks.
Range comparison Register up to 16 upper limits, lower limits, and 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.
Note The counter reset method is set in System Setup.
Reset Bits
A610.01 is the Reset Bit for high-speed counter 1 and A611.01 is the Reset
Bit for high-speed counter 2.
Mea-
sure-
ment
mode
Counter movements
(mode 1)
Measures the change in the high-speed counter’s PV for the set sampling
time or each cycle.
Sampling time: 1 to 9,999 ms
Movement (absolute value): 0000 0000 to FFFF FFFF hex
Counter frequency
(mode 2)
The frequency is calculated from the PV between 0 and 500,000 Hz.
Measurement storage location
for above measurements
High-speed counter 1: A605 (upper bytes) and A604 (lower bytes)
High-speed counter 2: A607 (upper bytes) and A606 (lower bytes)
Note The high-speed counter value can also be read with the PRV(881)
instruction.
Stored Data
Movement: 8-digit hexadecimal
Frequency: 8-digit hexadecimal
Note The data is refreshed during the Motion Control Module’s I/O refresh
period.
• Select mode 1 or mode 2 in the System Setup.
• Measurement starts when the Measurement Start Bit (A610.02 for high-speed counter 1 or A611.02 for
high-speed counter 2) is turned ON.
• The Measuring Flag (A608.06 for high-speed counter 1 or A609.06 for high-speed counter 2) will be ON dur-
ing the measurement.
Item Specification
150
Pulse Inputs Section 7-5
7-5-4 Pulse Input Specifications
Item Specification
Number of
pulse inputs
2 inputs
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.
Signals Encoder inputs A and B and pulse input Z
Ports High-speed counters 1 and 2 High-speed counters 1 and 2
Input voltage 24 VDC ±10% RS-422A line-driver (AM26LS31 equivalent)
Phases A and B Phase Z Phases A and B Phase Z
Input current 5 mA typical 8 mA typical 10 mA typical 13 mA typical
ON voltage 19.6 V DC min. 18.6 V DC min. --- ---
OFF voltage 4.0 V DC max. 4.0 V DC max. --- ---
151
Pulse Inputs Section 7-5
Minimum response pulse
At 50 kHz
At 500 kHz Operation may not be reliable above 50 kHz.
Item Specification
OFF
ON
50%
OFF
ON
T1 T2 T4
T3
OFF
ON
50%
ON
50%
OFF
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.
3 µs max. 3 µs max.
Relationship to Phase Differential Inputs A and B
T1, T2, T3,and T4 must be 4.5 µs min.
There must be 4.5 µs min. between phase-A and
phase-B change points.
20 µs min.
Phase A
Phase B
Encoder Input Z or Sensor Input
Encoder Input Z Waveform
The pulse width must be 90 µs min.
90 µs min.
OFF
ON
50%
OFF
ON
T1 T2 T4
T3
OFF
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 µs min.
10
µ
s min. 10
µ
s min.
Relationship to Phase Differential Inputs A and B
T1, T2, T3,and T4 must be 4.5 µs min.
There must be 4.5 µs min. between phase-A and
phase-B change points.
20 µs min.
Phase A
Phase B
Encoder Input Z or Sensor Input
Encoder Input Z Waveform
The pulse width must be 90 µs min.
90 µs min.
OFF
ON
50%
OFF
ON
T1 T2 T4
T3
OFF
ON
50%
ON
50%
OFF
Encoder Inputs A and B
Encoder Inputs A and B Waveform
Square waveform
1-MHz pulse with 50% duty ratio
1 µs min.
0.5 µs min. 0.5 µs min.
Relationship with Phase Differential Inputs A and B
T1, T2, T3,and T4 must be 0.5 µs min.
There must be 0.5 µs min. between phase-A and
phase-B change points.
2 µs min.
Encoder Input Z or Sensor Input
Encoder Input Z Waveform
The pulse width must be 10 µs min.
10 µs min.
152
Pulse Inputs Section 7-5
7-5-5 Latch Input Specifications
7-5-6 Applicable Instructions
7-5-7 Internal Circuit Configurations
Pulse Inputs
Phases A and B
Phase Z
Item Specification
Number of inputs 2
Input voltage 20.4 to 26.4 V
Input response ON response: 30 µs
OFF response: 200 µs
Instruction Control Description
(@)CTBL(882) Range comparison One range comparison executed.
Target value comparison table regis-
tration and starting comparison
Target value comparison table registered and comparison
started.
Target value comparison table regis-
tration
Target value comparison 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 high-speed counter changed.
Changing circular value Maximum circular value of high-speed counter changed.
(@)PRV(881) Reading high-speed counter PV PV of high-speed counter read.
Reading high-speed counter move-
ment or frequency
Movement or frequency of high-speed counter read.
Reading the latched high-speed
counter PV
Latched PV of high-speed counter read. (Reads the PV input to
the latch register when the latch signal was input.)
4.4 kΩ
Phase A and B
internal circuits
−
1
2
1 24-V input
2 Line-driver input
+
3.0 kΩ
Phase Z
internal circuit
−
1 24-V input
2 Line-driver input
1
+
2
153
Pulse Inputs Section 7-5
7-5-8 Pulse Input Function Description
The pulse input function uses the high-speed counters. The pulse input func-
tion 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.
Phase Differential Inputs
This method uses the phase Z signal and the two phase signals (phase A and
phase B) for a ×1, ×2, or ×4 phase differential. The count is incremented or
decremented 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 decremented by these pulses.
Pulse + Direction Inputs
The phase-A signal is the pulse signal and the phase-B signal is the direction
signal. The count is incremented or decremented based on the ON/OFF sta-
tus of the phase-B signal.
■Phase Differential Input Operation
Phase A Phase B ×1 multiplier ×2 multiplier ×4 multiplier
↑L Increment Increment Increment
H↑--- --- Increment
↓H --- Increment Increment
L↓--- --- Increment
L↑--- --- Decrement
↑H --- Decrement Decrement
H↓--- --- Decrement
↓L Decrement Decrement Decrement
0
Phase A
123212
012345 6 5432 1 234
0 123456789101112111098765432 1 2345678
Phase B
×1 multiplier
×2 multiplier
×4 multiplier
154
Pulse Inputs Section 7-5
Counter Operation
(Numeric Ranges)
The following two counter operations are available for high-speed counters 1
and 2, with the specified counting ranges.
Circular Counter
With a Circular Counter, the circular maximum count can be set in the System
Setup, and when the count is incremented beyond this maximum value, it
returns to zero. The count never becomes negative. Similarly, if the count is
decremented from 0, it returns to the maximum value.
The number of points on the circular is determined by setting the maximum
value (i.e., the circular maximum value), which can be set between 1 and
FFFF FFFF hex.
Linear Counter
With a Linear Counter, the count range is always 8000 0000 to 7FFF FFFF
hex. If the count decrements below 8000 0000 hex, an underflow is gener-
ated, and if it increments above 7FFF FFFF hex, an overflow is generated.
If an overflow occurs, the PV of the count will remain 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 or overflow.
• High-speed counter 1: A608.01
• High-speed counter 2: A609.01
Note The high-speed counter PVs are refreshed during the Motion Control Mod-
ule’s I/O refresh.
When restarting the counting operation, toggle (turn OFF and then ON) the
corresponding counter’s Reset Bit. (A610.01 is the Reset Bit for high-speed
counter 1 and A611.01 is the Reset Bit for high-speed counter 2.)
Reset Methods The following two methods can be set to determine the timing at which the PV
of the counter is reset (i.e., set to 0):
• Phase-Z signal and software reset
• Software reset
Increment/Decrement Pulse Inputs Pulse + Direction Inputs
1
Increment Decrement
2
Encoder
Input A
(UP input)
Encoder
Input B
(DOWN input)
23 1 1
Increment Decrement
2
Encoder
Input A
(Pulse input)
Encoder
Input B
(Direction input)
23 1
Decrement Increment
Circular maximum value
0
Circular Counter Linear Counter
0
80000000 hex 7FFFFFFF hex
Underflow Overflow
155
Pulse Inputs Section 7-5
■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.
■Software Reset
The PV is reset when the High-speed Counter Reset Bit turns ON. There are
separate Reset Bits for high-speed counters 1 and 2.
The High-speed Counter Reset Bits are as follows:
• High-speed Counter 1 Reset Bit: A610.01
• High-speed Counter 2 Reset Bit: A611.01
The High-speed Counter Reset Bits are refreshed only once each cycle, so a
Reset Bit must be ON for a minimum of 1 cycle to be read reliably.
Note The comparison table registration and comparison execution status will not be
changed even if 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
counters 1 or 2.
• Target-value comparison method
• Range comparison method
■Target-value Comparison Method
Up to 48 target values and corresponding interrupt task numbers can be reg-
istered in the comparison table. When the counter PV matches one of the 48
registered target values, the specified interrupt task will be executed.
Comparisons are made to each target value in the order that they appear in
the comparison table until all values have been met, and then comparison will
return to the first value in the table.
1 or more cycles
Within 1 cycle
1 or more cycles
Reset Reset by cycle. Not reset.
Phase-Z
(reset input)
Reset Bit for
High-speed
Counter 1 or 2
Within 1 cycle
1 or more cycles
Reset by cycle.
Reset Bit for
High-speed
Counter 1 or 2
156
Pulse Inputs Section 7-5
■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. When the PV of
the counter first is within the upper and lower limits of one of the ranges for
CTBL(882) execution, the corresponding bit pattern (1 to 16) will be output to
A613 or A615.
Target value
0
Counter PV
: Interrupt
Elapsed time
(seconds)
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 table
Comparison range
Comparison range
Comparison range
0
Comparison range
Counter PV
Elapsed time
(seconds)
The PV is compared to all comparison ranges
at each instruction execution.
Range
Range
Range
Range
4
3
1
2
4
3
2
1
Comparison table
High-speed counter PV
Range (1)
Range (2)
Range (16)
Bit pattern (1)
Bit pattern (2)
Bit pattern (16)
0
15
A613 or A615
Internal bit pattern
Comparison
Bit pattern output when
PV is within range.
15 0
157
Pulse Inputs Section 7-5
Monitoring High-speed
Counter Movement
(Mode 1)
This function monitors the change in a high-speed counter’s PV (travel dis-
tance) 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 A609.06 can be checked to determine whether or
not change is being measured.
Note (1) The change (per sampling period) is refreshed during the Motion Control
Module’s I/O refreshing.
(2) The change in the high-speed counter PV’s is output as an absolute val-
ue.
The pulse input’s counter data display must be set to counter movements
(mode 1) in the System Setup in advance. The sampling period must also be
set in the System Setup.
Word Bits Function Details
A604 and
A605
00 to 15 High-speed Counter 1
Monitor Data
Contains 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 High-speed Counter 2
Monitor Data
Contains the change in high-speed
counter 2.
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).
A608 06 High-speed Counter 1
Status Flag
Measuring Flag
OFF: The high-speed counter move-
ment measurement operation
is stopped.
ON: The high-speed counter move-
ment is being measured.
A609 06 High-speed Counter 2
Status Flag
Measuring Flag
OFF: The high-speed counter move-
ment measurement operation
is stopped.
ON: The high-speed counter move-
ment is being measured.
Tab page Function Details
Pulse input Counter 1 Counter data
display
1 hex:
Counter movements (mode 1)
Sampling time
(mode 1)
Set the sampling time when mea-
suring counter movement.
0000: Cycle time
0001 to 270F hex: 1 to 9999 ms
(unit: 1 ms)
Counter 2 Counter data
display
1 hex:
Counter movements (mode 1)
Sampling time
(mode 1)
Set the sampling time when mea-
suring counter movement.
0000: Cycle time
0001 to 270F hex: 1 to 9999 ms
(unit: 1 ms)
158
Pulse Inputs Section 7-5
High-speed Counter Movement (Mode 1) Specifications
Note (1) When using mode 1 with a circular counter, set the maximum circular val-
ue to 10 or higher.
(2) In mode 1, the Motion Control Module outputs the change as the differ-
ence in the count measured each sampling period. The output change
varies, so determine how to manage the output value in the user program
when the counter is reset or the INI(880) instruction is executed to
change the PV during sampling.
Monitoring a High-speed
Counter’s Frequency
(Mode 2)
Mode 2 is supported by high-speed counter 1 only.
This function monitors the input pulse’s frequency from the high-speed
counter movement value. The frequency is stored in A604 and A605. Status
Flag A608.06 can be checked to determine whether or not the frequency is
being measured.
Note (1) The frequency value stored in the Auxiliary Area is refreshed during the
Motion Control Module’s I/O refreshing.
(2) The frequency measurement can be performed only with high-speed
counter 1. The frequency cannot be measured with high-speed counter 2.
(3) When measurement is started, the measurement direction (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 advance.
Item Specifications
Applicable pulse
input
Either pulse 1 (high-speed counter 1) or pulse 2 (high-speed
counter 2) can be used.
Displayable move-
ment
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.
Sampling time Can be set to the cycle time or a fixed time between 1 and
9,999 ms.
Operating conditions In the System Setup, set the pulse input’s counter data display
to counter movements (mode 1) and specify the sampling
time.
Word Bits Function Details
A604 and
A605
00 to 15 High-speed Counter 1
Monitor Data
Contains the frequency measure-
ment.
The frequency calculated from the
high-speed counter PV is stored in
8-digit hexadecimal (0000 0000 to
0007 A120 hex = 0 to 500 kHz).
A608 06 High-speed Counter 1
Status Flag
Measuring Flag
OFF: The high-speed counter fre-
quency measurement opera-
tion is stopped.
ON: The high-speed counter fre-
quency is being measured.
System Setup Function Details
Pulse Input Tab
Page
Counter data display
Specifies the counter 1 mea-
surement mode.
2 hex: Frequency (mode 2)
159
Pulse Inputs Section 7-5
Frequency Measurement (Mode 2) Specifications
Latching a High-speed
Counter’s PV
The present counter value can be latched at the rising edge of the latch signal
input and stored as the latch register value. Each time the counter value is
captured, the latch register value is overwritten with the new value and the old
value is lost.
To use the latched counter value (latch register value) in the ladder program,
read the latch register value with the PRV(881) instruction.
There is one latch register provided for each counter.
Both latch input 1 and latch input 2 can be enabled for a single counter, but
only latch input 1 will be effective when both inputs are enabled.
Two latch inputs can be used for a single counter by enabling/disabling latch
input 1 and 2 from the ladder program to enable only the desired input when it
is required. In this case, allow at least one Motion Control Module cycle
between the use of the two inputs.
Item Specifications
Applicable 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 output
value is retained during this 10-second interval.
Measurement period 5 ms max. (input frequency 500 Hz min.)
Note At input frequencies below 500 Hz, the measurement
period is increased to accommodate the lower input fre-
quencies and becomes 200 ms max. for input frequen-
cies of 10 Hz min.
Operating conditions In the System Setup, set the pulse input’s counter data display
to frequency measurement (mode 2).
Word Bit Function Details
A608 08 High-speed Counter 1
Status Flag
Count Latched Flag
Indicates that a high-speed counter
PV has been captured in the latch
register by the latch signal input.
A609 08 High-speed Counter 2
Status Flag
Count Latched Flag
(This flag has the same function as
the flag for high-speed counter 1.)
A610 08 High-speed Counter 1
Command
Latch Input 1 Enable
OFF: Disabled
ON: Enabled
09 Latch Input 2 Enable
OFF: Disabled
ON: Enabled
A611 08 High-speed Counter 2
Command
Latch Input 1 Enable
OFF: Disabled
ON: Enabled
09 Latch Input 2 Enable
OFF: Disabled
ON: Enabled
160
Pulse Inputs Section 7-5
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 + Direc-
tion
• 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.
• Counting Speed: 50 kHz or 500 kHz
• Input Mode: Phase Differential, 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 or Range Comparison
4. If the count check is being used, determine the count check (comparison)
method.
5. Create the necessary ladder programming.
• Turn ON the High-speed Counter 1 or 2 Start Bit (A610.00 or A611.00)
and start the high-speed counter.
• CTBL(882) instruction: Specifies the port, registers the comparison table,
and starts comparison.
• INI(880) instruction: Specifies the port, changes the PV, and starts com-
parison.
• PRV(881) instruction: Specifies the port and reads the high-speed
counter PV.
161
Pulse Inputs Section 7-5
Mode 1 Procedure
1,2,3... 1. Determine the Counting Speed, Input Mode, Reset Method, and Counter
Operation.
• Counting Speed: 50 kHz or 500 kHz
• Input Mode: Phase Differential, Increment/Decrement, or Pulse + Direc-
tion
• 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.
• Counter Data Display: Counter movements (mode 1)
4. Create the necessary ladder programming.
• Turn ON the High-speed Counter 1 or 2 Start Bit (A610.00 or A611.00)
and start the high-speed counter.
• Turn ON the Measurement Start Bit (A610.02 or A611.02).
A601 A600
A603 A602
Pulse input 1 A
B
Z
PRV HIGH-SPEED
COUNTER PV READ
Read PV.
Count
Refresh PV (once each 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
Input Mode
System Setup
Input
Reset Counter Operation Counting Speed
Phase differential
Pulse + Direction
Increment/Decrement
System Setup System Setup
Counting Speed
50 kHz
500 kHz
System Setup
Only when using high-speed
counter interrupts.
Counter Start Bit
Turn ON A610.00 or
A611.00.
CTBL COMPARISON TABLE LOAD
Register table only.
Register table and
start comparison.
INI MODE CONTROL
Change PV.
Start/Stop comparison.
Ladder Program
AInterrupt generated.
Specified Interrupt Task
END
See note.
Target-value comparison interrupt
Check count
(compare).
A
Pattern storage
A613 or A615
15 0
Range Comparison, Bit Pattern Output
CTBL COMPARISON TABLE LOAD
Perform comparison.
Ladder Program
Range comparison is performed only when
the instruction is executed.
Note:
162
Pulse Inputs Section 7-5
• 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. Determine the Counting Speed, Input Mode, Reset Method, and Counter
Operation.
• Counting Speed: 50 kHz or 500 kHz
• Input Mode: Phase Differential, Increment/Decrement, or Pulse + Direc-
tion
• 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.
• Counter Data Display: Frequency measurement (mode 2)
4. Create the necessary ladder programming.
• Turn ON the High-speed Counter 1 Start Bit (A610.00) and start the
high-speed counter.
• Specify 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.
Procedure
1,2,3... 1. Set Frequency measurement (mode 2) in the System Settings (Pulse In-
put, Counter data display).
2. Specify the rotation direction in the Measurement Direction Bit (A610.03).
3. Turn ON the Measurement Start Bit (A610.02).
4. Monitor the high-speed counter’s frequency in A604 and A605.
7-5-10 Pulse Input Function Example Application
Example 1:
High-speed Counter
Target Value
Comparison Interrupt
In this example, pulse input 1 operates a high-speed counter, the high-speed
counter PV is compared in a target-value comparison, and corresponding
interrupt tasks are executed when the target values are reached.
The Reset Bit is kept ON in the program and the PV of the counter is reset
when the phase-Z signal is turned ON after the PV reaches its maximum
value. Before running the program, make the following settings in the System
Setup and restart the FQM1 to enable the new settings.
Counter 1:
Linear Counter, Counting speed = 50 kHz, Phase Z and software reset,
and Increment/decrement pulse input
163
Pulse Inputs Section 7-5
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.
Target value
High-speed
Counter PV
Time
310000
Target value 27500
Target value 12500
Interrupt tasks
PV reset on
phase-Z signal
PV reset on
phase-Z signal
Task 10
starts
Task 11
starts
Task 12
starts
Task 10
starts
Task 11
starts
Task 12
starts
164
Pulse Inputs Section 7-5
Example 2:
High-speed Counter
Range Comparison &
Bit Pattern Output
In this example, pulse input 1 operates a high-speed counter, the high-speed
counter PV is compared in a range comparison, and corresponding bit pattern
is output internally when the PV is within a specified range. The internal bit
pattern value is output by a transfer to CIO 0001.
The Reset Bit is kept ON in the program and the counter PV is reset when the
phase-Z signal turns ON after the PV reaches its maximum value. Before run-
ning the program, make the following settings in the System Setup and restart
the FQM1 to enable the new settings.
Counter 1:
Linear counter, Counting speed = 50 kHz, Phase Z and software reset, and
Increment/decrement pulse input
The other System Setup settings are left at their default 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 ON.
When the PV is 10,001 hex or higher, CIO 0001.03 is ON.
@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.)
D00000 0 0 0 3
D00001 2 5 0 0
D00002 0 0 0 0
D00003 0 0 0 A
D00004 7 5 0 0
D00005 0 0 0 0
D00006 0 0 0 B
D00007 0 0 0 0
D00008 0 0 0 1
D00009 0 0 0 C
A610.00
Turns ON the High-speed Counter 1 Reset Bit.
P_On
(Always ON)
Reset Bit
A610.01
Starts high-speed counter 1.
Start high-speed
counter.
0002.00
Interrupt task 10
Control program 1
Interrupt task 11
Interrupt task 12
Control program 2
Control program 3
3 comparison conditions
Target value 1 = 2,500
Interrupt task 10
Target value 2 = 7,500
Target value 3 = 10,000
Interrupt task 11
Interrupt task 12
END
END
END
END
165
Pulse Inputs Section 7-5
Range
High-speed
Counter PV
Time
Content of A612
3
10000
Range 2
7500
Range 1
2500
A612: 0001 hex 0002 hex 0004 hex 0008 hex
0001 hex
0002 hex 0004 hex0008 hex
0001 hex
PV reset on
phase-Z signal
PV reset on
phase-Z signal
15 14 13 12 11 10 9 8 6 5 4 3 2710
0000 00000001
0000 00000010
0000 00001000
Internal bit pattern
(0001 hex) Content is transferred to CIO 0001
to turn ON CIO 0001.00.
(0002 hex) Content is transferred to CIO 0001
to turn ON CIO 0001.01.
(0004 hex) Content is transferred to CIO 0001
to turn ON CIO 0001.02.
0000 00010000
0000
0000
0000
0000 (0008 hex) Content is transferred to CIO 0001
to turn ON CIO 0001.03.
0
CTBL
#0001
#0001
D00000
Continually 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
D00004 0 0 0 0
D00005 0 0 0 1
D00006 2 5 0 1
D00007 0 0 0 0
D00008 7 5 0 0
D00009 0 0 0 0
D00010 0 0 0 2
D00011 7 5 0 1
D00012 0 0 0 0
D00013 0 0 0 0
D00014 0 0 0 1
D00015 0 0 0 4
D00016 0 0 0 1
D00017 0 0 0 1
D00018 F F F F
D00019 7 F F F
D00020 0 0 0 8
A610.00
Turns ON the High-speed Counter 1 Reset Bit.
P_On
(Always ON)
Reset Bit
A610.01
Starts high-speed counter 1.
Start high-speed
counter.
P_On
(Always ON)
END
MOV
A613
0001
Transfers the internal bit pattern from A613 to
CIO 0001.
4 comparison conditions
Lower limit A 0
Upper limit A 2500
Range A
Bit pattern
Lower limit B 2501
Upper limit B 7500
Range B
Bit pattern
Lower limit C 7501
Upper limit C 10000
Range C
Bit pattern
Lower limit D 10001
Upper limit D 7FFFFFFF
Range D
Bit pattern
166
Pulse Inputs Section 7-5
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.
The Count Latched Flag is used as a trigger for the PRV(881) instruction 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 been read by the PRV(881) instruction), the old
captured PV will be refreshed with the new captured PV.
0
ON
OFF
OFF
ON
OFF
ON
Latch Input 1
Enable Bit
Latch input 1
High-speed
Counter PV
Latch register
value 1
PRV instruction
execution
PRV instruction
execution
Count Latched
Flag
A610.08
A608.08
A610.08
PRV
#0001
#0002
D00000
PRV
#0001
#0002
W000
Clear Latch
Start Latch
Latch Input 1
Enable Bit
Count Latched
Flag
Dummy read of
latch register
Read latched high-speed
counter PV.
Latch Input 1
Enable Bit
167
Pulse Outputs Section 7-6
7-6 Pulse Outputs
7-6-1 Applicable Models
7-6-2 Outline
The FQM1-MMP21 Motion Control Module provides 2 pulse outputs. The
pulse outputs can be used for the following functions.
Note Set the pulse output operation mode for each output in System Setup (Pulse
Output Tab Page).
Note (1) The processes listed in the following table can be performed for the PV of
a pulse output, pulse output counter timer, or one-shot pulse output
elapsed time.
(2) Cannot be combined with pulse output in independent mode.
Model Functions
FQM1-MMP21 Motion Control Module with Pulse I/O
Function Description Processing for PV
Pulse output opera-
tion mode
The pulse outputs can be used for positioning or speed control at
a fixed duty ratio. Select one of five pulse output operation
modes: Relative 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-comparison bit pattern
outputs based on the pulse out-
put’s PV. (See note 1.)
One-shot pulse out-
puts
Pulse output turned ON for only the specified interval (0.01 to
9,999 ms.)
None
Calculation (time
measurement)
Enables use of the pulse output counter as a timer using the
one-shot pulse output timer.
Note Pulses are not output for this mode and the specified port
cannot be used for pulse output.
It is possible to generate tar-
get-value interrupts or
range-comparison bit pattern
outputs based on the pulse
counter’s PV. (See note 1.)
Process Description
Target value interrupts An interrupt task can be executed when the
high-speed counter PV equals a target value.
Bit pattern outputs for
range comparisons
A user-set bit pattern is output internally when the
high-speed counter PV is within a specified range.
168
Pulse Outputs Section 7-6
7-6-3 Specifications
Item Specification
Acceleration/ decelera-
tion
None Yes
Trapezoid None None (acceleration or
deceleration)
Yes with separate
acceleration and
deceleration rates
Instructions for inde-
pendent-mode posi-
tioning
PULS(886) +
SPED(885)
PULS(886) (Elec-
tronic Cam Control)
PULS(886) +
ACC(888)
PLS2(887)
Instructions for contin-
uous-mode speed con-
trol
SPED(885) --- ACC(888) ---
Output frequencies Constant specified for
SPED(885): 0 Hz to
1MHz
Word specified for
SPED(885): 0 Hz to
1MHz
0 Hz to 1 MHz 0 Hz to 1 MHz
Although the above ranges can be set for the instructions, the output frequency range is ulti-
mately controlled by the clock frequency. The output frequencies are obtained by dividing the
clock pulse with an integer dividing ratio, meaning the actual output frequency can be different
from the set frequency. (Refer to Precautions when Using Pulse Outputs on page 175 for details.)
The settings in the System Setup (Clock) are as follows:
20 MHz Pulse output frequency range: 400 Hz to 1 MHz
10 MHz Pulse output frequency range: 200 Hz to 200 kHz
5 MHz Pulse output frequency range: 100 Hz to 100 kHz
2.5 MHz Pulse output frequency 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 operation
modes
One of the following can be set for each port in the System Setup.
1) Relative pulse output:
No. of output pulses = pulse output value
2) Absolute linear pulse output:
No. of output pulses = |PV of pulse output – target pulse amount|
3) Absolute circular pulse output:
As above. If the circular maximum count is exceeded, the count value returns to 0000 0000
hex. (Circular maximum count is set in System Setup.)
4) Electronic cam control (linear) (output with absolute position specification:)
The direction is automatically determined from the relation between the PV and target position
(PV < Target = CW, PV > Target = CCW. No. of output pulses = |PV of pulse output – target
pulse amount|
5) One-shot pulse output:
Pulse turned ON for specified time between 0.01 and 9,999 ms via STIM(980) instruction
6) Pulse counter timer:
High-precision timer created using the one-shot pulse output function. Pulses are not output
externally.
7) Electronic cam (circular) (output with absolute position specification):
The direction is automatically determined from the relation between the PV and target position
(PV < Target = CW, PV > Target = CCW). No. of output pulses = |PV of pulse output – target
pulse amount)|
169
Pulse Outputs Section 7-6
7-6-4 Pulse Output Specifications
All Pulse Outputs Except for One-shot Pulse Outputs
One-shot Pulse Outputs
Number of output
pulses
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 hex
Note The number of pulses is not set for a one-shot pulse output or pulse counter timer.
Storage location for
pulse output PV
The PVs for pulse output operation modes 1 to 5, listed above, are stored in 8-digit hexadecimal
in the following Auxiliary Area words:
Pulse output 1: A621 (upper bytes) and A620 (lower bytes)
Pulse output 2: A623 (upper bytes) and A622 (lower bytes)
Target value comparison interrupts 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 outputs
Signals Pulse output CW and CCW
Max. output fre-
quency
1 MHz (but actual output frequencies are governed by clock
frequency setting)
External power sup-
ply
5 VDC +10%/–15%, 120 mA max.
Line-driver output Conforms to Am26LS31 and max. output current is 20 mA.
Item Specification
Number of pulse out-
puts
2 output
External power sup-
ply
24 VDC +10%/–15%, 30 mA max.
Max. switching
capacity
NPN open-collector, 80 mA at 5 to 24 VDC ±10%
Min. switching
capacity
NPN open-collector, 7 mA at 5 to 24 VDC ±10%
Leakage current 0.1 mA max.
Residual voltage 0.4 V max.
Output pulse width (Set time) ± (1 µs or 0.1% of the set time, whichever is larger)
Note
1. The load during measurement is assumed to be a simple re-
sistive load and the impedance of the cable connecting the
load is not considered.
2. The actual pulse width might be smaller than the value given
above due to pulse waveform distortion caused by imped-
ance in the connecting cables.
Item Specification
Output
pulse width
OFF
ON 90%
170
Pulse Outputs Section 7-6
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 pos-
sible is also listed in the following table.
Instructions Ineffective
during Pulse Output
Once pulse output has been started by an instruction, the output cannot
always be changed with an instruction. Refer to 7-6-15 Pulse Output Starting
Conditions for details on the allowed combinations of pulse output instruc-
tions.
Instruction Control Positioning (Independent Mode) Speed Control (Continuous
Mode)
No
acceleration/
deceleration,
single-phase
output
Acceleration/deceleration,
single-phase output
No
acceleration/
deceleration,
single-phase
output
Acceleration/
deceleration,
single-phase
output
No trapezoid,
acceleration
and
deceleration
Trapezoid,
separate
acceleration and
deceleration rates
PULS(886) Sets number of out-
put pulses or abso-
lute position.
OK OK No No No
SPED(885) Controls pulse out-
put without acceler-
ation or
deceleration (num-
ber of pulses set
with PULS(886) for
positioning).
OK No No OK No
ACC(888) Controls pulse out-
put with same
acceleration and
deceleration with-
out trapezoid (num-
ber of pulses set
with PULS(886) for
positioning).
No OK No No OK
PULS(886)
for Elec-
tronic Cam
Sets absolute posi-
tion or frequency
and outputs pulses.
OK No No No No
PLS2(887) Controls pulse out-
put with different
acceleration and
deceleration with
trapezoid (number
of pulses is also set
using PLS2(887)).
No No OK No No
INI(880) Stops pulse output. OK OK OK OK OK
PRV(881) Reads the current
PV for pulse output.
OK OK OK OK OK
171
Pulse Outputs Section 7-6
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.
Note When pulses are being output by an SPED(885) or ACC(888) instruction, the
pulse output can be stopped by executing the INI(880) instruction. The pulse
output can also be stopped by executing SPED(885) or ACC(888) with a tar-
get frequency = 0.
When pulses are being output by the PULS(886) instruction (Electronic Cam
Control), the pulse output can be stopped by executing the INI(880) instruc-
tion.
When using 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 change the value
during operation. Specify the pulse output operation mode in the System
Setup (the operation mode setting in the Pulse Output Tab Page). In addition,
if the PULS(886) instruction is being used, it is necessary to specify the Pulse
Type in the second operand.
Mode Description
Independent mode This mode is used for positioning.
The pulse output stops automatically after the specified num-
ber of pulses has been output. With some instructions, the
pulse output can be stopped (see note).
Continuous mode This mode is used for speed control.
The pulse output continues until it is stopped by an instruction
(see note) or the Motion Control Module is switched to PRO-
GRAM mode.
172
Pulse Outputs Section 7-6
Pulse output
operation mode
(Only in
Independent Mode)
Description Compatible instructions
(1)
Relative pulse output
Positions to a relative position from the present position.
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.
PULS(886) + SPED(885) or
PULS(886) + ACC(888)
(PULS(886) sets the number of pulses
and SPED(885) or ACC(888) starts the
pulse output.)
PLS2(887)
(Sets number of pulses and starts
pulse output.)
(2) (3)
Absolute pulse out-
put
Positions to an absolute position from the origin.
The number of output pulses is calculated automatically
from the difference between the present position (pulse
output PV) and target pulse amount.
Number of output pulses (actual output amount) =
|Present position − Target position|
• The frequency can be changed during pulse output.
• The direction and the target number of pulses cannot
be changed during pulse output.
---
(2) Linear 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 0000
to the circular value.
When the pulse output PV exceeds the
circular value, it is automatically
returned to 0000 0000. Conversely,
when the pulse output PV is decre-
mented from 0000 0000, it is automati-
cally returned to the circular value.
PULS(886) + SPED(885) or
PULS(886) + ACC(888)
(PULS(886) sets the number of pulses
and SPED(885) or ACC(888) starts the
pulse output.)
(4)
Electronic cam con-
trol (linear)
(5)
Electronic cam con-
trol (circular)
Positions to an absolute position from the origin.
The difference between the present position (pulse output
PV) and target pulse amount is calculated automatically.
Number of output pulses (actual output quantity) =
|Present pulse position − Target position|
• The direction is recognized automatically (CW direction
when the present position < target position, and CCW
direction when the present position > target position).
• The frequency and target position can be changed dur-
ing pulse output. The pulse output will stop if the direc-
tion is changed during pulse output.
PULS(886) (Sets the number of pulses
and starts the pulse output.)
ACC(888)
PLS2(887)
173
Pulse Outputs Section 7-6
Pulse Output
Operations
The following table shows the operations that can be performed with the pulse
output function.
Mode Frequency changes Description Procedure Example
Instruc-
tions
Settings
Continu-
ous mode
(Speed
control)
The frequency is
changed in
steps (up or
down) during
pulse output.
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 rate.
ACC(888)
or
SPED(88
5)
↓
ACC(888)
Port,
CW/CCW,
Continu-
ous,
Accelera-
tion/decel-
eration
rate,
Target fre-
quency
Use when
accelerating
frequency at
a fixed rate.
(See
page 190.)
Frequency
Target
frequency
Present
frequency
SPED executed.
Tim
e
Frequency
Target
frequency
Present
frequency
ACC executed.
Tim
e
Acceleration rate
174
Pulse Outputs Section 7-6
Indepen-
dent
mode
(Position-
ing)
Pulse output
starts at the
specified fre-
quency and
stops when the
specified num-
ber of pulses
have been out-
put.
(The number of
pulses cannot
be changed dur-
ing pulse out-
put.)
PULS(88
6)
↓
SPED(88
5)
No. of
pulses,
Relative or
absolute
operation,
Port,
CW/CCW,
Indepen-
dent,
Target fre-
quency
Use when
positioning
with a sin-
gle-phase
output and no
acceleration
or decelera-
tion. (See
page 189.)
The frequency
accelerates or
decelerates at a
fixed rate and
stops immedi-
ately when the
specified num-
ber of pulses
have been out-
put.
(The number of
pulses cannot
be changed dur-
ing pulse out-
put.)
PULS(88
6)
↓
ACC(888)
No. of
pulses,
Relative or
absolute
operation,
Port,
CW/CCW,
Indepen-
dent,
Accelera-
tion/decel-
eration
rate,
Target fre-
quency
---
Pulse output
starts at the
specified fre-
quency and
stops immedi-
ately when the
specified posi-
tion is reached.
(The target posi-
tion can be
changed during
positioning
(pulse output).)
PULS(88
6) (Elec-
tronic
Cam Con-
trol)
Port,
Target fre-
quency,
Absolute
positioning
Use for abso-
lute position-
ing
(electronic
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-
erates at a fixed
rate, and stops
when the speci-
fied number of
pulses have
been output.
(The number of
pulses cannot
be changed dur-
ing positioning
(pulse output).)
PLS2(887
)
Port,
CW/CCW,
Accelera-
tion rate,
Decelera-
tion rate,
Target fre-
quency,
Starting
frequency,
No. of
pulses
Use for trape-
zoidal accel-
eration/
deceleration
within a set
time (the
dwell time)
and then a
repeat of the
operation in
the opposite
direction.
(See
page 193.)
Mode Frequency changes Description Procedure Example
Instruc-
tions
Settings
Frequency
Target
frequency
SPED executed.
Tim
e
Specified no. of pulses
(Specified with PULS)
Stops after specified no.
of
p
ulses are out
p
ut.
Frequency
Target
frequency
ACC executed.
Tim
e
Specified no. of pulses
(Specified with PULS)
Stops after specified no.
of
p
ulses are out
p
ut.
Acceleration
rate
Frequency
Target
frequency
PULS executed.
Tim
e
Sto
p
s at s
p
ecified
p
osition.
Present
frequency
Frequency
Target
frequency
Output
starts
Time
Starting
frequency
Output
stops
Target
reached
Stopping
frequency
Deceleration
point
Acceler-
ation rate Deceleration rate
Specified number
of pulses
175
Pulse Outputs Section 7-6
Note With ACC(888) and PLS2(887), the acceleration/deceleration rate’s
speed-change cycle can be set to 2ms or 1 ms. Also, the acceleration/decel-
eration rate can be set between 1 Hz and 9.999 kHz. Refer to 7-6-11 Acceler-
ation/Deceleration Rates in ACC(888) and PLS2(887) Instructions for more
details.
Precautions when
Using Pulse Outputs
Pulses are output according to the clock frequency (20 MHz, 10 MHz, 5 MHz,
2.5 MHz, or 1.25 MHz) specified in the System Setup (Pulse Output/Clock).
The clock signal is divided by an integer dividing ratio to create and output the
output pulse frequency. This means that the actual frequency may not be the
same as the target frequency. Refer to the following information to calculate
the actual 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 the
target frequency.
Actual frequency:
The actual frequency that is output as generated by the dividing circuit.
Stop Stops the pulse
output immedi-
ately.
SPED(88
5) or
ACC(888)
or
PULS(88
6) (Elec-
tronic
Cam Con-
trol)
↓
INI(880)
Stop pulse
output
---
Stops the pulse
output immedi-
ately.
SPED(88
5) or
ACC(888)
↓
SPED(88
5)
Port,
Continu-
ous,
Target fre-
quency = 0
---
Decelerates the
pulse output to a
stop.
SPED(88
5) or
ACC(888)
↓
ACC(888)
Port,
Continu-
ous,
Accelera-
tion/decel-
eration
rate,
Target fre-
quency = 0
---
Mode Frequency changes Description Procedure Example
Instruc-
tions
Settings
Frequency
Present
frequency
INI executed.
Tim
e
Frequency
Present
frequency
SPED executed.
Tim
e
Frequency
Present
frequency
ACC executed.
Tim
e
Acceleration/
deceleration rate
Target
frequency = 0
176
Pulse Outputs Section 7-6
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. The following tables shows examples for a
clock frequency of 20 MHz.
7-6-7 One-shot Pulse Output Function
The one-shot pulse output function turns ON the output only for a specified
time between 0.01 and 9,999 ms. Use the STIM(980) instruction to start the
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
952,382 to 1,000,000 1,000,000
909,092 to 952,381 952,381
869,566 to 909,091 909,091
.
.
.
.
.
.
487,806 to 500,000 500,000
476,191 to 487,805 487,805
465,117 to 476,190 476,190
.
.
.
.
.
.
198,021 to 200,000 100,806
196,079 to 198,020 198,020
194,176 to 196,078 196,078
.
.
.
.
.
.
49,876 to 50,000 50,000
49,752 to 49,875 49,875
4,929 to 49,751 49,751
.
.
.
.
.
.
402 402
401 401
400 400
Dividing circuit
Output pulses
(Actual output frequency)
Integer dividing ratio set
according to the target
frequency set by user.
Clock-generated pulses
(one of four possible settings)
177
Pulse Outputs Section 7-6
Set the pulse output operation mode to 1 shot in advance in the System
Setup, as shown in the following table.
Note A pulse output port that is being used for one-shot pulse outputs cannot be
used for any other pulse output functions.
The elapsed time of the one-shot pulse output is stored in 8-digit hexadecimal
in words A621 and A620 (pulse output 1) or A623 and A622 (pulse output 2).
When the one-shot pulse output is turned ON, the content of the correspond-
ing words is set to 0000 0000 hex and the content is incremented as time
passes. The final value is retained when the one-shot output is turned OFF.
One-shot Pulse Output Specifications
Tab page Function Setting
Pulse Output Pulse Output 1 − Operation mode 1 shot (one-shot pulse output)
Pulse Output 2 − Operation mode 1 shot (one-shot pulse output)
ON
OFF
One-shot pulse output
Turned ON by STIM
instruction execution. Turned OFF by hardware.
Setting units: Select 0.01 ms, 0.1 ms, or 1 ms.
Settin
g
ran
g
e: 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 elapsed time of the
one-shot pulse output in 8-digit hexa-
decimal.
The content can range from 0000 0000
to 0000 270F hex, and the units are set
to 0.01 ms, 0.1 ms, or 1 ms with the
STIM(980) instruction.
Note These words are refreshed dur-
ing the Motion Control Module’s
I/O refreshing.
A621 00 to 15 Upper
4 digits
A622 00 to 15 Elapsed time
of One-shot
pulse output 2
Lower
4 digits
These words function just like the
words for pulse output 1, described
above.
A623 00 to 15 Upper
4 digits
Item Specification
Pulse ON time 0.01 to 9,999 ms (Can be set with the STIM(980) instruction.)
Operating conditions 1. Set the pulse output operation mode to 1 shot in the System
Setup.
2. Execute the STIM(980) instruction with operand C1 = #0001
or #0002.
Response time Response time when the STIM(980) instruction is executed at
the beginning of an interrupt task:
0.2 ms max. from the generation of the interrupt until the
one-shot pulse output goes ON
178
Pulse Outputs Section 7-6
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.
The timer’s elapsed time is stored in 8-digit hexadecimal in words A621 and
A620 (pulse output 1) or A623 and A622 (pulse output 2). When the timer
starts, the corresponding words are initialized to 0000 0000 hex and the con-
tent is incremented as time passes. The final value is retained when the timer
stops.
Set the pulse output operation mode to Calculation (time measurement) in
advance in the System Setup, as shown in the following table.
Note (1) The external pulse output 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 Contents
A620 00 to 15 Pulse time
measurement
1
Lower
4 digits
Contains the pulse counter’s time mea-
surement in 8-digit hexadecimal.
The content can range from 0000 0000
to FFFF FFFF hex.
Note These words are refreshed dur-
ing the Motion Control Module’s
I/O refreshing.
A621 00 to 15 Upper
4 digits
A622 00 to 15 Pulse time
measurement
2
Lower
4 digits
These words function just like the
words for pulse time measurement 1,
described above.
A623 00 to 15 Upper
4 digits
Tab page Function Details
Pulse Output Pulse output 1 − Operation mode Calculation (time measurement)
Pulse output 2 − Operation mode
Counting mode
(Time measurement)
Timer start condition
Timer stop condition
Timer started by executing
STIM with C2 = 0000.
Timer stopped by executing
STIM with C2 = 0001.
Timer PV in
A620 and A621
or A622 and A623
Ela
p
sed time
PV reset
PV held
Time
179
Pulse Outputs Section 7-6
(3) If the STIM(980) instruction is executed again to restart an operating tim-
er, the timer value will be reset to 0 and the timer will restart.
Pulse Counter Timer Specifications
7-6-9 Target-value Comparison Interrupts from Pulse Output PVs
An interrupt task can be executed when the pulse output PV reaches a target
value, although this function cannot be used in independent mode (position-
ing), one-shot pulse output operation mode, or electronic cam control
because the pulse output stops.
When the pulse output operation mode is set to linear mode, this function can
be used for speed control (frequency changes) based on the present position.
When the pulse output operation mode is set to circular mode, this function
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 interrupts for pulse output PVs
is the same as the processing for high-speed counter PVs, so refer to Check-
ing for High-speed Counter Interrupts under High-speed Counter Function
Description in 7-5-8 Pulse Input Function Description for details.
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. To start or stop the timer, execute the STIM(980) instruction
with operand C1 = #000B or #000C and one of the following
C2 values:
To start the timer, execute STIM(980) with operand C2 =
#0000.
To stop the timer, execute STIM(980) with operand C2 =
#0001.
180
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 tar-
get value.
Frequency
(speed)
Target value 5
Target value 4
Target value 3
Target value 2
Target value 1
Speed
(frequency)
Pulse output P
V
Time
Controlled by
ACC instruction.
181
Pulse Outputs Section 7-6
D00100 0 0 3 2
D00101 0 7 D 0
D00102 0 0 0 0
ACC
#1
#0
D00100
@CTBL
#3
#0
D00000
3.00
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
P_On
END
ACC
#1
#0
D00200
D00200 0 0 5 A
D00201 7 5 3 0
D00202 0 0 0 0
P_On
END
A624.06
A624.06
END
Interrupt
task 1
Interrupt
task 2
Cyclic
task
No. of comparisons: 5
Target value 1: 00000500
Interrupt task 1
Interrupt 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
Acceleration/deceleration rate
Target frequency
If interrupt task 1 is executed,
the frequency is changed to a
target frequency of 2,000 Hz
with an acceleration/deceleration
rate of 50 Hz/2 ms.
If interrupt task 2 is executed,
the frequency is changed to a
target frequency of 30,000 Hz
with an acceleration/deceleration
rate of 90 Hz/2 ms.
(Interrupt tasks 3, 4, and 5 are entered in the same way.)
When CIO 0003.00 goes ON,
a target-value comparison
interrupt starts for the pulse
output 1 PV.
182
Pulse Outputs Section 7-6
Circular Mode
Operation
A speed control pattern can be repeated in continuous speed control to con-
trol a series of repetitive operations at specific positions. For example, the fol-
lowing 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.
7-6-10 Range Comparison Bit Pattern Outputs from Pulse Output PVs
Bit patterns can be output internally in the Auxiliary Area when the pulse out-
put PV is within a specified 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 under High-speed Counter Func-
tion Description in 7-5-8 Pulse Input Function Description for details.
7-6-11 Acceleration/Deceleration Rates in ACC(888) and PLS2(887)
Instructions
The acceleration/deceleration rate’s speed-change cycle can be set to either
1 ms or 2 ms for the ACC(888) and PLS2(887) instructions. The same
speed-change cycle setting applies to both pulse output 1 and 2 and both the
ACC(888) and PLS2(887) instructions.
0
High-speed
region
Low-speed
region
Single-rotation speed control pattern
Pulse output PV
Speed
(frequency)
Target value 1
Target value 2
Time
Time
High-speed
region
Low-speed
region
Controlled by
ACC instruction.
183
Pulse Outputs Section 7-6
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.
1-ms Cycle Execute ACC(888) or PLS2(887) with A628.07 ON.
7-6-12 PLS2(887) Pulse Output Direction Priority Mode
The direction of pulses output by the PLS2(887) instruction can be deter-
mined manually based on a user-set operand (pulse output direction priority
mode) or automatically based on the absolute position (absolute position pri-
ority mode).
Pulse Output Direction
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 determined from the absolute
position.
Absolute Position Priority
Mode
The pulse output direction is determined automatically from the absolute posi-
tion.
The Motion Control Module ignores the pulse output direction specified by the
PLS2(887) operand setting. This mode allows positioning to be based on the
absolute position only, so it is not necessary for the user to specify the direc-
tion.
@ACC
#1
#0
D00000
D00000 07D0
D00001 C350
D00002 0000
Execution
condition
Acceleration/deceleration rate: 2 kHz
Target speed: 50 kHz
@ACC
#1
#0
D00000
D00000
07D0
D00001
C350
D00002
0000
P_On A628.07
Execution
condition
Acceleration/deceleration rate: 2 kHz
Target speed: 50 kHz
184
Pulse Outputs Section 7-6
Setting the Pulse
Output Direction
Priority Mode
The pulse output direction priority mode for the PLS2(887) instruction is spec-
ified by setting the ON/OFF bit status of A628.14 before executing the
PLS2(887) instruction.
Note The priority mode setting in A628.14 applies to both pulse output 1 and 2.
Pulse Output Direction
Priority Mode
Execute PLS2(887) with A628.14 OFF.
Absolute Position Priority
Mode
Execute PLS2(887) with A628.14 ON.
7-6-13 Pulse Output Function Procedures
Pulse Outputs without Acceleration/Deceleration (PULS(886) + SPED(885))
This procedure shows how to use PULS(886) and SPED(885) to generate a
single-phase pulse output without acceleration or deceleration. The number of
output pulses cannot be changed during positioning.
1,2,3... 1. Determine pulse output port.
• 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 − Op-
eration Mode).
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to relative pulse output, absolute linear pulse output, or
absolute circular pulse output.
@PLS2
#1
#0
D00000
D00000 8000
D00001 0000
D00002 C350
D00003 0000
D00004 0000
D00005 0000
D00006 03E8
D00007 03E8
Target position: 8000 Hex
Target speed: 50 kHz
Starting speed: 0 Hz
Acceleration rate: 1,000 Hz
Deceleration rate: 1,000 Hz
CW Output
Pulse output 1
CW direction
Setting table: D00000
@PLS2
#1
#0
D00000
D00000 8000
D00001 0000
D00002 C350
D00003 0000
D00004 0000
D00005 0000
D00006 03E8
D00007 03E8
P_On A628.14
Target position: 8000 Hex
Target speed: 50 kHz
Starting speed: 0 Hz
Acceleration rate: 1,000 Hz
Deceleration rate: 1,000 Hz
Execution condition
Pulse output 1
CW direction
Setting table: D00000
The direction setting is
ignored and the direction
is changed automatically.
185
Pulse Outputs Section 7-6
• 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/deceler-
ation 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.
Pulse Outputs with Acceleration/Deceleration
This procedure shows how to use PULS(886) and ACC(888) to generate a
pulse output with acceleration or deceleration. The number of output pulses
cannot be changed during positioning.
1,2,3... 1. Determine pulse output port.
• 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 − Op-
eration Mode).
• Set the pulse output operation mode (in the 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 ladder programming.
• Use PULS(886) to set number of output pulses for the specified port.
• Use ACC(888) to start pulse output control with acceleration or decelera-
tion from the specified port (acceleration and deceleration are specified
separately).
• Use INI(880) to stop pulse output from the specified port.
PULS
INI
SPED
A621 A620
A623 A622
A624
A625
CW
CCW
CW
CCW
Pulse output function
Pulse output mode
System Setup
Pulse output
port 1
Pulse output
port 2
Single-phase output
without acceleration/
deceleration
(fixed duty ratio)
Start
output
Ladder program Ladder program
Set the number of
output pulses.
Stop pulse output.
Output mode:
CW/CCW, independent/continuous
Target frequency
Start pulse output
Refresh status (once each cycle
just after instruction execution)
Refresh PV (once each cycle)
Pulse output status Pulse output PV
Port 1Port 1
Port 2Port 2
SET PULSES
MODE CONTROL
SPEED OUTPUT
186
Pulse Outputs Section 7-6
• Use PRV(881) to read the pulse output PV of the specified port.
Pulse Outputs without Acceleration/Deceleration (PULS(886): Electronic Cam
Control)
This procedure shows how to use the PULS(886) instruction’s electronic cam
control function to generate a single-phase pulse output without acceleration
or deceleration. The number of output pulses can be changed during position-
ing.
Procedure
1,2,3... 1. Determine pulse output port.
• 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 − Op-
eration Mode).
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to absolute linear pulse output (electronic cam control)
or absolute circular pulse output (electronic cam control).
• Set the clock speed for pulse outputs 1 and 2.
4. Create the necessary ladder programming.
• Use PULS(886) to set the absolute position, output frequency, and pulse
output (automatic determination of pulse output direction) for 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.
Electronic Cam Control
Functions
The electronic cam control supports the following functions.
• The pulse output direction is determined automatically by comparing the
present position (pulse output PV) and target position.
• The PULS(886) instruction can be executed during pulse output to
change the absolute position setting and pulse frequency.
• Applications of Electronic Cam Operation:
PULS
INI
ACC
PRV
A621 A620
A623 A622
A624
A625
CW
CCW
CW
CCW
Pulse output
port 1
Pulse output
port 2
Single-phase
pulse output
(fixed duty ratio)
Start
output
Ladder program Ladder program
Set the number
of output pulses.
Stop pulse output.
Target frequency: 0 Hz to 1 MHz
Start pulse output.
Pulse output
mode
System Setup
Mode settings for
ports 1 and 2
Port 1
Port 2
Port 1
Port 2
Refresh status (once each cycle
just after instruction execution)
Pulse output status Pulse output PV
Refresh PV (once each cycle) Refresh PV (immediate refresh)
SET PULSE
MODE CONTROL
HIGH-SPEED
COUNTER
PV READ
ACCELERTION
CONTROL
Mode settings (CW/CCW, accel-
eration/deceleration, independ-
ent/continuous)
Acceleration/deceleration rate
(common) (1 or 2 ms cycle,
1 Hz to 9,999 Hz)
187
Pulse Outputs Section 7-6
The PULS(886) instruction (Electronic Cam Control) can be used to imme-
diately 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 approxi-
mation of a curve (for position or speed control based on the cam angle).
By setting a constant cycle time, the high-speed counter PV is read at reg-
ular intervals. The PULS(886) (Electronic Cam Control) instruction is exe-
cuted immediately after reading the high-speed counter PV in order to
determine the new target position for that cycle.
With the PULS(886) instruction (Electronic Cam Control), the target posi-
tion or pulse output frequency (speed) can be changed by executing an-
other instruction to change the target position or output frequency while the
PULS(886) instruction is being executed. Consequently, position and
speed control can be performed while outputting pulses, which is not pos-
sible with the PULS(886) + SPED(885) and PULS(886) + ACC(888) in-
struction combinations. This 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 with operations such as basic arithmetic operations and
the result can be used for the target position or pulse output frequency
(speed).
Note The pulse output direction is selected automatically based on the
relationship between the present position (pulse output PV) and
target position.
Note Speed control can be performed on a virtual axis by generating a virtual axis
position (internal pulse count) with the AXIS instruction, processing that value
with arithmetic operations or the APR instruction, and changing the target
position or speed with the PULS(886) instruction. Refer to 7-8-4 Application
Example for details.
Trapezoidal Pulse Output with Acceleration/Deceleration (PLS2(887))
This procedure shows how to use PLS2(887) to generate a pulse output with
trapezoidal acceleration and deceleration. The number of output pulses can-
not be changed during positioning.
1,2,3... 1. Determine pulse output port.
Pulse input PV
Pulse output PV (absolute position)
Time
PULS instruction execution
(Changes target position and speed.
)
Target position
Time
Execution with constant
cycle time
PULS (Electronic Cam
Mode) is executed in the
program with changed
target position and speed.
188
Pulse Outputs Section 7-6
• 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 − Op-
eration 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.
• Use PLS2(887) to start pulse output control with trapezoidal acceleration/
deceleration from the specified port (acceleration and deceleration are
specified separately).
• Use INI(880) to stop pulse output from the specified port.
• Use PRV(881) to read the pulse output PV of the specified port.
One-shot Pulse Output (STIM(980))
1,2,3... 1. Determine pulse output port.
• Select pulse output 1 or 2.
2. Wire the output.
3. Make the necessary System Setup settings.
• Set the pulse output operation mode (in the Pulse Output Tab Page −
Operation Mode) to 1 shot.
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 STIM(980) timer interrupt function (one-shot timer or scheduled timer).
Pulse Counter Timer Function (STIM(980))
1,2,3... 1. Determine pulse output port.
• Select pulse output 1 or 2.
2. Make the necessary System Setup settings.
INI PLS2
PRV
A621 A620
A623 A622
A624
A625
CW
CCW
CW
CCW
Pulse output
port 1
Pulse output
port 2
Single-phase pulse output
with trapezoidal
acceleration/deceleration
Start
output
Ladder program Ladder program
Stop pulse output. Set number of output pulses.
Target frequency: 20 Hz to 1 MHz
Acceleration/deceleration rates
(set separately)(1 or 2 ms cycle,
1 Hz to 9,999 Hz)
Start pulse output.
Pulse output
mode
System Setup
Mode settings for
ports 1 and 2
Port 1
Port 2
Port 1
Port 2
Refresh status (once each cycle
just after instruction execution)
Pulse output status Pulse output PV
Refresh PV (once each cycle) Refresh PV (immediate refresh)
Read pulse output PV
Starting frequency: 0 Hz to 1 MHz
HIGH-SPEED
COUNTER
PV READ
MODE CONTROL
PULSE
OUTPUT
189
Pulse Outputs Section 7-6
• 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. Use STIM(980) with C1 = #000B or #000C and C2 = #0001 to stop
measurement.
Note 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).
7-6-14 Pulse Output Function Examples
Positioning using Pulse Outputs without Acceleration/Deceleration
In the following positioning 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
output at the frequency specified in SPED(885) (2,000 Hz).
!Caution Be sure that the pulse frequency is within the motor’s self-starting frequency
range when starting and stopping the motor.
@SPED
#1
#2
@PULS
#1
#0
D00000
CIO 0002.00
D00000 2 7 1 0
D00001 0 0 0 0
#000007D0
Frequency
Target frequency
2,000 Hz
Number of pulses = 10,000
(Specified by PULS instruction.)
SPED executed. Output stops after 10,000
pulses have been output.
When CIO 0002.00 turns ON,
PULS sets port 1 for 10,000
pulses (relative pulse output).
Starts pulse output from
port 1 at 2,000 Hz (2 kHz)
in CW independent mode.
Number of pulses (10,000)
190
Pulse Outputs Section 7-6
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.
Note Speed control timing will be accurate when frequency changes are executed
by SPED(885) instructions in interrupt tasks called by input interrupts.
Accelerating the Frequency at a Fixed Rate
In this example, the ACC(888) instruction is used to accelerate the pulse out-
put from port 2 from a frequency of 3,000 Hz to 50,000 Hz at an acceleration
rate of 500 Hz/2 ms.
D00000 C 3 5 0
D00001 0 0 0 0
@SPED
#2
#1
#00000BB8
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 continuous mode.
When CIO 0002.01 turns ON,
SPED changes the frequency
to 50,000 Hz (50 kHz) in CCW
continuous mode.
Target frequency
Present frequency
3,000 Hz Time
@SPED
#2
#1
#00000BB8
0002.00
@ACC
#2
#1
D00000
0002.01
D00000 1F4
D00001 3 5 0
D00002 0000
0
C
Frequency
Target frequency
50,000 Hz
SPED executed. ACC executed.
When CIO 0002.00 turns ON,
SPED starts a pulse output from
port 2 at 3,000 Hz (3 kHz) in
CCW continuous mode.
When CIO 0002.01 turns ON, ACC is
executed in mode 1 (CCW direction,
acceleration, and continuous mode) to
accelerate the frequency at 500 Hz/2 ms
to 50,000 Hz (50 kHz).
Target frequency
Present frequency
3,000 Hz Time
Acceleration rate
500 Hz/2 ms
Acceleration rate
191
Pulse Outputs Section 7-6
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.
Absolute Positioning with Continually Changing Target Position
This example performs absolute positioning (Electronic Cam Control) using a
single-phase pulse output without acceleration/deceleration, and the target
position is updated every cycle. This function relies on a constant cycle time,
in which the ladder program is executed every 2 ms, and positioning is per-
formed using a target value that is changed every cycle according to the
high-speed counter 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 linear approximation.
The high-speed counter is set for circular operation with a circular value of
999 BCD.
Specified number of pulses
reached before speed reaches 0.
Speed reaches 0 while the remaining
number of pulses is 0 or more.
0
Speed
(frequency)
Time
At this point, the actual number of output
pulses equals the preset number of pulses.
0
Speed
(frequency)
Time
At this point, the actual number of output pulses
may not equal the preset number of pulses.
To be sure that the actual number of output
pulses equals the specified number of pulses,
set the Module so that the speed is greater
than 0 (e.g., the starting frequency) when the
specified number of pulses have been output.
4,000
0
400 800600 999
200
Pulse output target
frequency in D00000
and D00001 (BCD)
High-speed
Counter PV (BCD)
192
Pulse Outputs Section 7-6
PULS
#1
#2
D00000
P_On
MOVL
&200000
D00002
END
P_On APR
D01000
A600
D00000
D00000
D00001
D00002
D00003
D01000 1 0 0 4
D01001 0 3 E 7
D01002 0 0 0 0
D01003 0 0 0 0
D01004 0 0 C 8
D01005 0 0 0 0
D01006 0 0 0 0
D01007 0 1 9 0
D01008 0 F A 0
D01009 0 0 0 0
D01010 0 2 5 8
D01011 0 F A 0
D01012 0 0 0 0
D01013 0 3 2 0
D01014 0 0 0 0
D01015 0 0 0 0
D01016 0 3 E 7
D01017 0 0 0 0
D01018 0 0 0 0
Y0 0
X6
Y1 0
X1 200
Y2 4000
X2 400
Y3 4000
X3 600
Y4 0
X4 800
Y5 0
X5 999
A610.00
PULS
#1
#2
D00000
P_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 D01018 (the graph shown
above) and stores the result in D00000
and D00001.
Outputs an absolute position pulse
output using the content of D00000 and
D00001 as the target position and the
content of D00002 and D00003 as the
frequency.
When the PULS instruction's pulse output
was stopped and couldn't be output, the
pulse output is output again.
Input data: A600
(High-speed counter 1 PV)
No. of inputs = 5 − 1 = 4)
Target position (right digits)
Target position (left digits)
Frequency (right digits)
Frequency (left digits)
(X-axis max. value) 999
193
Pulse Outputs Section 7-6
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 per-
formed in the CCW direction.
Note When PLS2(887) cannot perform trapezoidal positioning with the trapezoidal
acceleration/deceleration settings, it will perform triangular positioning with
the same acceleration/deceleration settings. In this case, the PLS2(887) Tar-
A624.00
TIM
0000
#0050
@PLS2
#1
#0
D00000
0002.00
TD00000 93E 0
T+1 0 0 0 4
T+2 4 E 2 0
T+3 0 0 0 0
T+4 0 1 F 4
T+5 0 0 0 0
T+6 0 1 F 4
T+7 0 1 2 C
DIFU
0002.00
0003.00
@PLS2
#1
#1
D00000
T0000
0002.01
0002.02
0002.
01
0002.
02
D00006
D00007
D00005
D00004
D00003
D00002
D00001
Frequency
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: 300,000
Deceleration rate
300 Hz/2 ms
Output stops and
A624.00 is turned ON.
5 s
Stopping
frequency 500 Hz
After 5 s, CCW output starts
when PLS2 is executed.
Acceleration rate
500 Hz/2 ms
Port 1 CW Operation Port 1 CCW Operation
Specified number
of pulses: 300,000
Deceleration rate
300 Hz/2 ms
Time
CIO 0002.00 is turned ON when
CIO 0003.00 turns ON.
When CIO 0002.00 goes ON, pulses
are output from port 1 in the CW
direction with the following settings:
Acceleration rate: 500 Hz/2ms
Deceleration rate: 500 Hz/2ms
Target frequency: 20,000 Hz (20 kHz)
Starting frequency: 500 Hz
Number of output pulses: 300,000
The 5 s timer starts if A624.00 is
ON (pulse output completed).
After the pulse output is completed
in the CW direction and 5 seconds
have passed, the same pulse output
pattern is performed in the CCW
direction.
Number of output pulses
Target frequency
Starting frequency
Acceleration rate
Deceleration rate
194
Pulse Outputs Section 7-6
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 out-
put from pulse output 1.
Pulse Counter Time Measurement (Timer) Example
In this example, a pulse counter timer is allocated to pulse output 1.
7-6-15 Pulse Output Starting Conditions
Pulse Output Operation Modes Supported by Instruction
Note (1) Even if the PV is changed, it will start from 0 at startup.
(2) Supports continuous mode only.
@STIM
#1
#000F
#0
0002.00
When CIO 0002.00 goes ON, STIM generates
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 stops
pulse counter timer 1.
The measurement results are stored in
Auxiliar
y
Area words A620 and A621.
Pulse output
operation mode
Starting instruction
SPED(885) PULS(886)
(with
output)
ACC(888) PLS2(887) STIM(980)
(One-shot)
STIM(980)
(Timer)
INI(880)
(Change
PV)
INI(880)
(Stop
pulse
output)
Relative pulse output OK No OK OK No No OK
(note 1)
OK
Absolute pulse output
(linear)
OK No OK OK No No OK OK
Absolute pulse output
(circular)
OK No OK No No No OK OK
Electronic Cam Con-
trol (linear)
No OK OK
(note 2)
OK
(note 3)
No No OK OK
One-shot pulse mode No No No No OK No OK
(note 1)
No
Pulse counter timer No No No No No OK OK
(note 1)
No
Electronic Cam Con-
trol (circular)
No OK OK
(note 2)
OK
(note 3)
No No OK OK
195
Pulse Outputs Section 7-6
(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.
The following table shows when a continuous mode pulse output (SPED(885)
continuous mode, ACC(888) continuous acceleration mode, or ACC(888)
continuous deceleration mode) can be started when pulses are not being out-
put..
Startup conditions and status Startup mode and conditions
Relative
pulse output
CW
Relative
pulse output
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)
Disabled
with
PLS2(887)
--- ---
Target position <
Present position
--- --- OK with
SPED(885),
ACC(888)
Disabled
with
PLS2(887)
--- ---
Target position =
Present position
--- --- No No --- ---
Absolute
circular
Target position >
Present position
--- --- --- --- OK OK
Target position <
Present position
--- --- --- --- OK OK
Target position =
Present position
--- --- --- --- OK OK
Startup conditions and status Startup mode and conditions
Relative
pulse output
CW
Relative
pulse output
CCW
Absolute
linear CW
Absolute
linear CCW
Absolute
circular CW
Absolute
circular
CCW
Relative OK OK --- --- --- ---
Absolute
linear
Target position =
Maximum value
--- --- OK OK --- ---
Target position =
Minimum value
--- --- OK OK --- ---
Absolute
circular
Target position =
Maximum value
--- --- --- --- OK OK
Target position =
Minimum value
--- --- --- --- OK OK
196
Pulse Outputs Section 7-6
PULS(886) Absolute Pulse Output in Progress
Pulse Output Operation
Mode (Absolute Linear)
Limitations
PLS2(887)
Startup Conditions when other Instructions are being Executed
Note (1) Cancel the number of output pulses set with PULS(886) and then execute
PLS2(887).
(2) Execution is OK when the number of output pulses has been set.
Allowed Startup Conditions for Pulse Output Operations (with Output in Progress)
Startup conditions and status Startup mode and conditions
Relative
CW
Relative
CCW
Pulse output direction
priority mode (A628.14 = 0)
Absolute position priority
mode (A628.14 = 1)
Absolute
linear CW
Absolute
linear CCW
Absolute
linear CW
Absolute
linear CCW
Relative OK OK --- --- --- ---
Absolute
linear
Target position >
Present position
--- --- OK No OK OK
Target position =
Present position
--- --- No No No No
Target position <
Present position
--- --- No OK OK OK
Operating instruction Starting instruction
SPED(8
85) inde-
pendent
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
ACC(888
) acceler-
ation,
indepen-
dent
ACC(888
) decel-
eration,
indepen-
dent
PLS2(88
7)
SPED
(885)
Independent OK No 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 OK --- OK No OK OK OK OK (See
note 1)
PULS
(886) Relative output No No No No OK No No No No No
ACC(
888)
Acceleration +
continuous
Accelerating No No OK OK No No No No No No
Steady speed OK (See
note 2) OK OK OK No OK OK OK (See
note 2) OK (See
note 2) No
ACC(
888)
Deceleration +
continuous
Decelerating No No OK OK No No No No No No
Steady speed OK (See
note 2) OK OK OK No OK OK OK (See
note 2) OK (See
note 2) No
ACC(
888)
Acceleration +
independent
Accelerating No No No No No No No No No No
Steady speed OK No No No No No No OK OK No
ACC(
888) Deceleration +
independent Decelerating No No No No No No No No No
Steady speed OK No No No No No No OK OK No
PLS2
(887) No No No No No No No No No No
Operating instruction Starting instruction
SPED(8
85) inde-
pendent
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
ACC(888
) acceler-
ation,
indepen-
dent
ACC(888
) decel-
eration,
indepen-
dent
PLS2(88
7)
SPED
(885) Independent Case (1) No No No No No No Case (8) Case (11) No
SPED
(885) Continuous Case (2) Case (4) Yes Yes No Case (6) Case (7) Case (9) Case (12) No
PULS
(886) No relative output Yes Yes Yes --- N o Ye s Ye s Ye s Ye s ( S e e
note.)
197
Pulse Outputs Section 7-6
Note Cancel the number of output pulses set with PULS(886) and then execute
PLS2(887).
Cases (1), (2), and (3)
Case (4)
Case (5)
PULS
(886)
No absolute output Yes Yes --- Yes N o Ye s Ye s Ye s Ye s ( S e e
note.)
PULS
(886) Absolute output No No No No Case (5) No No No No No
ACC(
888) Acceleration +
continuous Accelerating No No Yes Yes No No No No No No
Steady speed Case (2) Case (4) Yes Yes No Case (6) Case (7) Case (9) Case (12) No
ACC(
888)
Deceleration +
continuous
Decelerating No No Yes Yes No No No No No No
Steady speed Case (2) Case (4) Yes Yes No Case (6) Case (7) Case (9) Case (12) No
ACC(
888) Acceleration +
independent Accelerating No No No No No No No No No No
Steady speed Case (3) No No No No No No Case (10) Case (13) No
ACC(
888) Deceleration +
independent Decelerating No No No No No No No No No No
Steady speed Case (3) No No No No No No Case (10) Case (13) No
PLS2
(887) No No No No No No No No No No
Operating instruction Starting instruction
SPED(8
85) inde-
pendent
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
ACC(888
) acceler-
ation,
indepen-
dent
ACC(888
) decel-
eration,
indepen-
dent
PLS2(88
7)
Output status Starting instruction and conditions
SPED(885),
independent, relative
SPED(885),
independent, absolute
(linear or circular)
CW CCW CW CCW
Relative CW output Yes No --- ---
CCW output No Yes --- ---
Absolute lin-
ear or circular
CW output --- --- Yes No
CCW output --- --- No Yes
Output status Starting instruction and conditions
SPED(885),
continuous,
relative
SPED(885),
continuous,
absolute linear
SPED(885),
continuous,
absolute
circular
CW CCW CW CCW CW CCW
Relative CW output Yes No --- --- --- ---
CCW output No Yes --- --- --- ---
Absolute lin-
ear
CW output --- --- Yes No --- ---
CCW output --- --- No Yes --- ---
Absolute cir-
cular
CW output --- --- --- --- Yes No
CCW output --- --- --- --- No Yes
Output status Starting instruction and conditions
PULS(886) absolute
linear output in
progress
Target position >
Present position
PULS(886) absolute
linear output in
progress
Target position <
Present position
Absolute lin-
ear
CW output Yes Yes (See note.)
CCW output Yes (See note.) Yes
198
Pulse Outputs Section 7-6
Note The pulse output will stop. After the axis stops, it must be restarted.
Cases (6), (8), (9), and (10)
• Starting instruction: ACC(888) (continuous or independent), acceleration, relative
• Starting instruction: ACC(888) (continuous or independent), acceleration, absolute
linear
• Starting instruction: ACC(888) (continuous or independent), acceleration, absolute
circular
Cases (7), (11), (12), (13)
• Starting instruction: ACC(888) (continuous or independent), deceleration, relative
• Starting instruction: ACC(888) (continuous or independent), deceleration, absolute
linear
Output status Direction and starting conditions
CW CCW
Target
position >
Present
position
Target
position <
Present
position
Target
position >
Present
position
Target
position <
Present
position
Relative CW output Yes No No No
CCW output No No Yes No
Output 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
CW output Yes No No No
CCW output No No Yes No
Output status Direction and starting conditions
CW CCW
Target
position >
Present
position
Target
position <
Present
position
Target
position >
Present
position
Target
position <
Present
position
Absolute cir-
cular
CW output Yes No No No
CCW output No No Yes No
Output status Direction and starting conditions
CW CCW
Target
position >
Present
position
Target
position <
Present
position
Target
position >
Present
position
Target
position <
Present
position
Relative CW output No Yes No No
CCW output No No No Yes
Output 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
CW output No Yes No No
CCW output No No No Yes
199
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
• Starting instruction: ACC(888) (continuous or independent), deceleration, absolute
circular
7-7 Functions for Servo Drivers Compatible with Absolute
Encoders
7-7-1 Applicable Models
The examples in this section demonstrate the functions with high-speed
counter 1 only. When using high-speed counter 2, replace the Auxiliary Area
addresses with the appropriate addresses for high-speed counter 2.
7-7-2 Overview
Either of the following types of pulse input signals can be input to the unit:
• Pulse trains from normal incremental encoders, etc.
• Encoder output data (e.g., OMRON's W Series) of Servo Drivers compat-
ible with absolute encoders (multi-turns absolute encoders)
The following explains the functions that are compatible with the latter, Servo
Drivers compatible with absolute encoders.
Note Refer to 7-5 Pulse Inputs for details on pulse 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 Module has
to be connected to the Servo Driver. When starting an operation, the number
of multi-turns (to phase A as serial data) and the initial incremental pulse (to
phase A/B as pulse) are input once as the absolute position information.
After that, the position data during operations are input with the phase differ-
ential input (using normal counter functions).
Using a Servo Driver compatible with an absolute encoder enables the con-
trolled operation to be started from the position at turning on the power with-
out performing any origin searches.
Output status Direction and starting conditions
CW CCW
Target
position >
Present
position
Target
position <
Present
position
Target
position >
Present
position
Target
position <
Present
position
Absolute cir-
cular
CW output No Yes No No
CCW output No No No Yes
Model Functions
FQM1-MMP21 Motion Control Module for Pulse I/O
FQM1-MMA21 Motion Control Module for Analog I/O
200
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
7-7-3 Data Format of Absolute Encoder Output
The format of data from a Servo Driver compatible with an absolute encoder
supported by the Motion Control Module is as follows:
Serial Data Specification
Data Format
Note (1) The “P” is in ASCII. It is 50 hex in hexadecimal.
(2) The range of No. of rotations that can be received by the Motion Control
Module is between +65,535 to −65,535.
(3) For details of the data on the number of multi-turns received from a Servo
Driver, please check the manual of the Servo Driver in use.
(4) Set the System Setup’s Counter 1 Counter operation to either an abso-
lute linear (CW−) or absolute linear (CW+) counter corresponding to the
setting 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 setting, the
data received by the Motion Control Module is handled as described be-
low according to the setting of Counter 1 Counter operation in the System
Setup.
Motion Control Module Servo driver
Speed
control
Position control,
(SPED, ACC,
PULS or PLS2
instruction)
SEN signal
Power cable
(U, V, W)
Absolute encoder
signal (line driver)
Servomotor
with Absolute encoder
Analog output
(Speed command)
−10 to 10 V, etc.
Absolute
encoder data
Pulse output
The number of digits for rotation data 5 digits
Data transmitting method Asynchronous
Baud rate 9,600 bits/s
Start bit 1 bit
Stop bit 1 bit
Parity Even numbers
Character code ASCII 7 bits
Data format 8 characters
Byte +0 +1 +2 +3 +4 +5 +6 +7
P (See
note 1.)
Rotation data CR
Sign
(+ or −)
Integer (5-digit decimal)
201
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).
•Example 2
The System Setup’s Counter 1 Counter operation is set to an absolute
linear (CW+) counter and the Servo Driver’s reverse rotation mode set-
ting (Pn000.0) is set to 1 (+ command for rotation in CW direction).
Note When using an absolute linear (CW−) counter, the phase-B phase can be
inverted with an FQM1-series Servo Relay Unit so that the Servo Driver’s
operation matches the pulse output operation.
7-7-4 Counter Operation
Counting Operation The counting operations performed in the absolute linear (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 receives the rotation data stored in a Servo
Driver compatible with an absolute encoder.
Counter Operation
Details
The details of the absolute linear (CW−), absolute linear (CW+), and absolute
circular counters are as follows:
Absolute Linear (CW−)
Counter (CCW Rotation
for + Count)
When an absolute encoder rotates in reverse, the pulse information is
counted with a linear counter. Use this mode when the Servo Driver’s reverse
rotation mode parameter has been set to positive (+) command for CCW rota-
tion.
Absolute Linear (CW+)
Counter (CW Rotation for
+ Count)
When an absolute encoder rotates forward, the pulse information is counted
with a linear counter. Use this mode when the Servo Driver’s reverse rotation
mode parameter has been set to positive (+) command for CW rotation.
0
PV of +65,534 ABS PV is a positive value.
0
PV of −65,534 ABS PV is a negative value.
202
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
Absolute Circular Counter 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.)
7-7-5 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. The
data is stored as the absolute number of rotations present value. The stored
value is determined by the following conversion formulae:
Absolute number of rotations PV (A604 and A605) = R × M
Number of initial incremental pulses (A600 and A601) = P0
M: Multi-turn data (meaning how many times the axis of a rotary encoder
rotated)
R (System Setup: ABS encoder resolution): The number of pulses for en-
coder's one revolution
(Absolute encoder'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
When the absolute number of rotations value is read, the number of initial
incremental pulses portion is stored in A600 and A601.
7-7-6 Absolute Present Value
The absolute present value is calculated by subtracting an absolute offset
from the absolute encoder's state (position) when the SEN signal was turned
ON.
The value is calculated using the following formulae and is used for the abso-
lute present value preset function. It is not stored in the memory as data.
Absolute Linear
Counter
Absolute PV = Absolute number of rotations PV (A604 and A605) + Number
of initial incremental pulses (A600 and A601) − Ps
Ps: Absolute offset
Absolute Circular
Counter
Absolute PV = P0 − Ps
P0: The number of initial incremental pulses
0+1 +2 +3
M
Reference position
(Absolute offset position)
Absolute Number of Rotations Present Value
(A604 and A605) + P0 (A600 and A601)
Absolute encoder's position)
M × R P
0
P
s
Absolute Present Value
203
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
Ps: Absolute offset
Note 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.
7-7-7 Absolute Present Value Preset
The absolute encoder's state (absolute number of rotations PV (in A604 and
A605) and the number of initial incremental pulses (in A600 and A601)) can
be reflected in high-speed counter present value 1 (A600 and A601). This
function is enabled by turning 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 counter operation. See 7-7-6 Absolute Present Value for
details.
7-7-8 Absolute Offset Preset
The present value to be defined as an origin is obtained from the absolute
number of rotations present value (A604 and A605) at the time and the num-
ber of initial incremental pulses. The value can be stored in the absolute offset
(System Setup parameter). The value read from an absolute encoder at the
time is defined as a machine (application) origin. This function is executed by
turning ON the Absolute Offset Preset Bit (A610.05).
07FFF
Absolute encoder's
position
Absolute Present Value
Reference position
(Absolute offset position)
P0
Ps
204
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
7-7-9 Related Areas
System Setup
Tab page Function Details Time when
setting
becomes
effective
Pulse
Input
Counter 1 Pulse input
mode
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
At power ON
Counter reset
method
0 hex: Software reset
1 hex: Phase Z and software reset
Counting Speed 0 hex: 50 kHz
1 hex: 500 kHz
Counter opera-
tion
0 hex: Linear counter
1 hex: Circular counter
2 hex: Absolute linear (CW−)
3 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
counter 1 only.
Sampling time
(for mode 1)
Sets the sampling time when the high-speed counter
PV is being measured (mode 1).
0000 hex: Cycle time
0001 to 270F hex: 1 to 9,999 ms (1-ms units)
Note This setting is used only when the Counter
Data Display parameter is set to 1 hex (mode
1).
Counter 2 Pulse input
mode
The counter 2 parameters have the same functions
as the parameters for counter 1, above.
Note The Counter Data Display parameter cannot
be set to frequency measurement (2 hex).
Counter reset
method
Counting Speed
Counter opera-
tion
Counter data dis-
play
Sampling time
(for mode 1)
205
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
Auxiliary Area
Pulse input Counter 1 Max. circular
value
When the counter operation is set to circular counter,
this parameter sets the maximum value in the circu-
lar counter.
Setting range: 0000 0001 to FFFF FFFF hex
At power ON
Absolute
encoder resolu-
tion
(Number of input
pulses per
encoder revolu-
tion)
0000 0001 to 0000 FFFF hex
Note Set the resolution considering the Servo
Driver's encoder dividing rate and the Motion
Control Module's pulse input multiplier setting.
Example:
Set the resolution to FA0 (4,000) when the Servo
Driver’s rate is 1,000 and the Motion Control Mod-
ule’s multiplier is ×4.
Counter 2 Max. circular
value
The counter 2 parameters have the same functions
as the parameters for counter 1, above.
Absolute
encoder resolu-
tion
(Number of input
pulses per
encoder 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 offset has the same function as the
counter 1 offset, above.
Word Bits Function Details Controlled
by
A600 00 to 15 High-speed Counter 1 PV Counter range: 8000 0000 to 7FFF FFFF hex
(8 digits hexadecimal)
Note In Linear Counter Mode, high-speed
counter PVs are checked for overflow
and underflow errors when the PVs are
read (at built-in I/O refresh for the Mod-
ule).
Motion Con-
trol Module
A601 00 to 15
A602 00 to 15 High-speed Counter 2 PV
A603 00 to 15
A604
and
A605
00 to 15 High-speed
Counter 1
Counter
operation
• Absolute
linear
(CW−)
• Absolute
circular
• Absolute
linear
(CW+)
Absolute
No. of
rotations
PV
Multi-turn data (PV read from encoder) input to
the Motion Control Module is stored here when
SEN signal is input to Servo Driver.
8000 0000 to 7FFF FFFF hex
(8-digit hexadecimal)
Motion Con-
trol Module
Tab page Function Details Time when
setting
becomes
effective
206
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
A606
and
A607
00 to 15 High-speed
Counter 2
Counter
operation
• Absolute
linear
(CW−)
• Absolute
circular
• Absolute
linear
(CW+)
Absolute
No. of
rotations
PV
The same as for high-speed counter 1, except
that the high-speed counter frequency mea-
surement cannot be performed.
Motion Con-
trol Module
A608 04 High-speed
Counter 1
Status
Absolute No. of Rota-
tions Read Error Flag
OFF: No error
ON: Error occurred
Motion Con-
trol Module
05 Absolute No. of Rota-
tions Read Completed
Flag
OFF: Not reading or reading
ON: Reading completed (This is set at the
completion of receiving serial data on No.
of rotations.)
12 Absolute Offset Preset
Error Flag
An error occurred when storing the absolute
offset in the System Setup parameter area.
A609 04 High-speed
Counter 2
Status
Absolute No. of rota-
tions read error
These flags have the same functions as the
ones for High-speed Counter 1 Status, above.
Motion 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 from multi-turn
data from Servo Driver and the
No. of initial incremental pulses
are stored as the absolute offset.
When defining machine origin, dif-
ference between machine and
encoder's origins is preset as the
absolute offset.
Motion Con-
trol Module
06 Absolute PV preset OFF: Absolute PV preset invalid
OFF to ON: At this point, the absolute PV is
stored in high-speed counter PV 1
(A600 and A601).
Note Refer to 7-7-6 Absolute Present Value
for details on the absolute PV.
07 Absolute No. of rota-
tions read
OFF: No. of rotations data read from
Servo Driver invalid
ON: At the rising edge of the signal,
SEN is output to Servo Driver, and
multi-turn data is received from
the phase A input.
A611 05 High-speed
Counter 2
Command
Absolute Offset Preset These control bits have the same functions as
the ones for High-speed Counter 1 Command,
above.
Motion Con-
trol Module
06 Absolute PV Preset
07 Absolute No. of Rota-
tions Read
Word Bits Function Details Controlled
by
207
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
The SEN signal being turned ON, the Servo Driver behaves in the following
manner:
1,2,3... 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. Transmits the multi-turn data (how many revolutions the axis of the ro-
tary encoder made) with the serial communications.
b. Transmits the initial incremental pulse (difference between present po-
sition and origin) with phase differential pulse output.
2. After transmitting the absolute value data, transmits the pulse train corre-
sponding to the rotational displacement. (Transmits the same pulse as an
incremental encoder)
Absolute Encoder
Output Data
Acquiring Method
Use the following procedure to read the absolute encoder output data from a
Servo Driver to the Motion Control Module:
Step 1 (Required): Setting Setting the Pulse Input Method
Set the pulse input method in the System Setup. Select one of the following 5
methods:
Phase differential ×1, ×2, or ×4, increment/decrement 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 pulse
counting speed to 500 kHz in the System Setup.
Setting the Counter Operation
Set the Counter 1 Counter operation in the System Setup. Select one of the
following three counter operations for counting the encoder output.
• Absolute linear (CW−) counter
• Absolute linear (CW+) counter
• Absolute circular counter
Be sure to set the System Setup’s Counter 1 Counter operation so that it
agrees with the Servo Driver’s reverse rotation mode setting.
Setting the Absolute Encoder Resolution
Set absolute encoder resolution, which is the number of pulses received from
the Servo Driver for each revolution of the encoder.
Consider both the Servo Driver's encoder dividing rate setting and the Motion
Control Module's pulse input multiplier setting (with the System Setup’s pulse
input method setting). For example, set the resolution to FA0 (4,000) when the
Servo Driver’s rate is 1,000 and the Motion Control Module’s multiplier is ×4.
Step 2 (Required):
Acquiring the Encoder
Status when the SEN
Signal is Turned ON
Turn ON the Absolute Number of Rotations Read Bit (A610.07) from the lad-
der program. At this point, the SEN signal will go ON (high level). Leave the
SEN signal ON during operation, just like the RUN signal.
208
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 sig-
nal was turned ON, is received as serial data. After the multi-turn data has
been received through serial communications, the Absolute Number of Rota-
tions Read Completed Flag (A608.05) will go ON. If a reception error occurs
at this point, the Absolute Number of Rotations Read Completed Flag
(A608.05) and Absolute Number of Rotations Read Error Flag (A608.04) will
go ON and the received data will be discarded.
Step 3 (as Needed): Origin
Compensation (Absolute
Offset Preset)
When necessary, the absolute offset preset function can be used to set
encoder's present position as the origin.
Use the absolute offset preset function to store the present value that will
be defined as an origin as the absolute offset; the present value is
computed from the Absolute Number of Rotations PV (A604 and A605)
and the Number of Initial Incremental Pulses (A600 and A601).
To use the absolute offset preset function, turn ON the Absolute Offset Preset
Bit (A610.05).
Note When performing origin compensation, set the absolute offset 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 Abso-
lute Number of Rotations Read Completed Flag (A608.05) is turned ON and
then toggle (turn ON and then OFF) the Absolute Offset Preset Bit (A610.05).
Note Be sure to perform the absolute offset preset operation before starting normal
Servo Driver pulse outputs. The Absolute Offset Preset Bit’s ON timing
depends on encoder's resolution, etc. Adjust as needed corresponding to the
system.
Step 4 (Required):
Absolute Present Value
Preset
Use the absolute present value preset function to store the absolute
present value in high-speed counter PV 1 (A600 and A601).
To use the absolute present value preset function, toggle (turn ON and then
OFF) the Absolute PV Preset Bit (A610.06).
Step 5 (Required):
Operating Command to
Servo Driver
Turn ON the RUN Signal Output Bit (Servo Lock). Doing so will cause the
Servo Driver to start operating. At the same time, the Motion Control Module
will start receiving pulse trains and counting the number of pulses corre-
sponding to Servo Driver’s rotational displacement.
Step 6 (Required):
Stopping Servo Driver
Turn OFF the RUN Signal Output Bit (Servo Lock). Doing so will stop the
Servo Driver. In addition, turn OFF the Absolute Number of Rotations Read
Bit (A610.07) and High-speed Counter Start Bit (A610.00). When these bits
are OFF, the Motion Control Module will stop counting the pulse trains.
209
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
7-7-11 Timing Chart of the Functions for Servo Drivers Compatible with
Absolute Encoders
7-7-12 Sample Programs (Connecting an OMRON W-series Servo Driver)
Program Description
1,2,3... 1. With the Motion Control Module set to MONITOR mode, turning ON
CIO 0000.01 (absolute origin define) presets the absolute origin as the ab-
solute offset.
2. With the Motion Control Module set to MONITOR mode, turning ON
CIO 0000.00 (absolute servo operation start) presets the absolute present
value in A600 and A601.
Counter value is not changed
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 Bit
(A610.00)
Absolute PV Preset Bit
(A610.06)
SEN output
Phase A
Phase B
Absolute Present value
ON during 1 cycle
Initial incremental pulses
30 to 62.5 ms
User program
processing
Signals from
Servo Driver
The
latest
value
Absolute No. of Rotations
Read Completed Flag
If the absolute No. of
rotations read was
successful, SEN output
stays ON.
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.
Rotation data:
Motion
Control
Module's
internal
processing
Serial data (rotation data)
approx.15 ms
210
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
Note Adjust the timer value of TIMH(15) instruction (10 ms timer) to match to the
system requirements (such as the absolute encoder's resolution setting).
When more precision is required, use the TMHH(540) instruction (1 ms timer).
000000
(000000)
0.00
SET
A610.07
0.01
000001
(000003)
0.00
SET
2.00
000002
(000005)
Counter starts 50 ms after SEN output
A610.07
010
#5
A
610.
00
000003
(000009)
Preset the PV to the CNT 40 ms after reading ABS No. of rotations
1-Servo operation after completing ABS PV preset
2.00 A610.07 A608.05 A608.04
011
#4
A610.06
A
610
.06 DIFD
2.15
000004
(000020)
For
ABS No. of rotations read error
2.00 A
610
.07 A
608
.05 A
608
.04 RSET
A
610
.07
RSET
2.00
ABS servo
operation
start
ABS origin
define
SEN output ON
ABS servo
operation start
ABS No. of
rotations
read
ABS No. of
rotations
read
SEN output
TIM010
TIMH
Start high-
speed counter
TIMH
Reading
ABS PV
ABS No. of
rotations
read
SEN output
ABS No. of
rotations
read
completed
ABS No. of
rotations
read error
TIM011
Preset ABS
PV
Preset
ABS PV
DIFU
Servo operation
after completing
ABS PV preset
Servo
operation
Reading
ABS PV
ABS No. of
rotations
read
SEN output
ABS No. of
rotations
read
completed
ABS No. of
rotations
read error
SEN output OFF
Read ABS
No. of
rotations
Reading
ABS PV
See
note.
See
note.
211
Functions for Servo Drivers Compatible with Absolute Encoders Section 7-7
Note Adjust the timer value of TIMH(15) instruction (10 ms timer) to match the sys-
tem requirements (such as the absolute encoder's resolution setting). When
more precision is required, use TMHH(540) instruction (1 ms timer).
000005
(000026)
0.01 SET
2.01
000006
(000028)
PV preset as ABS offset 40 ms after completing ABS No. of rotations read
2.01 A610.07 A608.05 A608.04
012
#4
A610.05
A609.05
2.14
000007
(000039)
For
ABS No. of rotations read error
2.01 A610.07 A608.05 A608.04 RSET
A610.07
RSET
2.01
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 origin" status after presetting ABS offset
2.14 RSET
2.01
000011
(000051)
END
ABS origin
define ABS origin define
TIMH
DIFU
TIM012
DIFD
SEN output OFF
ABS No. of
rotations
read
SEN output
ABS No. of
rotations
read
completed
ABS No. of
rotations
read error
ABS origin
define
ABS offset
preset
ABS offset
preset
ABS No. of
rotations
read
SEN output
ABS No. of
rotations
read
completed
ABS No. of
rotations
read error
ABS origin
define
ABS origin
define
Servo operation
Servo operation
Servo
operation
start
Reading
ABS PV
Defining
ABS origin
See
note.
ABS No.
of rotations
read
212
Virtual Pulse Output Function Section 7-8
7-8 Virtual Pulse Output Function
7-8-1 Applicable Models
7-8-2 Overview
The AXIS instruction allows the execution of virtual pulse output with trapezoi-
dal acceleration/deceleration.
The AXIS instruction executes the pulse output with trapezoidal acceleration/
deceleration internally. At the same time, AXIS internally integrates (counts)
the number of pulses (area) in the trapezoid.
With this function, the internal pulse count can be used in various applications
as a virtual axis position.
Example 1: Position/Speed Control Using a Virtual Axis (Electronic Cam
Operation)
The internal pulse count can be treated as a virtual axis in order to perform
electronic cam operation (position and speed control based on the virtual axis
angle) with curve approximation on the real axis operation using the positions
of the virtual axis as reference.
Example 2: Locus 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 performed by execut-
ing synchronous output control (electronic cam operation) simultaneously on
two pulse outputs using the position and speed of the virtual axis.
Example 3: Semi-closed Loop Position Control with an Analog-input
Servo Driver
Semi-closed loop positioning can be performed with an analog-input Servo
Driver by creating a ladder program routine that controls an error counter
based on the internal pulse count and the feedback signal from the Servo
Driver.
Model Functions
FQM1-MMP21 Motion Control Module for Pulse I/O
FQM1-MMA21 Motion Control Module for Analog I/O
FQM1-CM001 Coordinator Module
AXIS
M
C
T
=
Ladder program
Motion Control Module
Internal pulse frequency
(Speed command) Specified number of pulses =
Target position
Target frequency
(Hz)
Time
Virtual axis
Target position and
Target frequency
Pulse count
(Internal PV)
Electronic cam operation by PULS
based on pulse count PV
213
Virtual Pulse Output Function Section 7-8
7-8-3 AXIS Instruction (For Virtual Pulse Outputs)
Overview The AXIS instruction is used to generate a virtual pulse output with trapezoi-
dal 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).
While the AXIS instruction’s input condition is ON, it internally generates the
specified number of pulses and integrates (counts) the number of pulses
(area) in the trapezoid.
Operands
M (Mode Specifier) Sets the output mode.
• #0000: Relative mode
• #0001: Absolute mode
C (Calculation Cycle) Sets the calculation cycle.
• #0000: 2 ms calculation cycle
• #0001: 1 ms calculation cycle
• #0002: 0.5 ms calculation cycle
T (First Word of Setting Table)
AXIS
M
C
T
M: Mode specifier
C: Calculation cycle
T: First word of setting tabl
e
Address Name Description Setting range Set/
monitored
T Internal pulse count
(8-digit hexadecimal)
The present value of internal
pulse counter is stored here.
Relative mode:
0000 0000 to FFFF FFFF
Absolute mode:
8000 0000 to 7FFF FFFF
Monitored
(Read)
T+1
T+2 Bit 15 Virtual pulse output
status
Indicates whether or not the vir-
tual pulse output has started.
OFF: Pulse output stopped
ON: Pulse being output
Bit 08 Indicates the direction of virtual
pulse currently being output.
OFF: CW
ON: CCW
Bit 07 Indicates whether or not the vir-
tual pulse output is being
counted.
OFF: Pulse being counted
ON: Target position reached
(Counting stopped)
Bit 00 Indicates whether or not the vir-
tual pulse output is accelerating/
decelerating.
OFF: Constant speed
ON: Accelerating/decelerating
T+3 to T+4 Present speed
(8-digit hexadecimal)
The frequency of the virtual
pulse output is stored here.
0000 0000 to 000F 4240 hex
(0 to 1 MHz in 1-Hz units)
214
Virtual Pulse Output Function Section 7-8
Description • Use the AXIS instruction with an input condition that is ON for one cycle.
AXIS cannot be used as a differentiated instruction (the @ prefix is not
supported).
• AXIS is executed at the rising edge of the input condition. If the input
remains ON, the virtual pulse output continues until the target position is
reached. Once the target position is reached, the virtual pulse output is
stopped. If the input condition goes OFF during the virtual pulse output,
the output stops at that point.
• The AXIS instruction’s mode specifier operand (M) specifies whether the
virtual pulse output operates in relative or absolute mode.
• In relative mode, the internal pulse counter initializes the internal pulse
count to 0 when AXIS is executed and starts incrementing from 0.
• In absolute mode, the internal pulse counter retains the internal pulse
count when AXIS is executed and starts incrementing or decrementing
from that existing pulse count.
• The internal pulse counts are refreshed every cycle at the interval speci-
fied in the calculation cycle (2 ms, 1 ms, or 0.5 ms) on the condition that
the cycle time is constant. If the specified calculation cycle time does not
match the execution cycle time, the time difference between the cycles
can cause an error in the count. If highly accurate pulse counts are
required, use the constant cycle time function 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 specified target
position, target frequency, and acceleration/deceleration, AXIS will auto-
matically compensate as follows:
The acceleration and deceleration rates will be set to the same rate
(symmetrical trapezoidal control).
OR
When one-half of the specified target pulses have been output, AXIS
will start decelerating the operating axis at the same rate as accelera-
tion (symmetrical triangular control).
Note When the AXIS instruction’s input condition goes OFF, the contents of setting
table words T+2 to T+4 will be initialized to 0.
T+5 to T+6 Target position
(8-digit hexadecimal)
Set the number of virtual output
pulses here.
Relative mode:
0000 0000 to FFFF FFFF
Absolute mode:
8000 0000 to 7FFF FFFF
Set
(Read/
Write)
T+7 to T+8 Target frequency
(8-digit hexadecimal)
Set the target frequency of vir-
tual pulses here.
0000 0001 to 000F 4240 hex
(0 to 1 MHz in 1-Hz units)
T+9 to T+10 Starting frequency
(8-digit hexadecimal)
Set the starting frequency of vir-
tual pulses here.
0000 0000 to 000F 4240 hex
(0 to 1 MHz in 1-Hz units)
T+11 Acceleration rate
(4-digit hexadecimal)
Set the acceleration rate of vir-
tual pulses here.
0001 to 270F
(1 to 9,999 Hz, in 1-Hz units)
T+12 Deceleration rate
(4-digit hexadecimal)
Set the deceleration rate of vir-
tual pulses here.
0001 to 270F
(1 to 9,999 Hz, in 1-Hz units)
T+13 to T+26 Work area Used by the system. ---
Address Name Description Setting range Set/
monitored
215
Analog Input Functions Section 7-9
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. The
internal pulse count is read at every cycle, that pulse count is processed with
basic arithmetic operations or the APR instruction, and the result is used as a
target position or target speed in the PULS(886) instruction. The PULS(886)
instruction (in electronic cam control) is executed immediately after the target
position or speed is calculated.
Simple locus control can be performed by executing electronic cam control
simultaneously 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 at
high-speed (A/D conversion time: 40 µs).
One of five signal types for analog inputs can be selected: −10 to +10 V, 0 to
10 V, 0 to 5 V, 1 to 5 V, and 4 to 20 mA.
Analog input values are stored in the Motion Control Module’s Auxiliary Area
in A550. The stored input value is the analog input value read at END refresh-
ing. It is also possible to adjust the analog input values.
Pulse count
(Virtual pulses)
Execute constant cycle time
Pulse output PV (normal pulse output)
Time
Execution of PULS
(Changes target position
and speed.)
Target position
Time
Internal pulse frequency
(Speed command)
Pulses generated
by AXIS
Target frequency
(Hz)
Time
Execution of AXIS
PULS (Electronic Cam
Mode) is executed in the
program with changed
target position and speed.
Model Functions
FQM1-MMA21 Motion Control Module for Analog I/O
216
Analog Input Functions Section 7-9
The PRV(881) instruction can also be used to read the latest analog input
value through immediate refreshing. Analog signals can be input from pres-
sure sensors, position meters, or sensors that require high-speed input pro-
cessing 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 mea-
surement (distortion/thickness/length).
Note The analog input responsiveness has been 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 Control Module is being used in an environment with a lot of noise.
When the Motion Control Module’s analog input value is being used, addi-
tional noise countermeasures can be added to the program such as using
END refreshing and filtering the input values with AVG instructions.
I/O memory
User program
PRV
D
A
FQM1-MMA21
Motion Control Module
Selected signal range:
−10 to +10 V, 0 to 10 V,
0 to 5 V, 1 to 5 V, or
4 to 20 mA
Immediate
refreshing
Sensor
(pressure, displacement, etc.)
Stores the data
when instruction
is executed.
High speed input
(A/D conversion time:
40 µs)
217
Analog Input Functions Section 7-9
7-9-3 Analog Input Function Specifications
Note The following diagram is provided as a reference example. This example
shows the input response (step response) characteristics of an input when the
external input signal is changed in a step pattern. In this case, the input range
is −10 to +10 V.
Item Specification
Input signals Voltage inputs, current inputs
No. of analog 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 40 µs
Input response time 1.5 ms or less (See note.)
Resolution −10 to +10 V: 1/16,000 (14 bits)
0 to 10 V: 1/8,000 (13 bits)
0 to 5 V: 1/4,000 (12 bits)
1 to 5 V: 1/4,000 (12 bits)
4 to 20 mA: 1/4,000 (12 bits)
Analog input refresh method Analog input value can be acquired by either of the following methods:
• 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 analog input value immediately by executing the PRV(881)
instruction.
Analog input value storage area A550 of Motion Control Module’s Auxiliary Area
With the immediate refresh, the present analog input value can be acquired by exe-
cuting the PRV(881) instruction.
Overall accuracy Voltage input: Current input:
±0.2% (23 ±2°C)
±0.4% (0 to 55°C)
±0.4% (23 ±2°C)
±0.6% (0 to 55°C)
Function Offset/gain
adjustment
Input values can be adjusted to correct inputs suitable for the connected devices.
In PROGRAM mode, specify an offset or gain value, input the analog value from the
device (the value that will be corrected with the offset or gain value), and use the
CX-Programmer to monitor the adjustment value in the Adjustment Value Monitor
Area (A572 and A573).
It is also possible to monitor averaged offset or gain values. If averaging is required,
set the number of average value samples in A574.
100%
50%
0.5 1
0 1.5
80%
Response (%)
Time
(
ms
)
218
Analog Input Functions Section 7-9
7-9-4 Related Areas and Settings
System Setup
Tab page Function Settings Time when setting
becomes effective
Analog Input/
Output
Both inputs
and outputs
Input
method
0 hex: END refresh
1 hex: Immediate refresh (Refresh with PRV(881).)
At power ON and
start of operation
Output
method
0 hex: END refresh
(Content of A560 and A561 is output as
analog output after execution of END
instruction.)
1 hex: Immediate refresh
(Analog 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: 0 to 5 V
At power ON
Outputs Output
range
00 hex: −10 to 10 V
01 hex: 0 to 10 V
02 hex: 1 to 5 V
03 hex: 0 to 5 V
5A hex: Disable outputs (See note.)
Note Outputs can be disabled to shorten the I/O
refreshing time or reduce the Motion Control
Module’s power consumption.
At power ON
Output stop
function
0 hex: Clear outputs
1 hex: Hold outputs
2 hex: Maximum value
Outputs Output
range
These parameters have the same settings as output
1, above.
Output stop
function
219
Analog Input Functions Section 7-9
Auxiliary Area
Word Bits Function Settings Controlled
by
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.
The PV range depends on the input range:
• 0 to 10 V: FE70 to 20D0 hex
• 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
•−10 to 10 V: DDA0 to 2260 hex
Motion
Control
Module
A552 00 Analog Input
Status
Analog Input User Adjustment
Completed
OFF: Not adjusted
ON: Adjustment completed
01 to 06 Reserved
07 Analog Sampling
Started
OFF: Not started
ON: Started
08 Factory Adjustment
Data Error
OFF: No Error
ON: Error
(Checked at startup.)
09 User Adjustment
Data Error
OFF: No Error
ON: Error
(Checked at startup.)
10 to 14 Reserved ---
15 Analog Input
Status
Analog Input Analog Sampling
Overlap
OFF: Normal sampling
ON: The next sampling
operation occurred
before the present
sampling operation
completed.
Motion
Control
Module
A559 01 to 15 Analog Input
Status
Analog Input Number of Samples Indicates the number of data
samples actually input since
sampling started.
Motion
Control
Module
A560 00 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-digit hexadecimal value
being output from analog output port 1 is stored here for monitoring.
The output value range depends on the output range, as shown below.
• 0 to 10 V, 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
•−10 to 10 V: EA84 to 157C hex
Note
1. Set the analog output method (END or immediate refreshing) with the
System Setup’s output method setting. A setting of 0 hex specifies an
END refresh. This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 1 setting.
With imme-
diate
refresh:
Motion
Control
Module
With END
refresh:
User
A561 00 to 15 Analog Out-
put 2 Output
Value
This word has the same settings as the analog output 1 output value
(A560), above. (When an END refresh is selected, set the value to out-
put from analog output port 2. When an immediate refresh is selected,
the output value is stored here for monitoring.)
Note
1. Set the analog output method (END or immediate refresh) with the
System Setup’s output method setting. A setting of 0 hex specifies an
END refresh. This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 2 setting.
220
Analog Input Functions Section 7-9
A562 00 Analog Out-
put 1 Flags
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.
Motion
Control
Module
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.
Motion
Control
Module
05 to 07 Reserved ---
08 Output SV Error ON: ON when the output SV setting is outside of
the allowed setting range.
OFF: OFF when the output SV is within range.
Note Only in End refresh mode
Motion
Control
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.
Motion
Control
Module
13 Reserved ---
14 User Adjustment
Value Error
ON: ON when the user-set adjustment value
stored in flash memory is invalid.
OFF: OFF when the user-set adjustment value
stored in flash memory is normal.
Motion
Control
Module
15 Reserved ---
A563 00 Analog Out-
put 2 Flags
User Adjustment
Completed
These flags have the same functions as the Analog
Output 1 Flags, above.
Motion
Control
Module
01 to 03 Reserved
04 Operating
05 to 07 Reserved
08 Output SV Error
09 to 11 Reserved
12 Factory Adjust-
ment Value Error
13 Reserved
14 User Adjustment
Value Error
15 Reserved
Word Bits Function Settings Controlled
by
221
Analog Input Functions Section 7-9
A570 00 Adjustment
Mode Com-
mand Bits
(Effective only
when A575 is
5A5A hex.)
Adjustment
Enable
Analog Input OFF: Adjustment disabled.
ON: Adjustment enabled.
When this bit is turned from
OFF to ON, the default value
(offset or gain value) corre-
sponding to the selected I/O
signal range is transferred to
Adjustment Value Monitor
Area (A572 and A573).
User
01 Reserved
02 Analog Output 1
03 Analog Output 2
04 to 06 Reserved
07 Adjustment Mode
Specifier
OFF: Offset adjustment
ON: Gain adjustment
User
08 to 11 Reserved
12 Adjustment Value
Increment
While this bit is ON, the offset or gain value will be
incremented by one resolution unit each 0.5 s.
Motion
Control
Module
13 Adjustment Value
Decrement
While this bit is ON, the offset or gain value will be
decremented by one resolution unit each 0.5 s.
14 Adjustment Value
Clear
OFF to ON: Clears the adjustment data to the fac-
tory defaults.
15 Adjustment Value
Set
OFF to ON: Reads the present value in the
Adjustment Value Monitor Area (A572
and A573) and saves this value to
flash memory. This adjustment value
will be used for the next normal 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 Enable Bits at the same
time.
Motion
Control
Module
01 to 14 Reserved
15 Adjustment Mode
Started
ON during adjustment mode operation (when A575
contains 5A5A hex).
A572 00 to 15 Adjustment
Mode Monitor
(Effective only
when A575 is
5A5A hex.)
Used for Analog
Input and Analog
Outputs 1/2
Setting Offset Moni-
tor
The values in
these words
can be over-
written
directly, with-
out using the
Adjustment
Value Incre-
ment/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
Motion
Control
Module or
User
A573 00 to 15 Gain Value Monitor • −10 to 10 V:
1194 to
157C hex
• 0 to 10 V, 0
to 5 V, 1 to
5 V: 0ED8 to
1068 hex
A574 00 to 15 Analog Inputs Number of Average
Value Samples in
Adjustment Mode
Indicates the number of val-
ues to be averaged to obtain
the Offset/Gain Value Moni-
tor values in adjustment
mode. The number of sam-
ples can be set between
0000 and 0040 hex (0 to 64).
Set this parameter before
turning ON the Adjustment
Enable Bit.
User
A575 00 to 15 Adjustment Mode Password 5A5A hex: Adjustment mode enabled.
Other value: Adjustment mode disabled.
User
Word Bits Function Settings Controlled
by
222
Analog Input Functions Section 7-9
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.
7-9-6 A/D Conversion Value
When a signal is input that exceeds the allowed ranges indicated below, the
conversion value will be processed as it is. However, inputting out-of-range
signals 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 or lower limit value.
Signal Range: −10 to
10 V
Signal Range: 0 to 10 V
(@) PRV
P P: Output port (#0003: Analog input)
C C: Control specification (#0000: Present value read)
D D: Present value storage first word
E0C0
DDA0
0.0 V
+10.0 V
+11.0 V
0000 1F40
2260
Analog input (V)
−10.0 V
−11.0 V
Stored value
(4-digit Hexadecimal)
Resolution of 1/16,000
20D0
0000
FE70
+10.0 V
+10.5 V
1F40
Analog input (V)
−0.0 V
−0.5 V
Stored value
(4-digit Hexadecimal)
Resolution of 1/8,000
223
Analog Input Functions Section 7-9
Signal Range: 1 to 5 V and 4 to 20 mA
Signal Range: 0 to 5 V
7-9-7 High-speed Analog Sampling (FQM1-MMA21 Only)
Overview When an FQM1-MMA21 Motion Control Module is being used, the Motion
Control Module can be synchronized with pulse inputs from the encoder to
collect analog data.
This sampling method checks measurements in synchronization with the
position, an operation which could not be performed with scheduled interrupts
in earlier controllers.
When the CTBL(882) instruction is used as a high-speed analog sampling
function, the Motion Control Module can start sampling analog input data at
high speed 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 CTBL(882) instruction starts a specified interrupt task when the
high-speed counter PV of pulse input 1 matches a specified target value.
If the CTBL(882) instruction is executed in the interrupt task to perform
high-speed analog sampling, the Motion Control Module will sample analog
values at the interval (circular counter size) specified by the CTBL(882)
instruction.
1068
0000
FF38
+5.0 V
+5.2 V
0FA0
Analog input (V)
+1.0 V
+0.8 V
Stored value
(4-digit Hexadecimal)
Resolution of 1/4,000
+20.8 mA
+20.0 mA
+4.0 mA
+3.2 mA
Analog input (mA)
1068
0000
FF38
+5.00 V
+5.25 V
0FA0
Analog input (V)
0 V
−0.25 V
Stored value
(4-digit Hexadecimal)
Resolution of 1/4,000
224
Analog Input Functions Section 7-9
Once the sampling of analog input values starts, the number of values speci-
fied 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 com-
pleted when the specified number of samples are all stored in the DM Area.
Example
Application Example Creating Displacement Data from a Particular Workpiece Position
In this example, operation is synchronized to the measurement position of a
workpiece (such as a sheet of glass) and the Motion Control Module collects
displacement data from an analog output sensor. Displacement is measured
at several measurement points.
1,2,3... 1. When the workpiece has reached the measurement point, the CTBL(882)
instruction is executed and an interrupt will be generated for the
high-speed counter PV (linear counter).
2. Another CTBL(882) instruction (using the CTBL(882) instruction’s
high-speed analog sampling 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
analog input data samples from a displacement sensor.
S Target value 8-digit hex
S+1
S+2 First word of data sample storage area
(DM Area address)
0000 to 7FFF hex
S+3 Number of data samples 0000 to 7FFF hex
CTBL
P
M
S
P: Port specifier (#0003)
M: Register target value comparison table and start comparison.
S: Target value comparison table
CTBL(882) with High-speed Analog Sampling Function
CTBL
#3
#0
D00000
D00000 0000 hex
D00001 0000 hex
D00002 00C8 hex (200 decimal)
D00003 0064 hex (100 decimal)
0000 0000 hex
D00200
D00201
D00202
D00299
0000 0000 hex
Sampling counter: #3
Register target value comparison table and start comparison.
Start of comparison table
Target value (rightmost 4 digits)
Target value (leftmost 4 digits)
Data sample storage area
Number of data samples
FQM1-MMA21 Motion Control Module (for Analog Inputs)
Pulse input
Analog input
Counter PV
Sampling counter
High-speed counter 1
Start sampling
Target
value
Sample storage area
Comparison Table
225
Analog Outputs Section 7-10
3. The high-speed analog sampling function stops when the specified num-
ber of high-speed analog input data samples have been collected.
The following diagram shows how this method can be used to collect dis-
placement data from a particular workpiece position.
The sampled data can be processed to calculate and store the average, max-
imum, and minimum values in multiple ranges specified. A judgement output
can also be generated.
7-10 Analog Outputs
7-10-1 Applicable Models
7-10-2 Outline
The FQM1-MMA21 Motion Control Module can generate analog output sig-
nals for two ports. Each output can be set independently to one of four signal
types: −10 to +10 V, 0 to 10 V, 0 to 5 V, or 1 to 5 V.
Normally, the analog values stored in A560 and A561 are output cyclically
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+1
S+2
S+3
CTBL
P
M
S
4 to 20 mA
FQM1-MMA21 Motion Control Module
(for analog inputs)
Main program
Interrupt task
Origin reached
Interrupt started
Generates target value comparison
interrupts for the high-speed
counter PV (linear counter).
Performs analog sampling based on
target value comparisons with the
high-speed counter PV (circular counter).
Comparison table starts at S.
Analog input sampling
position
Data sample storage area
Number of data samples
Sampling positions and collection of
sampled displacement data (analog)
Displacement
sensor
Pulse input
(position)
Encoder
Analog input sampling start points
High-speed
travel
Origin Origin Origin
Linear counter
Circular counter
Analog input
sampling
Displacement
Model Functions
FQM1-MMA21 Motion Control Module for Analog I/O
226
Analog Outputs Section 7-10
7-10-3 Analog Output Function Specifications
Analog Outputs
Item Specification
Output signals Voltage outputs
Number of analog 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 40 µs/output
Resolution –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: 1/4,000 (12-bit value between 0000 and 0FA0 hex)
Analog output refresh method Set the refresh timing of analog output values in the System Setup (Analog Input/Out-
put Tab Page − Output):
• END refresh
• Immediate refresh (executing SPED(885) or ACC(888))
END refreshing The values in A560 and A561 are output as the analog output 1 and
2 output values.
Immediate
refreshing by
instructions
The specified analog value is output when SPED(885) or ACC(888)
is executed in the program.
• SPED(885): Changes analog output value in a step pattern.
• ACC(888): Changes analog output value with a slope. (Value
changes every 2 ms.)
Note
1. Analog output values can also be controlled from interrupt subrou-
tines.
2. The setting in the analog output stop function determines the an-
alog output value from startup until execution of an instruction 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 values are specified in
the instruction’s operands.
–10 to 10 V
EC78 to 1388 hex (–5,000 to 5,000 decimal) (resolution: 10,000) corresponding
to 0% to 100% voltage (–10 to 10 V)
The possible setting range is actually EA84 to 157C hex (–5,500 to 5,500 deci-
mal) corresponding to –5% to 105% voltage (–11 to 11 V)
0 to 10 V, 0 to 5 V, or 1 to 5 V:
0000 to 0FA0 hex (0 to 4,000 decimal) (resolution: 4,000) corresponding to 0% to
100% of the FS range. (Actually, the setting range is FF38 to 1068 (–200 to 4,200
decimal) corresponding to –5% to 105% voltage (–0.5 to 10.5 V, –0.25 to 5.25 V,
or 0.8 to 5.2 V).)
Analog output value storage
locations
Analog output 1: A560; Analog output 2: A561
• With END refreshing, the contents of these words can be changed to change the ana-
log output values that are output externally.
(The actual output value may be different from the stored value if the output stop func-
tion is being used to clear the output or output the maximum value.)
• With immediate refreshing by instructions, the value being output by SPED(885) or
ACC(888) is stored in these words for monitoring when SPED(885) or ACC(888) is
executed. If the hold function is being used, the values output by the hold function are
stored for monitoring.
Max. external output current 2.4 mA
Overall accu-
racy (See note
1.)
23 ±2°C±0.3% of FS
0 to 55°C±0.5% of FS
227
Analog Outputs Section 7-10
Note (1) The overall accuracy is the ratio of accuracy to the full scale.
(2) The following table shows the status of the analog outputs if there is a fa-
tal error in the Motion Control Module or the Coordinator Module is in
CPU standby status.
If there is an error in the System Setup settings for the analog output func-
tion (Analog Input/Output), the following settings will be used.
Output range: – 10 to 10 V
Output stop function: Clear
Refreshing method: END refresh
Functions Slope The ACC(888) instruction can be used to change the analog output value at the follow-
ing 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 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. (A562.08 is the flag for output 1 and
A563.08 is the flag for output 2.) (Only when end refresh is selected.)
• A fatal error (other than 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
adjustment
The output values can be offset as required for the connected device.
In adjustment mode, the offset or gain can be changed by turning ON the Adjustment
Enable Bit (A570.00 for the analog input, A570.01 for analog output 1, or A570.02 for
analog output 2), specifying the offset or gain value, and turning ON the Increment or
Decrement Bit from the CX-Programmer.
• Offsets: –10 to 10 V: FE0C to 01F4 hex
0 to 10 V, 0 to 5 V, or 1 to 5 V: FF38 to 00C8 hex
• Gain values: –10 to 10 V: 1194 to 157C hex
0 to 10 V, 0 to 5 V, or 1 to 5 V: 0ED8 to 1068 hex
Item Specification
Condition Analog output
WDT error in Motion Control Module Output near 0 V (0 V output
without offset adjustment).
• Flash memory adjustment data error in
Motion Control Module (flash memory error or
adjustment data error indicated in Auxiliary
Area)
• CPU standby error in Coordinator Module
Another fatal error in the Motion Control Mod-
ule (such as flash memory errors not listed
above, FALS, etc.)
The output status specified by
the hold function (clear, peak,
or hold) will be output.
228
Analog Outputs Section 7-10
Specified Output Values and Analog Output Signals
7-10-4 Applicable Instructions
END Refreshing Set the analog output values in A560 and A561 using an instruction such as
the MOV instruction.
With Immediate
Refreshing
Outputs can be controlled with SPED(885) and ACC(888) as outlined below.
SPED(885) can be used to change the output value in steps.
−10 to 10 V 0 to 10 V
0 to 5 V 1 to 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
Specified output value
(4-digit Hex)
0000
0.0 V
−0.5 V
10.0 V
10.5 V
0FA0
1068
FF38 Resolution: 4,000
−10.0 V
−11.0 V
+10.0 V
+11.0 V
157C
EA84 Resolution: 10,000
0000
0.0 V
0000
0.0 V
−0.25 V
5.0 V
5.25 V
0FA0
1068
FF38 Resolution: 4,000
0000
1.0 V
0.8 V
5.0 V
5.2 V
0FA0
1068
FF38 Resolution: 4,000
EC78 1388
P: Port specifier
(#0001 for analog output 1 or #0002 for analog output 2)
F: Analog output value
M: Always #0000
(@) SPED
P
#0000
F
229
Analog Outputs Section 7-10
F: Analog output value
Specifies the target analog output value as a 4-digit hexadecimal value.
Note The specified analog output value must be within the allowed range listed
above. If an out-of-range output value is specified, an error will occur and it
will be necessary to switch to PROGRAM mode in order to output the analog
output again.
ACC(888) can be used to generate a rising or falling analog output value
T = Rate of Change (4-digit hexadecimal)
T contains the rate of change (slope) per 2 ms.
T+1 = Analog Output Target Value
T+1 is set to the target analog output value as a 4-digit hexadecimal value.
Note ACC(888) and SPED(885) cannot be used to change the analog output value
while ACC(888) is generating a sloped output. Change the output value only
after the target value has been reached.
7-10-5 Procedure
1,2,3... 1. Determine the analog output 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 V, 0 to 10 V, 0 to 5 V, or 1 to 5 V).
• Set the output stop function (clear, peak value, or hold).
• Set the analog output refreshing method (END refresh or immediate
refresh).
4. Create the necessary ladder programming.
• Set the output value in A560 or A561 with an instruction such as MOV.
• Execute SPED(885) or ACC(888).
– 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,
1to 5 V
FF38 to 1068 hex (–200 to 4,200 decimal, resolution: 4,400)
–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)
–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 or 1 to 5 V FF38 to 1068 hex
(–200 to 4,200 decimal, resolution: 4,400)
P: Port specifier
(#0001 for analog output 1 or #0002 for analog output 2)
T = Rate of change, T+1 = Analog output target value
M: Always #0000
(@) ACC
P
#0000
T
230
Analog Outputs Section 7-10
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.
Outputting a Stepped
Analog Output
In this example, the Motion Control Module outputs a step-pattern analog out-
put 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.”
• Analog Input/Output Tab Page − Output: Set the analog output refreshing
method to immediate refresh.
Outputting a Sloped
Analog Output
In this example, the Motion Control Module outputs 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.”
• Analog Input/Output Tab Page − Output: Set the analog output refreshing
method to immediate refresh.
@MOV
#1000
A560
0002.01
SET
A564.00
When CIO 0002.01 goes ON, MOV
stores 1000 hex in A560 (Analog
Output 1 Output Value).
Turns ON A564.00 (Analog Output 1
Conversion Enable Bit).
D00000 0 3 E 8
@SPED
#0001
#0000
D00000
0002.01
When CIO 0002.01 goes ON, SPED is
executed to output a stepped analog
signal from analog output port 1, with an
output range of 1 to 5 V, and an analog
output value of 03E8 hex (25% = 2 V).
Specified analog output value = 03E8 hex
(
1,000 decimal = 25%
)
D00000 0 1 9 0
D00001 0 7 D 0
@ACC
#0001
#0000
D00000
0002.01
When CIO 0002.01 goes ON, ACC is
executed to output a sloped analog
signal from analog output port 1, with an
output range of 1 to 5 V, an analog output
target value of 07D0 hex (50% = 3 V), and
slope of 0190 hex (10% = 0.4 V) every 2 ms.
Rate of change: 0190 hex
(400 decimal = 10%)
Specified analog output value = 07D0 hex
(2,000 decimal = 50%)
231
Analog Outputs Section 7-10
232
Analog Outputs Section 7-10
233
SECTION 8
Connecting the CX-Programmer
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 CX-Programmer Connecting Cables . . . . . . . . . . . . . . . . . . . . . . . . 238
234
CX-Programmer Section 8-1
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 pro-
grams 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.
The FQM1 Patch Software must be installed for the CX-Programmer Ver. 5.0
(Model: WS02-CXPC1-E-V50). It cannot be installed for the CX-Programmer
Ver. 4.0 or earlier. To connect the FQM1 and a personal computer, use the
cables shown in the following table.
Note These RS-232C Connecting Cables cannot be used to connect to the CX-
Programmer with Peripheral Bus communications. Connect to the CX-Pro-
gramer with Host Link (SYSMAC WAY) communications.
!Caution Never connect a PLC Programming 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
Connecting Cables
(for peripheral port)
CS1W-CN118 Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin receptacle (converts between RS-232C and peripheral com-
munications)
(Length: 0.1 m)
CS1W-CN226 Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 2.0 m)
CS1W-CN626 Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 6.0 m)
Programming Device
Connecting Cables
(for RS-232C port)
XW2Z-200S-CV Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 2.0 m), Static-resistant connector used.
XW2Z-500S-CV Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 5.0 m), Static-resistant connector used.
XW2Z-200S-V Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 2.0 m) (see note)
XW2Z-500S-V Connects a personal computer (Microsoft Windows OS).
D-Sub 9-pin (Length: 5.0 m) (see note)
USB-Serial Conver-
sion Cable
CS1W-CIF31 USB to D-Sub 9-pin conversion cable
(Length: 0.5 m)
235
Connecting the CX-Programmer Section 8-2
8-2 Connecting the CX-Programmer
8-2-1 System Configuration
Connecting a Personal Computer Running Support Software
Connecting to the Peripheral Port
Connecting to the RS-232C Port
Programming Software
Note When the CX-Programmer is used with an FQM1, the CX-Programmer ver-
sion must be Version 5.0 or higher and the FQM1 Patch Software must be
installed.
Computer
Windows
OS
Computer connector
D-Sub, 9-pin
D-Sub, 9-pin
D-Sub, 9-pin
Length
0.1 m
2.0 m
6.0 m
Peripheral port
RS-232C
Peripheral port
CS1W-CN118
Cable
CS1W-CN118 (See note 1.)
CS1W-CN226
CS1W-CN626
CM MM
MMCM
Computer
(RS-232C, 9-pin)
Connecting Cables for Peripheral Port
1. The CS1W-CN118 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 RS-232C Cable that has a model number ending in -V. In this case, Host Link
(SYSMAC WAY) communications must be used.
Note
XW2Z-@@@S-@@
(See note 2.)
RS-232C Cable
2. Host Link (SYSMAC WAY) communications cannot be used. Use peripheral bus communications.
CM MM
Note
Computer
(RS-232C, 9-pin)
RS-232C Cable
XW2Z-200S-CV or XW2Z-200S-V: 2 m
XW2Z-500S-CV or XW2Z-500S-V: 5 m
The XW2Z-200S-CV and XW2Z-500S-CV use static-resistant
connectors and can be connected through peripheral bus or Host
Link communications. The XW2Z-200S-V and XW2Z-500S-V,
however, can only be connected through Host Link, not through
peripheral bus.
RS-232C port
OS Name
Microsoft Windows CX-Programmer Version 5.0 or higher only
(See note.)
CD-ROM
236
Connecting the CX-Programmer Section 8-2
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
Using an RS-232C Cable
(XW2Z-200S-CV, XW2Z-
500S-CV, XW2Z-200S-V, or
XW2Z-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
Recommended cable:
CS1W-CN226/626
CS1W-CN118
CS1W-CIF31
Peripheral port
USB type A plug, male
D-sub Connector
(9-pin male)
D-sub Connector
(9-pin female)
XW2Z-200S-CV, XW2Z-500S-CV,
XW2Z-200S-V, or XW2Z-500S-V
(See note.)
D-sub Connector
(9-pin male)
D-sub Connector
(9-pin female)
237
Connecting the CX-Programmer Section 8-2
Connecting to the RS-232C Port
Connection Methods (Using a USB-Serial Conversion Cable)
Cable Connection Diagram
Using an RS-232C Cable
(XW2Z-200S-CV, XW2Z-
500S-CV, XW2Z-200S-V, or
XW2Z-500S-V)
Note The connection must be a Host Link 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-200S-V, or XW2Z-500S-V
(See note.)
+ +
CS1W-CIF31 FQM1Computer Cable #1 Cable #2 (when necessary)
CS1W-CN226/626
Connecting Cable for
CS/CJ-series peripheral port
OR
XW2Z-@@@ RS-232C
Connecting Cable
CS1W-CN118 RS-232C to
CS/CJ-series Peripheral
Conversion Cable
USB Connecting
Cable
238
Connecting the CX-Programmer Section 8-2
8-2-2 CX-Programmer Connecting Cables
Note When connecting one of these cables to the Coordinator Module’s RS-232C
port, always touch a grounded metal object to discharge any electrostatic
charge from the body before touching the cable connector.
The XW2Z-@@@S-CV Cables are equipped with static-resistant XM2S-0911-
E Connector Hoods to improve static resistance, but we recommend discharg-
ing static build-up before touching these connectors as well.
!Caution The OMRON Cables listed above can be used for connecting cables or an
appropriate cable can be assembled. The external device or Coordinator
Module itself may be damaged if a standard computer RS-232C cable is used
as a connecting cable.
USB
Connecting
Cable
Cable 1 Cable 2 Port Communic
ations
mode
Connector Model Connector Connector Model Connector
CS1F-CIF31 D-Sub 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-Sub 9-pin
female
XW2Z-
200S-CV/
500S-CV
(2 or 5 m)
D-Sub 9-pin
male
D-Sub 9-pin
female
CS1W-
CN118
(0.1 m)
CS/CJ
peripheral
Peripheral
bus (Tool
bus) or
Host Link
D-Sub 9-pin
female
XW2Z-
200S-V/
500S-V
(2 or 5 m)
D-Sub 9-pin
male
D-Sub 9-pin
female
CS1W-
CN118
(0.1 m)
CS/CJ
peripheral
Host link
D-Sub 9-pin
female
XW2Z-
200S-CV/
500S-CV
(2 or 5 m)
RS-232C
D-Sub 9-pin
male
Unnecessary RS-232C
D-Sub 9-pin
female
Peripheral
bus (Tool
bus) or
Host Link
D-Sub 9-pin
female
XW2Z-
200S-V/
500S-V
(2 or 5 m)
RS-232C
D-Sub 9-pin
male
Unnecessary Host link
Port on Module Computer Port on
computer
Communications mode
(Network type)
Model Length Remarks
Built-in periph-
eral port
Windows
OS
D-Sub 9-pin
male
Peripheral bus (Tool bus)
or Host Link (SYSMAC
WAY)
CS1W-CN226 2.0 m ---
CS1W-CN626 6.0 m
Built-in RS-232C
port
(D-Sub 9-pin
female)
Windows
OS
D-Sub 9-pin
male
Peripheral bus (Tool bus)
or Host Link (SYSMAC
WAY)
XW2Z-200S-CV 2 m Uses static-
resistant con-
nectors
XW2Z-500S-CV 5 m
239
Connecting the CX-Programmer Section 8-2
Connecting an RS-232C Cable to the Peripheral Port
The following connection configurations can be used when connecting an RS-
232C cable to the Coordinator Module’s peripheral port.
Connecting an RS-232C Cable to the RS-232C Port
The following connection configuration can be used to connect a personal
computer to the Coordinator Module’s RS-232C port with an RS-232C cable.
Note Either one of the following two serial communications modes can be used
when connecting the CX-Programmer to the FQM1.
Port on
Module
Computer Port on
computer
Communications mode
(Network type)
Model Length Remarks
Built-in
peripheral
port
Windows
OS
D-Sub 9-pin
male
Peripheral bus (Tool bus)
or Host Link (SYSMAC
WAY)
CS1W-CN118 +
XW2Z-200S-CV/
500S-CV
0.1 m +
(2 m or
5m)
The XW2Z-@@@S-CV
Cables 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 port D-
sub 9-pin
female
Windows OS D-Sub 9-pin
male
Host link (SYSMAC WAY) XW2Z-200S-V 2 m ---
XW2Z-500S-V 5 m
Serial
communications
mode
Features
Peripheral bus
(Tool bus)
Supports high-speed communications, so this communications
mode is normally used to connect to the CX-Programmer.
• Supports only a 1:1 connection.
• When the FQM1 is connected, the CX-Programmer can recog-
nize the baud rate and make the connection automatically.
Host link (SYS-
MAC WAY)
This communications mode is generally used to connect to a
host computer. Both 1:1 and 1:N connections are supported.
• Host link communications are relatively slow compared to the
peripheral bus mode.
• The Host Link mode supports connections through modems or
optical adapters, long-distance connections using RS-422A or
RS-485 communications, and 1:N connections.
240
Connecting the CX-Programmer Section 8-2
241
SECTION 9
Error Processing
This section provides information on identifying and correcting errors that occur during FQM1 operation.
9-1 Error Log. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
9-2 Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
9-2-1 Error Categories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
9-2-2 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 Cycle Time Overrun Error Check. . . . . . . . . . . . . . . . . . . . . . . . . . . 253
9-2-10 System Setup Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
9-2-11 I/O Setting Error Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
9-2-12 I/O Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
9-2-13 Environmental Conditions Check. . . . . . . . . . . . . . . . . . . . . . . . . . . 256
9-3 Troubleshooting Problems in Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
242
Error Log Section 9-1
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.
Errors Generated by
FAL(006)/FALS(007)
In addition to system errors generated by the Coordinator Module and Motion
Control Module, the FQM1 records user-defined errors generated by the FAL
and FALS instructions in the ladder program. These instructions make it eas-
ier to track the operating status of the system.
A user-defined error is generated when FAL or FALS is executed in the pro-
gram. The input conditions of these instructions constitute the user-defined
error conditions.
The following table shows the error codes for FAL and FALS, which are stored
in A400 and the first 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 operation.
Error Log Structure When more than 20 errors occur, the oldest error data (in A100 to A104) is
deleted and the newest record is stored in A195 to A199.
Note The Error Log Pointer can be reset by turning ON the Error Log Pointer Reset
Bit (A500.14), effectively clearing the error log display in the CX-Programmer.
The contents of the Error Log Area will not be cleared by resetting the pointer.
Instruction FAL numbers Error codes
FAL #0001 to #01FF (1 to 511 decimal) 4101 to 42FF
FALS #0001 to #01FF (1 to 511 decimal) C101 to C2FF
A100 4102
A101
A102 0101
A103 0101
A104 0101
A105 0300
A106
A107 0101
A108 0101
A109 0101
A195 C101
A196
A197 0101
A198 0101
A199 0101
4102
0300
C101
1
2
20
A408CH
Error code
Error Log Area
Error code
Error contents
Error code
Error contents
Error code
Error contents
Order of
occurrence
Error Log Pointer
243
Error Processing Section 9-2
9-2 Error Processing
9-2-1 Error Categories
Errors in the FQM1 can be broadly divided into the following three categories.
9-2-2 Error Information
There are basically four sources of information on errors that have occurred:
• The LED indicators on the front of the Coordinator and Motion Control
Modules
• The Auxiliary Area Error Flags
• The Auxiliary Area Error Contents Words
• The Auxiliary Area Error Code Word
Note When two or more errors occur at the same time, the highest (most serious)
error code will be stored in A400.
Indicator Status and
Error Conditions
The following table shows the status of the FQM1’s indicators for errors that
have occurred in RUN or MONITOR Mode.
Category Result Indicators Comments
RDY RUN ERR
Standby The FQM1 will not start operation
in RUN or MONITOR mode.
OFF OFF OFF This status occurs when a faulty
Motion Control Module is con-
nected.
Non-fatal Errors
(including FAL)
The FQM1 will continue operating
in 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 mode.
ON
(Green)
OFF ON
(Red)
This status indicates a fatal error
other than a power interruption.
(The indicators will all be OFF when
there is a power interruption.)
RDY
RUN
ERR
PRPHL
RDY: Initialization completed
ERR: Self-diagnostic test
Flashing red:
Non-fatal error
Lit red:
Fatal error
COMM1
COMM2
RUN:
PRPHL:
COMM1:
Module Indicators
Lit when the Modules
are in RUN or
MONITOR mode.
Lit yellow when the
Module is communi-
cating through the
peripheral port
Lit yellow when the
Module is commu-
nicating through the
RS-232C port
Flags
indicating
the type of
error.
Words
providing
error
information.
Error Flags Error Info. Error Code
Word
(A400)
A400
contains the
error code.
(See note.)
Auxiliary Area Flags and Words
A400
Error code
COMM2: Lit yellow when the
Module is commu-
nicating through the
RS-422A port
Indicator CPU error CPU reset CPU
standby
Fatal error Non-fatal
error
Communications error
Peripheral RS-232C RS-422A
RDY OFF OFF OFF ON ON ON ON ON
RUN OFF OFF OFF OFF ON --- --- ---
244
Error Processing Section 9-2
9-2-3 Error Codes
ERRONOFFOFFONFlashing--- --- ---
PRPHL --- --- --- --- --- OFF --- ---
COMM1 --- --- --- --- --- --- OFF ---
COMM2 --- --- --- --- --- --- --- OFF
Classification Error code Error name Page
Fatal system
errors
80F1 Memory error 244
80C0 I/O bus error 244
80CE No End Cover 244
80CF Synchronous bus error 244
80E0 I/O setting error 244
80F0 Program error 244
809F Cycle 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
User-defined
non-fatal errors
4101 to 42FF FAL error
(4101 to 42FF are stored for FAL num-
bers 001 to 511)
244
User-defined
fatal errors
C101 to C2FF FALS error
(C101 to C2FF are stored for FALS
numbers 001 to 511)
244
Indicator CPU error CPU reset CPU
standby
Fatal error Non-fatal
error
Communications error
Peripheral RS-232C RS-422A
245
Error Processing Section 9-2
9-2-4 Error Processing Flowchart
Use the following flowchart as a guide for error processing with the CX-Pro-
grammer.
Yes
Lit
Is RUN
indicator lit?
Not lit Is ERR
indicator flashing?
Flashing
Fatal error
Not lit
Is POWER
indicator lit?
Lit
Error occurred
during 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
Coordinator Module
(CM) WDT error
System Setup
error
Memory error
I/O Bus error
I/O Table Setting
error
Program error
Cycle Time
Overrun error
System FALS
error
CPU Error
CPU Reset
CPU standby
Proceed to
9-2-12 I/O
Check
and
9-2-13
Environmental
Conditions Check.
Can
CX-Programmer
connect online?
246
Error Processing Section 9-2
9-2-5 Error Tables
The following tables show the errors which can occur in the FQM1 and indi-
cate 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-Pro-
grammer cannot be connected if a CPU error has occurred.
If a fatal error occurs, the RDY and ERR indicators will be lit and the RUN indi-
cator will be OFF, but a CX-Programmer can be connected. This difference
can be used to distinguish between a CPU error and other fatal errors.
CPU Standby If the following LED indicator condition appears when the power is turned ON,
it indicates that the FQM1 is in CPU standby status.
When the FQM1 is turned ON, cyclic servicing starts after the Coordinator
Module recognizes all of the connected Motion Control Modules. Operation
can be started at that point.
If the startup mode is RUN or MONITOR mode, 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 indicates that a fatal error has occurred..
The fatal error’s error contents will be displayed in the Error Tab in the CX-Pro-
grammer’s Error Window. Determine the cause of the error from the error
Power Supply
Unit Indicators
Module Indicators
POWER RDY RUN ERR PRPHL COMM1 COMM2
Lit OFF OFF Lit --- --- ---
Operating
status
Error
name
Error flags
in Auxiliary
Area
Error code
(in A400)
Error con-
tents
Probable cause Remedy
Stopped CPU
error
None None None A WDT (watchdog timer)
error occurred in a Module.
(This error does not nor-
mally occur)
Turn the power OFF and
restart. The Module may be
damaged. Contact your
OMRON representative.
Power Supply
Unit Indicators
Module Indicators
POWER RDY RUN ERR PRPHL COMM1 COMM2
Lit OFF OFF OFF --- --- ---
Operating
status
Error
name
Error flags
in Auxiliary
Area
Error code
(in A400)
Error con-
tents
Probable cause Remedy
Stopped CPU
standby
None None None A Motion Control Module
has not started properly.
Replace the Motion Control
Module.
Power Supply
Unit Indicators
Module Indicators
POWER RDY RUN ERR PRPHL COMM1 COMM2
Lit Lit OFF Lit --- --- ---
247
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.)
248
Error Processing Section 9-2
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 Error
code (in
A400)
Auxiliary Area
flag and word
data
Probable cause Possible remedy
Memory
error
80F1 A401.15: Mem-
ory Error Flag
A403: Memory
Error Location
An error has occurred in memory. A
bit in A403 will turn ON to show the
location of the error as listed below.
See below.
A403.00 ON:
A checksum error has occurred in
the user program memory. An illegal
instruction was detected.
Check the program and correct the error.
A403.04 ON:
A checksum error has occurred in
the System Setup.
Transfer the System Setup settings
again.
A403.10 ON:
An error occurred in flash memory
(backup memory).
Module hardware is faulty. Replace the
Module.
A403.13 ON:
There is an error in the analog off-
set/gain data.
Check the data and set again.
A403.14 ON:
A checksum error has occurred in
the DM data stored in flash memory.
Replace the Module.
I/O Bus
error
80C0
80CE
80CF
A401.14: I/O
Bus Error Flag
Error has occurred in the data trans-
fer between connected Modules or
the End Cover is not connected to
the right side of the FQM1.
Try turning the power OFF and 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 then ON again.
Program
error
80F0 A401.09: Pro-
gram Error Flag
A405: Program
error information
The program is incorrect. A bit in
A405 will turn ON to show the error
details as listed below.
Check A405 to determine the type of
error that occurred.
Correct the program and then clear the
error.
A405.11: No END error Be sure that there is an END instruction
at the end of the program.
A405.15: UM overflow error
The last address in UM (user pro-
gram memory) has been exceeded.
Use the CX-Programmer to transfer the
program again to FQM1.
A405.13: Differentiation overflow
error
Too many differentiated instructions
have been inserted or deleted dur-
ing online editing.
After writing any changes to the program,
switch to PROGRAM mode and then
return to MONITOR mode to continue
editing the program.
A405.12: Task error
A task error has occurred. The task
specified in the MSKS instruction
doesn’t exist.
Check that all of the task numbers speci-
fied in the MSKS instructions have corre-
sponding tasks.
Use MSKS to mask any input interrupt
task or other interrupt tasks that are not
being used and that do not have pro-
grams set for them.
A405.14: Illegal instruction error
The program contains an instruction
that cannot be executed.
Check and correct the program.
249
Error Processing Section 9-2
Non-fatal Errors If the following LED indicator condition appears during operation (in RUN or
MONITOR mode), it indicates that a non-fatal error has occurred..
The non-fatal error’s error contents will be displayed in the Error Tab in the
CX-Programmer’s Error Window. Determine the cause of the error from the
error 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.
Non-fatal Errors
I/O Table
Setting
error
80E0 A401.10: I/O
Setting Error
Flag
More than 5 Modules are connected. Check whether the number of Modules is
incorrect. If the number of Modules is
incorrect, turn OFF the power supply and
correctly connect the Modules.
Cycle
Time
Overrun
error
809F A401.08: Cycle
Time Too Long
Flag
The cycle time has exceeded the
maximum cycle time (watch cycle
time) set in the System Setup.
Change the program to reduce the cycle
time or change the System Setup’s maxi-
mum cycle time setting.
One way to reduce the cycle time is by
jumping parts of the program that aren’t
being used.
System
FALS error
C101 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 code will be from 101
to 2FF hex, which correspond to FAL
numbers 001 to 511.
Remove the cause of the user-defined
error indicated by the FAL number.
Error Error
code (in
A400)
Auxiliary Area
flag and word
data
Probable cause Possible remedy
Power Supply
Unit Indicators
Module Indicators
POWER RDY RUN ERR PRPHL COMM1 COMM2
Lit Lit Lit Flashing --- --- ---
Error Error
code (in
A400)
Flag and word
data
Probable cause Possible remedy
System FAL
error
4101 to
42FF
A402.15: FAL
Error Flag
FAL has been executed in program.
The error code in A400 will indicate
the FAL number. The leftmost digit of
the code will be 4 and the rightmost
3 digits of the code will be from 101
to 2FF hex, which correspond to FAL
numbers 001 to 511.
Remove the cause of the user-
defined error indicated by the FAL
number.
System Setup
error
009B A402.10: Sys-
tem Setup Error
Flag
A409: System
Setup Error
Location
There is a setting error in the Sys-
tem Setup. The location of the error
is written to A409.
Set the correct value in the System
Setup.
Motion Control
Module Moni-
toring error
0300 A402.05: Motion
Control Module
Monitoring Error
Flag
An error occurred during cyclic
refreshing with the Motion Control
Module.
Turn the power OFF and ON again.
250
Error Processing Section 9-2
Other Errors
Coordinator
Module Fatal
error
0006 A402.14: Coor-
dinator Module
Fatal Error Flag
A fatal error occurred in the Coordi-
nator Module.
Remove the cause of the error in the
Coordinator Module and then clear
the error.
Coordinator
Module WDT
error
0001 A402.13: Coor-
dinator Module
WDT Error Flag
A watchdog timer error occurred in
the Coordinator Module.
Turn the power OFF and ON again.
LED indicator status Error Error
code
(A400)
Flag and
word data
Probable cause Possible remedy
Communica-
tions error
None None A communications
error occurred
between the peripheral
port and the con-
nected device.
Check the cables.
Also, check the setting
of DIP Switch pin 2
and the communica-
tions settings for the
peripheral port 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 the
System Setup.
Check the cable wir-
ing.
If a host computer is
connected, check the
host computer’s serial
port settings and the
program.
Communica-
tions error
None None A communications
error occurred
between the RS-422A
port and the con-
nected device.
Check whether the
servo driver settings in
the System Setup are
correct.
Check the cable wir-
ing.
Check the operating
status of the con-
nected servo driver.
Error Error
code (in
A400)
Flag and word
data
Probable cause Possible remedy
Power Supply
Unit POWER Lit
Coordinator
Module RDY Lit
RUN Lit
ERR ---
PRPHL OFF
COMM1 ---
COMM2 ---
Power Supply
Unit POWER Lit
Coordinator
Module RDY Lit
RUN Lit
ERR ---
PRPHL ---
COMM1 OFF
COMM2 OFF
Power Supply
Unit POWER Lit
Coordinator
Module RDY Lit
RUN Lit
ERR ---
PRPHL ---
COMM1 ---
COMM2 OFF
251
Error Processing Section 9-2
9-2-6 Power Supply Check
Power Supply Unit's
POWER indicator is not lit.
Is power being supplied
to the Module?
Connect power supply.
No
Yes
Yes
No
End
Note
Model Supply 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 fluctuations
within the permissible range.
Is POWER indicator lit?
Is POWER indicator lit?
Are terminal
screws loose or
wires broken?
Yes
No
Tighten screws or replace
damaged wires.
Replace the Module.
252
Error Processing Section 9-2
9-2-7 Memory Error Check
9-2-8 Program Error Check
Memory error occurred
ON
OFF
No
Yes
Flash Memory Error Flag
(A403.10) ON?
The internal flash memory's rewrite limit has
been exceeded. Replace the Module.
Was power
interrupted while backing
up memory with the 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
Task Error Flag
(A405.12) ON?
The called task does not exist. Check the
MSKS instruction that enables the interrupt
task with the corresponding task number.
There isn't an END instruciton in the
program. Add an END instruction.
No END Error Flag
(A405.11) ON?
Turn the power supply OFF and ON again.
253
Error Processing Section 9-2
9-2-9 Cycle Time Overrun Error Check
9-2-10 System Setup Error Check
Not cause
of error
The program execution time exceeded the
watch cycle time. Increase the watch cycle
time setting in the System Setup.
Yes
No
Yes
No
No
Yes
Cycle Time Overrun Error
occurred
Is the assumed
cycle time less than the
watch cycle time set in the
System Setup?
Are interrupts
being used?
Is the Max.
Interrupt Processing 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
executed. Check how often interrupt tasks
are executed.
There may be an error in the program.
Check all tasks, particularly instructions that
control loops ,such as the JMP instruction.
#0154 hex (340)
Other value
Set the proecessing mode correctly.
System Setup Error occurred
What is in
the System Setup Error
Location (A406)?
A communications error may have occurred
during the transfer from the CX-Programmer.
Transfer the System Setup again.
254
Error Processing Section 9-2
9-2-11 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
Coordinator Module.
Replace the Module.
255
Error Processing Section 9-2
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.
Start
Return to Start of I/O Check.
Is the output
indicator for CIO 0001.00
normal?
No
Yes
No
No Yes
Yes
Check the 0001.00 terminal
voltage with a multimeter.
Yes
No
Tighten terminals screws.Wire terminals correctly.
(LS1)
CIO 0000.02
CIO 0005.00
(LS1)
CIO 0000.03
CIO 0001.00
SOL1
Wire terminals correctly. Replace the terminal block
connector.
Is the voltage normal? Is the output wiring
correct?
Did the terminal's
contact fail?
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
Check the SOL1 solenoid.
Input indicators
for 0000.02 and 0000.03
normal?
No
Yes
No
Yes
Check voltage at the 0000.02
and 0000.03 terminals with a
multimeter.
Is the voltage normal?
No
Yes
Check voltage at the 0000.02
and 0000.03 terminals with a
multimeter.
Is the voltage normal? Are the terminal
screws loose?
No
Yes
Did the terminal's
contact fail?
Disconnect external wiring,
connect a test input, and
check voltage again.
Is the voltage normal?
No
Yes
Is the input wiring
correct?
Yes
No
Replace the terminal block
connector.
Replace the Module.Replace the Module. Check input devices LS1 and
LS2.
Yes
No
256
Troubleshooting Problems in Modules Section 9-3
9-2-13 Environmental Conditions Check
Note Prevent exposure to corrosive gases, flammable gases, dust, dirt, salts, metal
dust, direct sunlight, water, oils, and chemicals.
9-3 Troubleshooting Problems in Modules
Coordinator Module Errors
Environmental Conditions Check
No
Is the ambient
temperature below
55 °C?
Is the ambient
temperature above
0°C?
Is the ambient
humidity between 10%
and 90%?
Is noise being
controlled?
Yes
Install surge suppressor or
other noise-suppressing
equipment at noise sources.
Consider using an air
conditioner.
Consider using a heater.
Consider using a fan or air
conditioner.
No
Yes
No
Yes
No
Yes
Is atmosphere
acceptable?
Consider installing in a panel
or improving 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.
The RDY indicators on the Modules do not go ON. The power supply line is faulty Replace the Power Supply Unit.
The Coordinator Module’s RUN indicator does not go
ON.
An error in program is causing a
fatal error
Correct program
The Power Supply Unit’s RUN output* does not turn
ON.
The Coordinator Module’s RUN indicator is lit.
(*CJ1W-PA205R Power Supply Unit only)
Internal circuitry of Power Sup-
ply Unit is faulty.
Replace the Power Supply Unit.
Motion Control Module does not operate or does not
operate properly.
The I/O bus is faulty. 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.
None of a particular Module’s I/O points will go ON.
257
Troubleshooting Problems in Modules Section 9-3
Motion Control Module Errors
Input Errors
Error condition Probable cause Remedy
The Motion Control Module’s RUN indicator does
not go ON.
An error in program is causing a
fatal error
Correct program.
Motion Control Module does not operate or does not
operate properly.
The I/O bus is faulty. 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.
None of a particular Module’s I/O points will go ON.
Error condition Probable cause Remedy
None of inputs turn ON.
(Indicators are not lit.)
(1) External input power supply
is not being supplied.
Connect a proper external input
power supply.
(2) The external input power
supply voltage is too low.
Adjust supply voltage to within
proper range.
(3) Terminal block connector is
not making good contact.
Replace terminal block connec-
tor.
None of inputs turn ON.
(Indicators are lit.)
Input circuit is faulty. Replace the Module.
None of inputs turn OFF. Input circuit is faulty. Replace the Module.
A particular 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 connec-
tor.
(4) External input’s ON time is
too short.
Adjust input device
(5) Faulty input circuit Replace the Module.
(6) An input bit address is used
in an output instruction.
Correct program.
A particular input does not turn OFF. (1) Input circuit is faulty. Replace the Module.
(2) An input bit address is used
in an output instruction.
Correct program.
Input turns ON/OFF irregularly. (1) External input voltage is low
or unstable.
Adjust external input voltage to
within the proper range.
(2) Malfunction due to noise. Take protective measures
against noise, such as:
(1) Install surge suppressor.
(2) Install isolating transformer.
(3) Install shielded cables
between the inputs and loads.
(3) Faulty terminal block connec-
tor contact.
Replace terminal block connec-
tor.
Errors occur in 8-point or 16-point blocks, i.e., for the
same common.
(1) Faulty terminal block connec-
tor contact.
Replace terminal block connec-
tor.
(2) Faulty data bus Replace the Module.
(3) Faulty CPU Replace the Module.
Input indicator does not light, but input operates nor-
mally.
Faulty indicator or indicator cir-
cuit.
Replace the Module.
258
Troubleshooting Problems in Modules Section 9-3
Output Errors
Error condition Probable cause Remedy
None of the outputs will go ON. (1) The load power is not being
supplied.
Supply power.
(2) Load power supply voltage is
too low.
Adjust voltage to within the
allowed range.
(3) Faulty terminal block connec-
tor contact.
Replace terminal block connec-
tor.
(4) Output circuit is faulty. Replace the Module.
None of the outputs will go OFF. Output circuit is faulty. Replace the Module.
A specific bit address’ output does not turn ON.
(Indicator is not lit.)
(1) Output ON time too short
because of a program error.
Correct program to increase the
time that the output is ON.
(2) The bit’s status is controlled
by multiple output instruc-
tions.
Correct program so that each
output bit is controlled by only
one instruction.
(3) Faulty output circuit. Replace the Module.
A specific bit address’ output does not turn ON.
(Indicator is lit).
(1) Faulty output device. Replace output device.
(2) Break in output wiring. Check output wiring.
(3) Faulty terminal block connec-
tor.
Replace terminal 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 resistor.
Output of a specific bit number does not turn OFF.
(Indicator lit.)
(1) The bit’s status is controlled
by multiple output instruc-
tions.
Correct program.
(2) Faulty output circuit. Replace the Module.
Output turns ON/OFF irregularly. (1) Low or unstable load voltage. Adjust load voltage to within
proper range
(2) The bit’s status is controlled
by multiple output instruc-
tions.
Correct program so that each
output bit is controlled by only
one instruction.
(3) Malfunction due to noise. Take protective measures
against noise, such as:
(1) Install surge suppressor.
(2) Install isolating transformer.
(3) Install shielded cables
between the outputs and loads.
(4) Faulty terminal block connec-
tor contact.
Replace terminal block connec-
tor.
Errors occur in 8-point or 16-point blocks, i.e., for the
same common.
(1) Faulty terminal block connec-
tor contact.
Replace terminal block connec-
tor.
(2) Faulty data bus Replace the Module.
(3) Faulty CPU Replace the Module.
Output indicator does not light, but output operates
normally.
Faulty indicator or indicator cir-
cuit.
Replace the Module.
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
260
Inspections Section 10-1
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.
Inspection is recommended at least once every six months to a year, but more
frequent inspections will be necessary in adverse environments.
Take immediate steps to correct the situation if any of the conditions in the fol-
lowing table are not met.
Inspection Points for Periodic Inspections
No. Item Inspection Criteria Action
1 Source Power
Supply
Check for voltage fluctuations
at the power supply terminals.
The voltage must be within
the allowable voltage fluctu-
ation range.
(See note.)
Use a voltage tester to check the
power supply at the terminals. Take
necessary steps to bring voltage
fluctuations within limits.
2 I/O Power Sup-
ply
Check for voltage fluctuations
at the I/O terminals.
Voltages must be within
specifications for each
Module.
Use a voltage tester to check the
power supply at the terminals. 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 thermometer to check the
temperature and ensure that the
ambient temperature remains
within the allowed range of 0 to
55°C.
Check the ambient humidity.
(Inside the control panel if the
FQM1 is in a control panel.)
Relative humidity must be
10% to 90% with no con-
densation.
Use a hygrometer to check the
humidity and ensure that the ambi-
ent humidity remains within the
allowed range.
In particular, verify that there is no
condensation or icing caused by
sudden temperature changes.
Check that the FQM1 is not in
direct sunlight.
Not in direct sunlight Protect the FQM1 if necessary.
Check for accumulation of
dirt, dust, salt, metal filings,
etc.
No accumulation Clean and protect the FQM1 if nec-
essary.
Check for water, oil, or chemi-
cal sprays hitting the FQM1.
No spray on the FQM1 Clean and protect the FQM1 if nec-
essary.
Check for corrosive or flam-
mable gases in the area of the
FQM1.
No corrosive or flammable
gases
Check by smell or use a sensor.
Check the level of vibration or
shock.
Vibration and shock must
be within specifications.
Install cushioning or shock absorb-
ing equipment if necessary.
Check for noise sources near
the FQM1
No significant noise
sources
Either separate the FQM1 and
noise source or protect the FQM1.
261
Inspections Section 10-1
Note The following table shows the allowable voltage fluctuation ranges for source
power supplies.
Tools Required for Inspections
Required Tools • Phillips-head screwdriver
• Voltage tester or digital multimeter
• Industrial alcohol and clean cotton cloth
Tools Required
Occasionally
• Synchroscope
• Oscilloscope with pen plotter
• Thermometer and hygrometer (humidity meter)
10-1-2 Module Replacement Precautions
Check the following after replacing any faulty Module.
• Do not replace a Module until the power is turned OFF.
• Check the new Module to make sure that there are no errors.
• If a faulty Module is being returned for repair, describe the problem in as
much detail as possible, enclose this description with the Module, and
return the Module to your OMRON representative.
• For poor contact, take a clean cotton cloth, soak the cloth in industrial
alcohol, and carefully wipe the contacts clean. Be sure to remove any lint
prior to remounting the Module.
Note (1) When replacing a Coordinator Module or Motion Control Module, be sure
that not only the user program but also all other data required for opera-
tion is transferred to or set in the new Coordinator Module before starting
operation, 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 parameter area within the Coordinator
Module or Motion Control Module. Be sure to transfer these settings to
the new Coordinator Module or Motion Control Module when replacing a
Module.
(3) After replacing a Motion Control Module, always set the required settings.
(4) In some cases, parameter data used in the Motion Control Modules is ac-
tually stored in the Coordinator Module’s DM Area, so be sure to transfer
the DM Area settings when replacing a Coordinator Module.
4 Installation and
wiring
Check that each Module is
connected and locked to the
next Module securely.
No looseness Press the connectors together
completely and lock them with the
sliding latches.
Check that cable connectors
are fully inserted and locked.
No looseness Correct any improperly installed
connectors.
Check for loose screws in
external wiring.
No looseness Tighten loose screws with a Phil-
lips-head screwdriver.
Check crimp connectors in
external wiring.
Adequate spacing between
connectors
Check visually and adjust if neces-
sary.
Check for damaged external
wiring cables.
No damage Check visually and replace cables if
necessary.
Supply voltage Allowable voltage range
100 to 240 V AC 85 to 264 V AC
No. Item Inspection Criteria Action
262
Inspections Section 10-1
263
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.
The CX-Programmer can be used to allocate one program to each of many tasks, as required by the system.
Type of task Description
Sync mode scheduled
interrupt tasks
The 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 built-in input turns ON, OFF, or both on a Motion
Control Module.
Normal interrupt tasks Other interrupt tasks can be executed according to task number specified in programming
instructions. These include one-shot interrupts, interval timer interrupts, high-speed
counter target value interrupts, pulse output counter target value interrupts, etc.
END
END
Cyclic
task
Allocated
Allocated
Interrupt
task
I/O refresh
Program A
Program B Each program ends
with an END(001)
instruction.
Interrupt
condition
met
264
Programming Appendix A
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.
Using Normal Subroutines
A normal subroutine is written between the SBN(092) and RET(093) instructions and called using the
SBS(091) instruction.
1. Write the program to be executed between SBN(092) and RET(093).
2. Set the subroutine number for the operand of SBN(092).
3. Call the subroutine using SBS(091)
Type of subroutine Description Calling 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 results of processing in the subroutine can be returned to the
main program.
MCRO(099)
• Flags can be used to access the input condition to the subroutine
while the subroutine is being executed.
• It’s possible to check to see if a subroutine has been executed in the
past.
• Parameters can be passed to and from the subroutine using storage
registers.
JSB(982)
SBN
100
RET
SBS
100
SBN
10
RET
Set the subroutine
number to call. Here,
the subroutine number
is 100.
Main program
(section 1)
Subroutine
(section 2)
Set the the subroutine
number. Here, the
subroutine number is
100.
Subroutine
(section 3)
Set the the subroutine
number. Here, the
subroutine number is
10.
Processing
Processing
265
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.
When passing parameters to a subroutine, execution is possible either with or without using Subroutine Input
Condition Flags.
Execution without Subroutine Input Condition Flags
The MCRO(099) instruction is used to call subroutines without Subroutine Input Condition Flags.
The following process is performed when MCR0(099) is executed.
1. Five words starting with the first input parameter word are copied to A510 through A514 (macro area inputs).
2. The specified subroutine is executed through RET(093).
3. When the subroutine is completed, the contents of A515 through A519 (macro area outputs) are copied to
five words starting with the first output parameter word.
4. Program execution continues with the next instruction after MCRO(099).
The first input and output parameter words can be changed when executing MCRO(099) to use the same sub-
routine for different purposes at different locations in the program.
As shown by the above process, using the macro function has the following limitations.
• The parameters being passed must be stored in 5 continuous 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 outputs) can be used
as work bits if MCRO(099) is not used.
(2) The words specified for the input/output parameter words can be I/O words, Auxiliary Area words,
DM Area words, or words in other memory areas.
(3) The subroutines called by MCRO(099) must be written in the same way as a normal subroutine,
e.g., between SBN(092) and RET(093).
Execution with Subroutine Input Condition Flags
Overview
Subroutines called with JSB(982) are always executed regardless of the input condition to the instruction. The
status of the input condition, however, is stored in an Auxiliary Area bit so that the status can be used to control
program execution within the subroutine.
Subroutines called with JSB(982) are executed even if their input condition is OFF and even in program sec-
tions interlocked with IL(002). The status of the input condition is stored in the Subroutine Input Condition Flag
corresponding to the subroutine. Subroutine Input Condition Flags are from A000 to A015 and correspond to
the subroutine numbers. The Subroutine Input Condition Flag can be used within the subroutine to control pro-
gram execution.
For example, a subroutine could perform jogging when the input condition is ON and perform stop processing
or deceleration when the input condition is OFF, or a subroutine could execute a communications instruction
when the input condition turned ON and then continue to monitor communications until a response is received
after the input condition turns OFF.
MCRO(099)
Subroutine number
First input parameter word
First output parameter word
266
Programming Appendix A
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. This enables accessing the in-
put parameter words in the subroutine by indirectly addressing IR0 to read the input parameters for
specific processing, as well as accessing the output parameter words in the subroutine by indirectly
addressing IR1 to write data for output.
(2) When a subroutine is called with SBS(091), the entire subroutine will be skipped when the input con-
dition is OFF, making it impossible to program processing for OFF input conditions (e.g., stopping
processing or decelerating for an OFF input condition in a subroutine that performs jogging for an
ON input condition).
(3) When a subroutine is called with SBS(091), it is not possible to tell from within the subroutine if the
subroutine 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 even if the input condition is OFF.
The following process is performed when JSB(982) is executed.
1. When the subroutine is called, the status of the input condition for JSB(982) is stored in the corresponding
Subroutine Input Condition Flag.
2. 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
3. The specified subroutine is executed through RET(093).
4. Program execution continues with the next instruction after JSB(982).
Note If JSB(982) is within a program section interlocked by IL(002) and ILC(003), the subroutine will still be
executed, but the interlock will apply to the program in the subroutine as well.
JSB
N
S
D
N: Subroutine number
S: First input parameter word
D: First output parameter word
Input condition
Address Corresponding subroutines
Word Bits
A000 00 to 15 SBN000 to SBN015
A001 00 to 15 SBN016 to SBN031
A002 00 to 15 SBN032 to SBN047
.
.
.
.
.
.
.
.
.
A015 00 to 15 SBN240 to SBN255
267
Programming Appendix A
Application Examples
Execution without Subroutine Input Condition Flags
MCRO
0049
0002
0015
0220.00
MCRO
0049
0000
0010
MCRO
0049
0005
0012
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
0015.00
0002.01 0002.02
0005.00 0012.01
0012.00
0005.01 0005.02
0015.01
0015.00
0012.01
0012.00
0015.01
0015.00
0010.01
0010.00
Without Macro Function With Macro Function
268
Programming Appendix A
Execution with Subroutine Input Condition Flags
Main Program
JSB
0
D00000
D01000
a
c
SBN
0
A000.00
@ACC
#0000
#0000
,IR0
@INI
#0000
#0003
0000
W000.00
W000.00
W000.00.
D00000
D00000
D00000
b
Results of logic
for input condition
Subroutine called
Subroutine 0
Subroutine 0
Input Condition Flag
Acceleration
Accessed
Stopping
Address Data
Acceleration/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
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
Either ACC or INI is executed
depending on the staus of
A000.00. If ACC is executed, the
parameters (e.g., rate of
acceleration) starting at D00000
are accessed using the actual
memory address stored in IR0 to
execute acceleration.
269
Programming Appendix A
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.
Power Flow
The power flow is the input condition that is used to control the execution of instructions when programs are
executing normally. In a ladder program, power flow represents the status of the input condition.
1. Input Instructions
• Load instructions indicate a logical start and output the input condition.
• Intermediate instructions input the power flow as an input condition and output the power flow to an inter-
mediate or output instruction as an input condition.
2. Output Instructions
Output instructions 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 the
instructions listed below. Instruction conditions have a higher priority than the input condition when it comes to
deciding whether or not to execute an instruction. An instruction may not be executed or may act differently
depending on instruction conditions. Instruction conditions are reset (canceled) at the start of each task, i.e.,
they are reset when the task changes.
Flags
Instruction
Flag
Input condition
Instruction conditions
Input condition*
1
Instruction conditions*
2
Operands
(sources)
Operands
(destinations)
Memory
*1: Input instructions only.
*2: Not output for all instructions.
Outputs the input condition.
=
D00000
#1215
Outputs the input condition.
Input block Output block
Input condition for
output instruction
Input condition for LD
270
Programming Appendix A
The following instructions are used in pairs to set and cancel certain instruction conditions. Each pair of
instructions must be in the same task.
Flags
In this context, a flag is a bit that serves as an interface between instructions.
Operands
Operands specify preset instruction parameters (boxes in ladder diagrams) that are used to specify I/O mem-
ory area contents or constants. An instruction can be executed by entering an address or constant as the oper-
ands. Operands are classified as source, destination, or number operands.
Note Operands are also called the first operand, second operand, and so on, starting from the top of the
instruction.
Instruction
condition
Description Setting
instruction
Canceling
instruction
Interlocked An interlock turns OFF part of the program. Special conditions, such as
turning OFF output bits, resetting timers, and holding counters, are in
effect.
IL(002) ILC(003)
Block program
execution
A program block from BPRG(096) to BEND(801) 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 up/down output instructions and the
DIFU(013)/DIFD(014) instructions.
•Carry (CY) Flag
The Carry Flag is used as an unspecified operand
in data shift instructions and addition/subtraction
instructions.
• Condition Flags
Condition Flags include the Always ON/OFF Flags, as well as
flags that are updated by results of instruction execution. In user
programs, these flags can be specified by labels, such as ER, CY,
>, =, A1, A0, rather than by addresses.
MOV
#0000
D00000
JMP
3
Example
S (source)
D (destination)
N (number)
Operand types Operand
symbol
Description
Source Specifies the address of the data
to be read or a constant.
S Source operand Source operand other than control
data (C)
C Control data Compound data in a source oper-
and that has different meanings
depending bit status.
Destination
(Results)
Specifies the address where data
will be written.
D ---
Number Specifies a particular number used
in the instruction, such as a jump
number or subroutine number.
N ---
MOV
#0000
D00000
First operand
Second operand
271
Programming Appendix A
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.
Note (1) There is another group of instructions that executes a series of mnemonic instructions based on a
single input. These are called block programming instructions. Refer to the Instructions Reference
Manual (Cat. No. O011) for details on these block programs.
(2) If an instruction requiring an input condition is connected directly to the left bus bar without a logical
start instruction, a program error will occur when checking the program on the CX-Programmer.
Addressing I/O Memory Areas
Bit Addresses
Example: The address of bit 03 in word 0001 in the 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 address
is given as “CIO 0010” in this manual.
Instruction type Possible location Input condition Diagram Examples
Input
instructions
Logical start
(Load
instructions)
Connected directly to
the left bus bar or is at
the beginning of an
instruction block.
Not required. LD, LD >, and other
symbol comparison
instructions
Intermediate
instructions
Between a logical start
and the output instruc-
tion.
Required. AND, OR, AND >, and
other symbol compari-
son instructions)
Output instructions Connected directly to
the right bus bar.
Required. Most instructions
including OUT and
MOV(021).
Not required. END(001), JME(005),
ILC(003), etc.
@@@@.@@
Bit number (00 to 15)
Word address
0001. 03
Bit number (03)
Word address: 0001
15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
0000
0001
0002
Word Bit: CIO 0001.03
@@@@
Word address
272
Programming Appendix A
DM Area addresses are given with “D” prefixes, as shown below for the address D00200.
Specifying Operands
0010
Word address
D00200
Word addres
s
Operand Description Notation Application
examples
Specifying bit
addresses
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 number are specified
directly to specify a bit (input input bits).
0001 02
Bit number (02)
Word address: 0001
0001.02
@@@@
Word address
The word address is specified directly to
specify the 16-bit word.
0003
D00200
Word address: 00200
Word address: 0003
273
Programming Appendix A
Note With indirect address specifications in binary mode, the DM Area addresses are treated as consecutive
memory addresses.
Specifying
indirect DM
addresses in
Binary Mode
1) D00000 to D32767 are specified if
@D(@@@@@) contains 0000 hex to 7FFF
hex (00000 to 32767).
MOV #0001
@D00300
MOV #0001
*D00200
Operand Description Notation Application
examples
@D@@@@@
Contents
D
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.
00000 to 32767
(0000 Hex to
7FFF Hex)
@D00300
0 1 0 0 Contents
Specifies D00256.
Add the @ s
y
mbol.
Binary: 256
*D@@@@@
D
The offset from the beginning of the area is
specified. The contents of the address will be
treated as BCD data (0000 to 9999) to specify
the word address in Data Memory (DM). Add
an asterisk (*) at the front to specify an indirect
address in BCD Mode.
00000 to 9999
(BCD)
Contents
*D00200
0 1 0 0
Specifies D0100
Content
s
Add an asterisk (*).
274
Programming Appendix A
Operand Description Notation Application examples
Specifying
an indirect
address
using a reg-
ister
Indirect
address
(No offset)
The bit or word with the memory
address contained in IR@ will be speci-
fied.
Specify ,IR@ to specify bits and words
for instruction operands.
,IR0
,IR1
LD ,IR0
Loads the bit with the memory address
in IR0.
MOV #0001 ,IR1
Stores #0001 in the word with the
memory address in IR1.
Constant
offset
The bit or word with the memory
address in IR@ + or – the constant is
specified.
Specify +/– constant ,IR@. Constant off-
sets range from –2048 to +2047 (deci-
mal). The offset is converted to binary
data when the instruction is executed.
+5,IR0
+31,IR1
LD +5 ,IR0
Loads the bit with the memory address
in IR0 + 5.
MOV #0001 +31 ,IR1
Stores #0001 in the word with the
memory address in IR1 + 31
Auto Incre-
ment
The contents of IR@ is incremented by
+1 or +2 after referencing the value as
an memory address.
+1: Specify ,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 word with
the memory address in IR1.
Auto Dec-
rement
The contents of IR@ is decremented by
–1 or –2 after referencing the value as
an memory address.
–1: Specify ,–IR@
–2: Specify ,– –IR@
,– –IR0
,–IR1
LD ,– –IR0
After decrementing the contents of IR0
by 2, the bit with the memory address
in IR0 is loaded.
MOV #0001 ,–IR1
After decrementing the contents of IR1
by 1, #0001 is stored in the word with
the memory address in IR1.
Data Operand Data form Symbol Range Application example
16-bit con-
stant
All binary data or
a limited range of
binary data
Unsigned binary # #0000 to #FFFF ---
Signed decimal ± –32768 to
+32767
---
Unsigned deci-
mal
& &0 to &65535 ---
All BCD data or a
limited range of
BCD data
BCD # #0000 to #9999 ---
32-bit con-
stant
All binary data or
a limited range of
binary data
Unsigned binary # #00000000 to
#FFFFFFFF
---
Signed decimal ± –2147483648 to
+2147483647
---
Unsigned deci-
mal
&&0 to
&4294967295
---
All BCD data or a
limited range of
BCD data
BCD # #00000000 to
#99999999
---
275
Programming Appendix A
Text string Text string data is stored in ASCII
(one byte except for special charac-
ters) in order from the leftmost to the
rightmost byte and from the right-
most (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 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 string includes alphanumeric characters, Katakana and sym-
bols (except for special characters). The characters are shown in the following table.
Data Operand Data form Symbol Range Application example
'ABCDE'
'A' 'B'
'C' 'D'
'E' NUL
41 42
43 44
45 00
'ABCD'
'A' 'B'
'C' 'D'
NUL NUL
41 42
43 44
00 00
Upper 4 bits
Lower 4 bits
276
Programming Appendix A
Data Formats
The following table shows the data formats that the FQM1 can handle.
Note Signed Binary Data
In signed binary data, the leftmost bit indicates the sign of binary 16-bit data. The value is expressed in
4-digit hexadecimal.
Positive Numbers: A value is positive or 0 if the leftmost bit is 0 (OFF). In 4-digit hexadecimal, this is
expressed as 0000 to 7FFF hex.
Data type Data format Decimal 4-digit
hexadecimal
Unsigned
binary
0 to
65535
0000 to FFFF
Signed
binary
0 to
–32768
0 to
+32767
8000 to 7FFF
BCD
(binary
coded dec-
imal)
0 to 9999 0000 to 9999
Single-pre-
cision
floating-
point deci-
mal
--- ---
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
215 214 213 212 211 210 29282726252423222120
23222120
3276816384 8192 4096 2048 1024 512 256 128 64 32 16 8 4 2 1
23222120
23222120
23222120
Decimal
Hex
Binary
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
2
15
2
14
2
13
2
12
2
11
2
10
2
9
2
8
2
7
2
6
2
5
2
4
2
3
2
2
2
1
2
0
2
3
2
2
2
1
2
0
3276816384 8192 4096 2048 1024 512 256 128 64 32 16 8 4 2 1
2
3
2
2
2
1
2
0
2
3
2
2
2
1
2
0
2
3
2
2
2
1
2
0
Sign bit: 0: Positive, 1: Negative
Binary
Decimal
Hex
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
23222120
23222120
23222120
23222120
Decimal 0 to 9 0 to 9 0 to 9 0 to 9
Binary
31 30 29 23 22 21 20 19 18 17 3 2 1 0
Sign of
mantissa Exponent Mantissa
x 1.[Mantissa] x 2
Exponent
Sign (bit 31)
Mantissa
Exponent
Note This format conforms to IEEE754 standards for single-precision floating-
point data and is used only with instructions that convert or calculate
floating-point data. It can be used to set or monitor from the I/O memory
Edit and Monitor Screen on the CX-Programmer. As such, users do not
need to know this format although they do need to know that the formatting
takes up two words.
1: negative or 0: positive
The 23 bits from bit 00 to bit 22 contain the mantissa,
i.e., the portion below the decimal point in 1.@@@.....,
in binary.
The 8 bits from bit 23 to bit 30 contain the exponent.
The exponent is expressed in binary as 127 plus n in
2
n
.
Value = (−1)
Sign
Binary
277
Programming Appendix A
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.
Complements
Generally the complement of base x refers to a number produced when all digits of a given number are sub-
tracted from x – 1 and then 1 is added to the rightmost digit. (Example: The ten’s complement of 7556 is 9999
– 7556 + 1 = 2444.) A complement is used to express a subtraction and other functions as an addition.
Example: With 8954 – 7556 = 1398, 8954 + (the ten’s complement of 7556) = 8954 + 2444 = 11398. If we
ignore the leftmost bit, we get a subtraction result of 1398.
Two’s Complements
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 following shows this value expressed in 4-digit hexadecimal.
The two’s complement b hex of a hex is FFFF hex – a hex + 0001 hex = b hex. To determine the two’s comple-
ment b hex of “a hex,” use b hex = 10000 hex – a hex.
Example: To determine the two’s complement of 3039 hex, use 10000 hex – 3039 hex = CFC7 hex.
Similarly use a hex = 10000 hex – b hex to determine the value a hex from the two’s complement b hex.
Example: To determine the real value from the two’s complement CFC7 hex, use 10000 hex – CFC7 hex =
3039 hex.
Two instructions, NEG(160)(2’S COMPLEMENT) and NEGL(161) (DOUBLE 2’S COMPLEMENT), can be
used to determine the two’s complement from the true number or to determine the true number from the two’s
complement.
FFFF
1111 1111 1111 1111
001
3
0000 0000 0001 0011
−
)
FFEC
1111 1111 1110 1100
000
1
0000 0000 0000 0001
+)
FFED
1111 1111 1110 1101
True number
Two's complement
278
Programming Appendix A
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.
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 1000 1000
9 9 1001 1001
10 A 1010 0001 0000
11 B 1011 0001 0001
12 C 1100 0001 0010
13 D 1101 0001 0011
14 E 1110 0001 0100
15 F 1111 0001 0101
16 10 10000 0001 0110
Decimal Unsigned binary (4-digit hexadecimal) Signed binary (4-digit hexadecimal)
+65,535 FFFF Cannot be expressed.
+65,534 FFFE
.
.
.
.
.
.
+32,769 8001
+32,768 8000
+32,767 7FFF 7FFF
+32,766 7FFE 7FFE
.
.
.
.
.
.
.
.
.
+2 0002 0002
+1 0001 0001
0 0000 0000
–1 Cannot be expressed. FFFF
–2 FFFE
.
.
.
.
.
.
–32,767 8001
–32,768 8000
279
Programming Appendix A
Instruction Variations
The following variations are available for instructions to differentiate executing conditions.
Input Conditions
The FQM1 offers the following types of basic and special instructions.
• Non-differentiated instructions executed every cycle
• Differentiated instructions executed only once
Non-differentiated Instructions
• Output instructions that require input conditions are executed once every cycle while the input condition is
valid (ON or OFF).
• Input instructions that create logical starts and intermediate instructions that read bit status, make compar-
isons, test bits, or perform other types of processing every cycle. If the results are ON, power flow is output
(i.e., the input condition is turned ON).
Input-differentiated Instructions
•Upwardly Differentiated Instructions (Instructions Preceded by @)
•Output Instructions: 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 Instructions): The instruction reads bit status,
makes comparisons, tests bits, or perform other types of processing every cycle and will output an ON
execution condition (power flow) when results switch from OFF to ON. The execution condition will turn
OFF the next cycle.
Variation Symbol Description
Differentiation ON @ Instruction that differentiates when the input condition turns ON.
OFF % Instruction that differentiates when the input condition turns OFF.
MOV@
Instruction (mnemonic)
Differentiation variation
MOV
Example
Non-differentiated
output instruction
Example
Non-differentiated input instruction
@MOV
0001.02
Example
Executes the MOV instruction once when
CIO 0001.02 goes OFF → ON.
(@) Upwardly differ
entiated instruction
0001.03
Example
Upwardly differentiated input instruction
ON execution condition created for one
cycle only when CIO 0001.03 goes from
OFF to ON.
280
Programming Appendix A
•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 condi-
tion will turn ON the next cycle.
•Downwardly Differentiated Instructions (Instruction preceded by %)
•Output instructions: The instruction is executed only during the cycle in which the input condition
turned OFF (ON → OFF) and is not executed in the following cycles.
•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 the
execution condition (power flow) when results switch from ON to OFF. The execution condition will turn
OFF the next cycle.
Note Unlike the upwardly 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 instructions with a DIFD instruction.
•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 ON to OFF. The execution condi-
tion will turn ON the next cycle.
0001.03
Upwardly differentiated input instruction Example
OFF execution condition created for one
cycle only when CIO 0001.03 goes from
OFF to ON.
0001.02
%SET
Example
Executes the SET instruction once when
CIO 0001.02 goes ON to OFF.
(%) Downwardly dif-
ferentiated instruction
0001.03
Example
Downwardly differentiated instruction
Will turn ON when the CIO 0001.03
switches from ON → OFF and will turn
OFF after one cycle.
0001.03
Downwardly differentiated input instruction
Example
OFF execution condition created for one
cycle only when CIO 0001.03 goes from
ON to OFF.
281
Programming Appendix A
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. Never connect a Condi-
tion Flag directly to the bus bar because this will cause it to reflect execution results for other instructions.
Example: Using Instruction A Execution Results
The same input condition (a) is used for instructions A and B to execute instruction B based on 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 the left bus bar, instruction B will be executed based on the execu-
tion results of a previous rung if instruction A is not executed.
Note Condition Flags are used by all instruction within a single program (task) but they are cleared when the
task switches. Therefore execution results in the preceding task will not be reflected later tasks.
a
Correct Use
Instruction A
Instruction B
Condition Flag
Example: =
Reflects instruction A
execution results.
LD a
AND =
Instruction Operand
Mnemonic
Instruction A
Instruction B
Instruction B
Instruction A
Incorrect Use
Preceding rung
Condition Flag
Example: =
Reflects the execution results of
the preceding rung if instruction
A is not executed.
282
Programming Appendix A
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.
Make sure each of the results is picked up once by an OUTPUT instruction to ensure that execution results
for instruction B will be not be picked up.
Incorrect
Use
Condition Flag
Example: =
Condition Flag
Example: =
Reflects instruction B
execution results.
Reflects instruction A
execution results.
Instruction B
Instruction A
C
D
C
D
Correct
Use
Instruction A
Instruction B
Reflects instruction A
execution results.
Condition Flag
Example: =
Condition Flag
Example: =
Reflects instruction A
execution results.
283
Programming Appendix A
Example: The following example will move #0200 to D00200 if D00100 contains #0010 and move #0300
to D00300 if D00100 does not contain #0010.
The Equals Flag will turn ON if D00100 in the rung above contains #0010. #0200 will be moved to D00200
for instruction (1), but then the 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 as shown below to prevent execution results for the first MOVE instruction
from being picked up.
CMP
䋤0010
D00100
MOV
䋤0200
D00200
MOV
䋤0300
D00300
=
=
Incorrect
Use
(1)
(2)
Reflects MOV execution results.
Reflects CMP execution results.
CMP
#0010
D00100
MOV
#0200
D00200
MOV
#0300
D00300
B
A
A
B
=
=
Correct
Use
284
Programming Appendix A
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 in-
struction) will be reflected in Condition Flags in the next cycle. You must therefore be aware of what Condi-
tion Flags will do in the next cycle if execution results for differentiated instructions to be used.
In the following for example, instructions A and B will execute only if input condition C is met, but the follow-
ing problem will occur when instruction B picks up execution results from instruction A. If input condition C
remains ON in the next cycle after instruction A was executed, then instruction B will unexpectedly execute
(by the input condition) when the Condition Flag goes from OFF to ON because of results reflected from a
previous rung.
In this case then, instructions A and B are not 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 only.
Main Conditions Turning ON Condition Flags
Error Flag
The ER Flag will turn ON under special conditions, such as when operand data for an instruction is incorrect.
The instruction will not be executed when the ER Flag turns ON.
When the ER Flag is ON, the status of other Condition Flags, such as the <, >, OF, and UF Flags, will not
change and status of the = and N Flags will vary from instruction to instruction.
Refer to the descriptions of individual instructions in the Instructions Reference Manual (O011) for the condi-
tions that will cause the ER Flag to turn ON. Caution is required because some instructions will turn OFF the
ER Flag regardless of conditions.
C
Incorrect
Use
Condition Flag
Example: =
@ Instruction B
@ Instruction A
Reflects execution results for instruction A
when execution condition is met.
Reflects execution results for a previous
rung in the next cycle.
Previous rung
DIFU
D
D
C
Correct
Use
Previous rung
Instruction A
Instruction B
Reflects instruction A execution results.
Condition Flag
Example: =
285
Programming Appendix A
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. Even if an instruc-
tion turns the Equals Flag ON, the move instruction will execute immediately and the Equals Flag will turn ON
or OFF depending on whether the source data for the move instruction is 0000 hex or not.
Carry Flag
The CY Flag is used in shift instructions, addition and subtraction instructions with carry input, and addition and
subtraction instructions with borrows and carries. Note the following precautions.
1. The CY Flag can remain ON (OFF) because of execution results for a certain instruction and then be used
in other instruction (an addition and subtraction instruction with carry or a shift instruction). Be sure to clear
the Carry Flag when necessary.
2. The CY Flag can be turned ON (OFF) by the execution results for a certain instruction and be turned OFF
(ON) by another instruction. Be sure 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 instruction even if it is turned ON (OFF) by execution
results for a certain instruction.
Negative Flag
The N Flag is turned OFF when the leftmost bit of the instruction execution results word is “1” for certain
instructions and it is turned OFF unconditionally for other instruction.
Specifying Operands for Multiple Words
An instruction will be executed as written even if an operand requiring multiple words is specified so that all of
the words for the operand are not in the same area. In this case, words will be taken in order of the memory
addresses. The Error Flag will not turn ON.
As an example, consider the results of executing a block transfer with XFER(070) if 20 words are specified for
transfer beginning with W250. Here, the Work Area, which ends at W255, will be exceeded, but the instruction
will be executed without turning ON the Error Flag. In the memory addresses, words reserved by the system
come after the Work Area, and thus for the following instruction, W250 to W255 will be transferred to D00000 to
D00005 and contents of the system-reserved words will be transferred to D00006 to D00019.
XFER
&20
W250
D00000
W250
W255
D00000
D00005
D00006
D00019
---------
to to
First destination word
First source word
Number of words
Trans-
ferred.
to
Reserved
by system
286
Programming Appendix A
Special Program Sections
FQM1 programs have special program sections that will control instruction conditions.
The following special program sections are available.
Instruction Combinations
The following table shows which of the special instructions can be used inside other program sections.
Note Instructions that specify program areas cannot be used between two different tasks.
Subroutines
Place all the subroutines together just before the END(001) instruction in all programs but after programming
other than subroutines. A subroutine cannot be placed in a step ladder, block program, or other subroutine. If
instructions other than a subroutine program are placed after a subroutine program (SBN(092) to RET(093)),
those instructions will not be executed.
Program section Instructions Instruction 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 being executed.
IL(002) - ILC(003) section IL(002) and ILC(003)
instructions
Section is interlocked The output bits are turned OFF and
timers are reset. Other instructions will
not be executed and previous status
will be maintained.
Step Ladder section STEP(008) instruction
Block program section BPRG(096) instructions and
BEND(801) instructions
Block program being
executing.
The block program listed in mnemonics
between the BPRG(096) and
BEND(801) instructions is being exe-
cuted.
Subroutine IL(002) -
ILC(003)
section
Step ladder
section
Block program
section
Subroutine Not possible. Not possible. Not possible. Not possible.
IL(002) - ILC(003) OK Not possible. Not possible. Not possible.
Step ladder section Not possible. OK Not possible. Not possible.
Block program section OK OK OK Not possible.
Subroutine
Subroutine
Program
Program
287
Programming Appendix A
Instructions Not Allowed in Subroutines
The following instructions cannot be placed in a subroutine.
Note Block Program Sections
A subroutine can include a block program section.
Instructions Not Allowed in Step Ladder Program Sections
Note A step ladder program section can be used in an interlock section (between IL(002) and ILC(003)). The
step ladder section will be completely reset when the interlock is ON.
Instructions Not Allowed in Block Program Sections
The following instructions cannot be placed in block program sections.
Note (1) Block programs can be used in a step ladder program section.
(2) A block program can be used in an interlock section (between IL(002) and ILC(003)). The block pro-
gram section will not be executed when the interlock is ON.
(3) A JUMP instruction (JMP(004)) can be used in a block program section, but the JUMP (JMP(004))
and JUMP END (JME(005)) instructions must be used in a pair 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(009) Step through the step ladder
Function Mnemonic Instruction
Sequence Con-
trol
END(001) END
IL(002) and ILC(003) INTERLOCK and INTERLOCK CLEAR
JMP(004) and JME(005) JUMP and JUMP END
Subroutines SBN(092) and RET(093) SUBROUTINE ENTRY and SUBROUTINE RETURN
Block Programs IF(802) (NOT), ELSE(803), and IEND(804) Branching instructions
BPRG(096) and BEND(801) BLOCK PROGRAM BEGIN/END
Classification by
Function
Mnemonic Instruction
Sequence Control IL(002) and ILC(003) INTERLOCK and INTERLOCK CLEAR
END(001) END
Sequence Output DIFU(013) DIFFERENTIATE UP
DIFD(014) DIFFERENTIATE DOWN
KEEP(011) KEEP
OUT OUTPUT
OUT NOT OUTPUT NOT
Timer/Counter TIM TIMER
TIMH HIGH-SPEED TIMER
TMHH(540) ONE-MS TIMER
CNT COUNTER
CNTR REVERSIBLE COUNTER
Subroutines SBN(092) and RET(093) SUBROUTINE ENTRY and SUBROUTINE RETURN
Data Shift SFT(010) SHIFT
Ladder Step Control STEP(008) and SNXT(009) STEP DEFINE and STEP START
Block Program BPRG(096) BLOCK PROGRAM BEGIN
288
Programming Appendix A
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.
NO
YES
Sets error flags
I/O refreshing
ERR indicator lit or
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 Peripheral
Devices
Check OK?
Checks hardware and
user program memory
Checks Module
connection status.
Power ON
NO
YES
Overseeing processing Startup initialization
Cycle time
Program execution
Cycle time
calculation
Performs I/O refreshing
Periph-
eral
servic-
ing
Sync bus refreshing
Sync bus
refreshing
Lit (fatal error)
289
Programming Appendix A
Overview of Cycle Time Calculations
Coordinator Module
The cycle time of the Coordinator Module will vary with the following factors.
• Type and number of instructions in the user programs (in the cyclic task and within interrupt tasks for which
the execution conditions have been satisfied)
• Type and number of Motion Control Modules
• Setting a constant cycle time in the System Setup
• Event servicing with the Motion Control Modules
• Use of peripheral, RS-232C, and RS-422A ports
• Setting the Set Time to All Events in the System Setup
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 to RUN mode, the cycle time will be extended by
10 ms (this will not, however, will not create a cycle time exceeded error).
Motion Control Modules
The cycle time of the Motion Control Module will vary with the following factors.
• Type and number of instructions in the user programs (in the cyclic task and within interrupt tasks for which
the execution conditions have been satisfied)
• Setting a constant cycle time in the 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 to RUN mode, the cycle time will be extended by
10 ms (this will not, however, will not create a cycle time exceeded error).
Calculating the Cycle Time of the Coordinator Module
The cycle time is the total time required for the Coordinator Module to perform the operations shown in the fol-
lowing tables.
Cycle time = (1) + (2) + (3) + (4) + (5) + (6) + (7)
1. Overseeing Process
2. Program Execution
3. Cycle Time Calculation
4. I/O Refreshing
Details Processing time and fluctuation cause
Checks the buses, user program memory, etc. 39 µs
Details Processing time and fluctuation cause
Executes the user program. This is the total time taken for
the instructions to execute the program.
40 µs + total instruction execution time
Details Processing time and fluctuation cause
Waits for the specified cycle time to elapse when a con-
stant (minimum) cycle time has been set in the System
Setup. Calculates the cycle time.
Cycle time calculation: 8 µs
Waiting time for a constant cycle time =
Set cycle time − Actual cycle time
Details Processing time and fluctuation cause
The built-in I/O on the Coordinator Module are refreshed. 5 µs
Coordinator Module I/O refresh time
290
Programming Appendix A
5. Sync Bus Refreshing
6. Cyclic Refreshing
7. Peripheral Service
Calculating the Cycle Time of a Motion Control Module
The cycle time is the total time required for the Motion Control Module to perform the operations shown in the
following tables.
Cycle time = (1) + (2) + (3) + (4) + (5) + (6) + (7)
1. Overseeing Process
2. Program Execution
3. Cycle Time Calculation
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)
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
Details Processing time and fluctuation cause
Peripheral service overhead: 76 µs
Event servicing with Motion Con-
trol Modules
Note Does not include I/O
refreshing.
If 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 a uniform peripheral servicing time
has been set in the System Setup, servicing will be performed for the set time. At
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
set or not. If no Modules are connected, the servicing time is 0 ms.
Peripheral port servicing If 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 a uniform peripheral servicing time
has been set in the System Setup, servicing will be performed for the set time. At
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
set or not. If the port is not connected, the servicing time is 0 ms.
RS-232C port servicing Same as for peripheral port servicing.
RS-422A port servicing If 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 a uniform peripheral servicing time
has been set in the System Setup, servicing will be performed for the set time. At
least 0.1 ms, however, will be serviced whether the peripheral servicing time is
set or not. If the communications port is not used, the servicing time is 0 ms.
Details Processing time and fluctuation cause
User program check, etc. 29 µs
Details Processing time and fluctuation cause
Executes the user program. This is the total time taken for
the instructions to execute the program.
40 µs + total instruction execution time
Details Processing time and fluctuation cause
Waits for the specified cycle time to elapse when a con-
stant (minimum) cycle time has been set in the System
Setup. Calculates the cycle time.
Cycle time calculation: 8 µs
Waiting time for a constant cycle time =
Set cycle time − Actual cycle time (1 + 2 + 4 + 5)
291
Programming Appendix A
4. I/O Refreshing
5. Cyclic Refreshing
6. Sync Bus Refreshing
7. Peripheral Service
Module I/O Refresh Times
Cyclic Refresh Time in the Coordinator Module
Cyclic Refresh Time in Motion Control Modules
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
Details Processing time and fluctuation cause
Cyclic refresh with the Coordinator Module 21 µs
Details Processing time and fluctuation cause
The sync bus between the Coordinator Module and
Motion Control Modules is refreshed.
60 µs
Details Processing time and fluctuation cause
Event servicing with Motion Con-
trol Modules
40 µs + Event service time
Event service time includes event servicing for DM area transfers requested by
the Coordinator Module, event processing for requests from the CX-Program-
mer, etc.
Model I/O refresh time
FQM1-MMP21/MMA21 40 µs per Module
Model I/O refresh time
FQM1-MMP21/MMA21 21 µs
292
Programming Appendix A
Example of Calculating the Cycle Time
An example is given here for FQM1-MMP21 Motion Control Modules connected to a Coordinator Module.
Conditions
Calculation Example for FQM1-MMP21
Online Editing Cycle Time Extension
When online editing is executed from the CX-Programmer while the FQM1 is operating in MONITOR mode to
change the program, the Coordinator Module will momentarily suspend operation while the program is being
changed. The period of time that the cycle time is extended is determined by the following conditions.
• The number of steps that is changed
• Editing operations (insert/delete/overwrite)
• Instructions used
The cycle time extension for online editing will be negligibly affected by the size of largest task program. If the
maximum program size for each task is 5 Ksteps, the online editing cycle time extension will be as shown in the
following table.
When editing online, 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 there are multiple tasks (cyclic task and interrupt tasks), online
editing is separated, so that for n tasks, processing is executed over n to n × 2 cycles max.
Item Condition
Motion Control Modules FQM1-MMP21 2 Modules
User program 5 Ksteps LD: 2.5 Ksteps
OUT: 2.5 Ksteps
Peripheral port connection None
Constant cycle time setting None
RS-232C port connection None
RS-422A port connection None
Other peripheral servicing None
Process Calculation Processing time
Without CX-Programmer
connected to peripheral port
1. Overseeing --- 0.029 ms
2. Program execution 40 µs + 0.1 µs × 500 + 0.35 µs × 500 0.265 ms
3. Cycle time calculation (No cycle time set) 0.008 ms
4. I/O refresh 0.048 ms
5. Cyclic refresh 0.021 ms
6. Sync bus Refresh (In Async Mode: 0 ms)
7. Peripheral servicing 0.04 ms
Cycle time 1. + 2. + 3. + 4. + 5. + 7. 0.411 ms
Module Online editing cycle time extension
FQM1-CM001 65 ms max., 14 ms typical
(for a program size of 5 Ksteps)
FQM1-MMP21/MMA21
293
Programming Appendix A
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 recog-
nized 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.
• Timing of input bit turning ON
• Cycle time
Coordinator Module I/O Response Time
Minimum I/O Response Time
The I/O response time is shortest when data is retrieved immediately before I/O refresh of the Coordinator
Module. The minimum I/O response time is the total of the Input 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 maximum I/O response time is the total of the Input ON delay, (the Cycle time × 2), and the Output ON
delay.
Calculation Example
Conditions: Input ON delay: 0.1 ms
Output ON delay: 0.1 ms
Cycle time: 2 ms
Minimum I/O response time = 0.1 ms + 2 ms + 0.1 ms = 2.2 ms
Maximum I/O response time = 0.1 ms + (2 ms × 2) + 0.1 ms = 4.2 ms
Input
Output
I/O refresh
Cycle time Cycle time
Input ON delay
Output ON delay
Instruction
execution Instruction
execution
(Read by
Module)
Minimum I/O
response time
I/O refresh
Input
Output
Cycle timeCycle time
Input ON delay
Output ON delay
Maximum I/O response time
(Read by
Module)
Instruction
execution
Instruction
execution
Instruction
execution
294
Programming Appendix A
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 Mod-
ule 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.
• Cyclic Output Refresh Time
Minimum I/O response time = 0.03 + 0.194 + 0.1 = 0.324 (ms)
Note Input interrupts and the IORF(097) instruction can be used to obtain a faster response (100 µs typical).
Maximum I/O Response Time
The I/O response time is longest 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 response time.
The maximum I/O response time is the total of the Input ON delay, (the Cycle time × 2), and the Output ON
delay.
• Cyclic Output Refresh Time
Maximum I/O response time = 0.03 + 0.388 + 0.1 = 0.518 (ms)
Input contact
Input bit
Internal processing
Input ON delay
Cycle time
Cyclic output refresh
Output ON delay
I/O refresh
Overseeing processing
Output contact
Instruction execution Instruction execution
Input ON delay
Output ON delay
I/O refresh
Cycle time
Instruction execution Instruction execution Instruction execution
Input
contact
Input bit
Internal processing
Cyclic output refresh
Overseeing processing
Output contact
295
Programming Appendix A
Calculation Example
Input ON delay: 0.03 ms
Overhead time: 0.193 ms
Instruction execution time: 0.001 ms
Output ON delay: 0.1 ms
Position of OUT: 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. Hardware control means that the most recent data is handled for this I/O.
The pulse and analog input data read with the I/O refresh in one cycle will thus be used immediately and can
be output from the ladder program in the next cycle.
Interrupt Response Times
Motion Control Module Interrupt Response Times
Input Interrupt Tasks
The interrupt response time for an input interrupt task is the time required from when a built-in input on a
Motion Control Module turns ON (upward differentiation) or turns OFF (downward differentiation) until the input
interrupt task is actually executed. The interrupt response time for an input interrupt task would be the total of
the hardware and software response times given in the following table.
• Response Times for Built-in Inputs
Note (1) Input interrupt tasks can be executed 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 response time is not affected by the type of process being
executed when the input interrupt is generated. An input interrupt task, however, will not be executed
immediately if another interrupt task is already being executed. Execution of the next interrupt task
will wait until the current interrupt task has completed execution and then interrupt tasks will be ex-
ecuted in order of priority after the Software interrupt response time.
(2) For the FQM1-MMA21, interrupt processing is prohibited during analog I/O conversion. A minimum
of 72 to 130 µs will be required.
(3) If an interrupt occurs during an instruction that is processed using hardware, interrupt task execution
will be postponed until the instruction has finished execution. A minimum of 10 µs will be required.
The interrupt response time for an input interrupt task is shown below.
Input interrupt response time = Input ON delay + Software interrupt response time
Instruction execution
I/O refresh
Instruction execution
Overseeing Processing
Pulse inputs
read
Analog output
conversion
Analog input
conversion
Pulse/analog
input
Pulse/analog
output
Analog
output
Internal
processing
Item Description
Hardware response time Upward differentiation: 0.03 ms
Downward differentiation: 0.2 ms
Software response time 72 to 82 µs (See note 2.)
296
Programming Appendix A
Scheduled Interrupt Task
The interrupt response time of scheduled interrupt tasks is the time taken from after the scheduled time speci-
fied by the STIM(980) instruction has elapsed until the interrupt task is actually executed. The maximum inter-
rupt response time for scheduled interrupt tasks is 0.1 ms.
Also, a dedicated timer is used for the specified scheduled interrupt time (minimum of 0.5 ms), so there is
essentially no error in the time.
Note Scheduled interrupt tasks can be executed during execution of the user program, I/O refresh, peripheral
servicing, or overseeing processes. (During user program execution, instruction execution is suspended
to execute the interrupt task.) The response time is not affected by the type of process being executed
when the input interrupt is generated. A schedule interrupt task, however, will not be executed immedi-
ately if another interrupt task is already 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 Control Module Interrupt Processing Times
This section describes the processing time required to generate the interrupt and call the interrupt task, and
the processing time to return to the original location after completing the interrupt task. This information applies
to the following four types of interrupt.
• Input interrupts
• Interval timer interrupts
• High-speed counter interrupts
• Pulse output interrupts
Input
Interrupt signal
accepted
Interrupt task
executed
Input ON delay time
Software interrupt response time
Input interrupt task
interrupt response time
Return time from
input interrupt task
Cyclic task execution
(main program)
Task program
execution time
Accepting next
interrupt signal
enabled
61 µs is required from when execution of input interrupt task
program is completed until returning to cyclic task execution.
Internal timer
Scheduled interrupt
task
Software interrupt response time
Scheduled interrupt time
297
Programming Appendix A
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.
• Online Editing: If online editing is performed during operation, operation will be
stopped for a maximum of 65 ms, during which time interrupts
will be prohibited and the program will be overwritten.
• Data Exchange with Coordinator Module: Interrupts will be prohibited for 10 µs when data is exchanged
with the Coordinator Module.
• Analog I/O Refreshing: Interrupts will be prohibited for approximately 40 µs while analog
conversion is being performed for analog I/O.
• Hardware-supported Instructions: Some FQM1 ladder instructions are implemented using hard-
ware. Interrupts will be placed on standby during execution of
hardware-supported instructions that require time to process,
such as XFER(070) and BSET(071).
Interrupt Response Time Calculation Example
The interrupt response times from the interrupt input turning ON until the interrupt task is started for when an
input 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
Interrupt input ON delay: 10 µs
Interrupt prohibition release time: 0 µs
+ Switchover time: 72 µs
Total: Minimum response time: 82 µs
Maximum Response Time
Interrupt input ON delay: 30 µs
Interrupt prohibition release time: 10 µs
+ Switchover time: 72 µs
Total: Minimum response time: 112 µs
Note (1) To return to the process being performed before the interrupt occurred, the execution time of the
interrupt task and 61 µs are required in addition to the above response time.
Item Description Time
1 Interrupt input ON delay This is the additional time required from when the interrupt input contact turns
ON until the interrupt is generated. This time applies only to input interrupts.
30 µs
↓
Interrupt condition established
↓
2 Waiting for interrupt pro-
hibition to be released
Time may be required to wait for interrupt prohibition to be released. See
below for details.
See below.
↓
3 Switchover time This is the time required to switch over to interrupt processing. 72 µs
↓
Interrupt processing routine executed
↓
4 Return This is the time from the END(001) in the interrupt task until returning to the
process that was being performed when the interrupt occurred.
61 µs
298
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.)
(4) The results of executing an interrupt task can be output immediately from within the interrupt task
by selecting Immediate refresh in the System Setup and then using the SPED(885) and ACC(888)
instructions. (This can also be performed to output the results of execution in the main program im-
mediately after execution.)
299
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.
Parameter Area
This region of memory contains various settings that cannot be specified by instruction operands; they can be
specified from the CX-Programmer only. The settings include the System Setup.
S
D
Instruction I/O Memory
CX-Programmer
Parameter Area
300
I/O Memory Appendix B
I/O Memory Structure
Coordinator Module
The following table shows the basic structure of the I/O Memory for the Coordinator Module.
Note When data is written from the CX-Programmer or a host controller, these DM Area words are backed up
in flash memory. The contents of flash memory is read out each time the power is turned ON.
Area Size Range Task
usage
External
I/O allo-
cation
Bit
access
Word
access
Access Change
from
CX-Pro-
gram-
mer
Status
at
power
ON
Status
at
mode
change
Forc-
ing
bit
sta-
tus
Read Write
CIO
Area I/O Area 24 bits
(2
words)
CIO 0000
to
CIO 0001
Shared
by all
tasks
OK
Coordi-
nator
Module
OK OK OK OK OK Cleared Cleared OK
Serial PLC
Link 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 0200
to
CIO 0219
--- OK OK OK OK OK OK
Internal I/O
Areas
2,784
bits
(174
words)
CIO 0002
to
CIO 0079
CIO 0140
to
CIO 0199
CIO 0220
to
CIO 0255
--- OK OK OK OK OK OK
Work Area 4,096
bits (256
words)
W000 to
W255
--- OK OK OK OK OK Cleared Cleared OK
Auxiliary Area 10,400
bits (650
words)
A000 to
A649
--- OK OK OK OK OK Cleared Main-
tained
No
TR Area 16 bits TR0 to
TR15
--- OK --- OK OK No Cleared Cleared No
DM Area 30,000
words D00000
to
D29999
--- No OK OK OK OK Cleared Main-
tained No
2,768
words
D30000
to
D32767
--- No OK OK OK OK Main-
tained
(See
note.)
Main-
tained
No
Timer Area 256
words
T0000 to
T0255
--- OK --- OK OK OK Cleared Cleared OK
Counter Area 256
words
C0000 to
C0255
--- OK --- OK OK OK Cleared Main-
tained
OK
301
I/O Memory Appendix B
Motion Control Modules
The following table shows the basic structure of the I/O Memory Area for the Motion Control Modules.
Note These DM Area words are backed up by a super capacitor. If the Memory Not Held Flag (A404.14) is
ON, these words are cleared to all zeros.
Area Size Range Task
usage
External
I/O allo-
cation
Bit
access
Word
access
Access Change
from
CX-Pro-
gram-
mer
Status
at
power
ON
Status
at
mode
change
Forc-
ing
bit
sta-
tus
Read Write
CIO
Area
I/O Area 20 bits
(2
words)
CIO 0000
to
CIO 0001
Shared
by all
tasks
OK
Motion
Control
Module
OK OK OK OK OK Cleared Cleared OK
Cyclic
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
words)
CIO 0002
to
CIO 0099
CIO 0110
to
CIO 0199
CIO 0220
to
CIO 0255
--- OK OK OK OK OK OK
Work Area 4,096
bits (256
words)
W000 to
W255
--- OK OK OK OK OK Cleared Cleared OK
Auxiliary Area 10,400
bits (650
words)
A000 to
A649
--- OK OK OK OK OK Cleared Main-
tained
No
TR Area 16 bits TR0 to
TR15
--- OK --- OK OK No Cleared Cleared No
DM Area 30,000
words D00000
to
D29999
--- No OK OK OK OK Cleared Main-
tained No
2,768
words
D30000
to
D32767
--- No OK OK OK OK Main-
tained
(See
note.)
Main-
tained
No
Timer Area 256
words
T0000 to
T0255
--- OK --- OK OK OK Cleared Cleared OK
Counter Area 256
words
C0000 to
C0255
--- OK --- OK OK OK Cleared Main-
tained
OK
302
I/O Memory Appendix B
CIO Area
Overview
It is not necessary to input the “CIO” prefix when specifying an address in the CIO Area. The CIO Area is gen-
erally 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.
Note The above figure depicts the CIO Area of the Coordinator Module. For the Motion Control Module, the
following area ranges are different.
• Serial PLC Link Bit Area: Not provided
• Cyclic Refresh Bit Area: CIO 0100 to CIO 0109
• Work Area: CIO 0002 to CIO 0099
CIO 0110 to CIO 0199
The CIO Area includes the following four areas.
• 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 built-in I/O terminals the Coordinator Module or Motion Control Module.
Cyclic Refresh Bit Area: CIO 0100 to CIO 0139 (CIO 0100 to CIO 0109 for Motion
Control Modules)
In the Coordinator Module, 10 words are refreshed every cycle for each Motion Control Module. These words
contain Motion Control Module status, general-purpose I/O, and other information. (Refreshing these words is
not necessarily synchronized with the Motion Control Module Cycles.)
15 0
CIO 0000
CIO 0001
(CIO 0002)
(CIO 0099)
CIO 0100
CIO 0140
(CIO 0139)
CIO 0200
CIO 0199
CIO 0220
CIO 0219
CIO 0255
(CIO 0080)
I/O Bit Area
Work Area
Serial PLC Link Bit Area
Cyclic Refresh Bit Area
Work Area
Synchronous Data
Link Bit Area
Work Area
303
I/O Memory Appendix B
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 lad-
der programs in the Coordinator Module and Motion Control Modules to coordinate programming.
Synchronous Data Link Bit Area: CIO 0200 to 0219
Each Module (Coordinator Module and Motion Control Modules) broadcasts up to two items (four words) of
data at the specified cycle. The data can be specified separately for each Module and is allocated for this area.
All of the linked Modules can access the data that is broadcast by other Modules.
Work Areas: CIO 0002 to CIO 0079, CIO 0140 to CIO 0199, and CIO 0220 to CIO 0255
(CIO 0002 to CIO 0099, CIO 0110 to CIO 0199, and CIO 0220 to CIO 0255 for Motion
Control Modules)
These words can be used only in the program; they cannot be used for I/O exchange with external I/O termi-
nals. Be sure to use the work words provided in the Work Area before allocating words in the Internal I/O
Areas.
Serial PLC Link Bit Area: CIO 0080 to CIO 0099
These words are allocated for use with the Serial PLC Link, for 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 Serial PLC Link can be used only in the program, the same as the Work Area.
I/O Refresh
The ON/OFF status of external devices and I/O bits is updated during the I/O refresh. In doing so, the ON/OFF
status of external devices, such as pushbuttons, limit switches, photoelectric sensors, and other input devices
is reflected in the input bits in the I/O Area (CIO 0000). Also, the status of output bits in the I/O Area (CIO 0001)
is output to actuators and other external devices.
There are two methods that can be used for the I/O refresh.
END Refresh
With an END refresh, all I/O is refreshed once every cycle after the entire user program has been executed.
Inputs Outputs
The ON/OFF status of the external switch connected to the
built-in input terminal allocated to CIO 0000.01 is refreshed
once a cycle.
The ON/OFF status of CIO 0001.01 allocated to the exter-
nal device connected to the built-in output terminal is output
once a cycle.
0000.01 LD 0000.01
Ladder Mnemonic
SW01
Build-in
input
Coordinator Module
Correspond CIO 0000.01
Refreshed once each cycle
0001.01 OUT 0001.01
Ladder Mnemonic
Coordinator Module
Correspond CIO 0001.01
Actuator
Built-in
output
Refreshed once each cycle
304
I/O Memory Appendix B
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
Work Area: W000 to W255 (W000.00 to W255.15), 4,096 Bits
Words in the Work Area can be used only in the program; they cannot be used for I/O exchange with external
I/O terminals. Use this area for work words and bits before any other words in the CIO Area.
Auxiliary Area: A000 to A649 (A000.00 to A649.15)
The Auxiliary Area contains flags (controlled by the system) and control bits (controlled by the user) used to
monitor and control FQM1 operation. The functions of these flags and bits are predetermined and include error
flags from self-diagnosis, initial settings, operation controls, and operation status monitor data.
The bits and words in this area can be read and written from the program or from the CX-Programmer.
The bits in this area cannot be force-set or force-reset continuously.;
The CX-Programmer read/write operations include setting and resetting bits online (not forced), changing
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.
Temporary Relay Area (TR)
The TR Area contains bits that record the ON/OFF input condition status at program branches. The TR bits are
used with mnemonics only.
• TR0 to TR15 can be used in any order and any number of times.
• TR bits can be used only in OUT and LD instructions.
OUT instructions (OUT TR0 to OUT TR15) are used to store the input conditions at branch points. LD
instructions (LD TR0 to LD TR15) are used to read the input conditions previously stored at branch points.
Inputs
Outputs
IORF
0000
0001
SW17
SW31
SW16
SW1
SW15
SW0
Module
Built-in
inpuits
Status read just prior to execution
of IORF(097).
The status of
CIO 0000 is input
from the external
devices.
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.
Module
Correspond
CIO 0001
CIO 0101
Built-in
outputs
IORF(097)
executed
Actuators
The status of
CIO 0001 is output
to the external
devices.
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.
305
I/O Memory Appendix B
• 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:
• When there is no LD instruction on the lower rung after a branch point:
Note In the following cases, there are either no LD instructions after the branch points, or any LD instructions
are on the bottom rung. TR bits are not required in these types of branches.
Timer Area
The 256 timer numbers (T0000 to T0255) are shared by the TIM, TIMH(015), and TMHH(540) instructions.
Timer Completion Flags and present values (PVs) for these instructions are accessed with the timer numbers.
When a timer number is used in an operand that requires bit data (e.g., in LD, AND, or OR instructions), the
timer number accesses the Completion Flag of the timer. When a timer number is used in an operand that
requires word data (e.g., in MOV(021) or CMP(020) instructions), the timer number accesses the PV of the
timer. Timer Completion Flags can be used as often as necessary as 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 force-reset, although the PVs can be refreshed indirectly by force-setting/
resetting the Completion Flag.
There are no restrictions in the order of using timer numbers or in the number of NC or NO conditions that can
be programmed. Timer PVs can be read as word data and used in programming.
Note It is not recommended to use the same timer number in two timer instructions because the timers will not
operate correctly if they are timing simultaneously. (If two or more timer instructions use the same timer
number, an error will be generated during the program check, but the timers will operate as long as the
instructions are not executed in the same cycle.)
TR0
0000.00
0002.05
0000.01
0000.02
0000.04
0002.03 LD 0000.00
OR 0000.01
OUT TR 0
AND 0000.02
OUT 0002.03
LD TR 0
AND 0000.04
OUT 0002.05
Instruction Operand
TR00000.00 0000.01 0002.02
0002.03
LD 0000.00
OUT TR 0
AND
OUT 0002.02
LD TR 0
OUT 0002.03
0000.01
Instruction Operand
0000.00 0002.01
0002.02
0000.00 0002.01
0002.030000.02
LD 0000.00
OUT 0002.01
OUT 0002.02
LD 0000.00
OUT 0002.01
AND 0000.02
OUT 0002.03
Instruction Operand
Instruction Operand
306
I/O Memory Appendix B
The following table shows when timer PVs and Completion Flags will be reset.
Note The present value of TIM, TIMH(015), and TMHH(540) timers programmed will be updated even when
jumped between JMP and JME instructions.
Counter Area
The 256 counter numbers (C0000 to C0255) are shared by the CNT and CNTR(012) instructions.
Counter Completion Flags and present values (PVs) for these instructions are accessed with the
counter numbers.
When a counter number is used in an operand that requires bit data, the counter number accesses the
Completion Flag of the counter. When a counter number is used in an operand that requires word data,
the counter number accesses the PV of the counter.
Note It is not recommended to use the same counter number in two counter instructions because the
counters will not operate correctly if they are counting simultaneously. If two or more counter instructions
use the same counter 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 Completion Flags will be reset.
Counter Completion Flags can be force-set and force-reset.
Counter PVs cannot be force-set or force-reset, although the PVs can be refreshed indirectly by force-
setting/resetting the Completion Flag.
There are no restrictions in the order of using counter numbers or in the number of NC or NO conditions
that can be programmed. Counter PVs can be read as word data and used in programming.
Instruction Mode change
between
PROGRAM and
RUN/MONITOR
FQM1 startup Operation in jumps
(JMP-JME) or tasks on
standby
Operation in interlocks
(IL-ILC)
TIMER: TIM PV → 0
Flag → OFF
PV → 0
Flag → OFF
PVs refreshed in operat-
ing timers
PV → SV
(Reset to SV.)
Flag → OFF
HIGH-SPEED TIMER:
TIMH(015)
ONE-MS TIMER:
TMHH(540)
Instruction Reset Mode change
between
PROGRAM and
RUN/MONITOR
FQM1
startup
At reset input Operation in
interlocks (IL-
ILC)
COUNTER: CNT PV → 0000
Flag → OFF
Maintained Reset Reset Maintained
REVERSIBLE
COUNTER: CNTR(012)
307
I/O Memory Appendix B
Data Memory (DM) Area
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 operat-
ing mode is changed from PROGRAM mode to RUN/MONITOR mode or vice-versa.
Data in the D30000 to D32767 is held when the FQM1’s power is cycled or the operating mode is changed
from PROGRAM mode to RUN/MONITOR mode or vice-versa. (These words are backed up by a super capac-
itor in a Motion Control Module and by flash memory in the Coordinator Module.)
Bits in the DM Area cannot be accessed directly and cannot be force-set or force-reset.
Words in the DM Area can be indirectly addressed in two ways: binary-mode and BCD-mode.
Binary-mode Addressing (@D)
When a “@” character is input before a DM address, the content of that DM word is treated as binary and the
instruction will operate on the DM word at that binary address. The entire 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 as BCD and the
instruction will operate on the DM word at that BCD address. Only part of the DM Area (D00000 to D09999)
can be indirectly addressed with BCD values 0000 to 9999.
Condition Flags
These flags include the Error Flag and Carry Flag, which indicate the results of instruction execution. In earlier
PLCs, these flags were in the SR Area.
The Condition Flags are specified with labels, such as CY and ER, or with symbols, such as P_Carry and
P_Instr_Error, rather than addresses. The status of these flags reflects the results of instruction execution, but
the flags are read-only; they cannot be written directly from instructions or CX-Programmer.
Note The CX-Programmer treats condition flags as global symbols beginning with P_.
All Condition Flags are cleared when the program switches tasks, so the status of the ER and AER flags are
maintained only in that cycle and in the task in which the error occurred.
D00000
D30000
D32767
Word addresses
Held words
0100 D00256
Example: @D00100
Address actually used.
0100 D00100
Example: *D00100
Address actually used.
308
I/O Memory Appendix B
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.
Using the Condition Flags
The Condition Flags are shared by all of the instructions, so their status may change often in a single cycle. Be
sure to read the Condition Flags immediately after the execution of instruction, preferably in a branch from the
same input condition.
Note (1) Since the Condition Flags are shared by all of the instructions, program operation can be changed
from its expected course by interruption of a single task. Be sure to consider the effects of Condition
Flags when writing the program. Refer to Condition Flags on page 281 for details.
(2) The Condition Flags are cleared when the program switches tasks, so the status of a Condition Flag
cannot be passed to another task.
Name CX-Programmer
symbol
Function
Error Flag P_ER Turned ON when the operand data in an instruction is incorrect (an instruction
processing error) to indicate that an instruction ended because of an error.
Access Error Flag P_AER Turned ON when an Illegal Access Error occurs. The 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 operation or a “1” is
shifted to the Carry Flag by a Data Shift instruction.
The Carry Flag is part of the result of some Data Shift and Math instructions.
Greater Than Flag P_GT Turned ON when the first operand of a Comparison Instruction is greater than the
second or a value exceeds a specified range.
Equals Flag P_EQ Turned ON when the two operands of a Comparison Instruction are equal or the
result of a calculation is 0.
Less Than Flag P_LT Turned ON when the first operand of a Comparison Instruction is less than the
second or a value is below a specified range.
Negative Flag P_N Turned ON when the most significant bit (sign bit) of a result is ON.
Overflow Flag P_OF Turned ON when the result of calculation overflows the capacity of the result
word(s).
Underflow Flag P_UF Turned ON when the result of calculation underflows the capacity of the result
word(s).
Greater Than or
Equals Flag
P_GE Turned ON when the first operand of a Comparison Instruction is greater than or
equal to the second.
Not Equal Flag P_NE Turned ON when the two operands of a Comparison Instruction are not equal.
Less Than or
Equals Flag
P_LE Turned ON when the first operand of a Comparison Instruction is less than or
equal to the second.
Always ON Flag P_On Always ON. (Always 1.)
Always OFF Flag P_Off Always OFF. (Always 0.)
LD
AND
Instruction A
The result from instruction A is
reflected in the Equals Flag.
Instruction B
Instruction A
Instruction B
OperandInstruction
=
Condition Flag
Example: =
309
I/O Memory Appendix B
Clock Pulses
The Clock Pulses are flags that are turned ON and OFF at regular intervals by the system.
The Clock Pulses are specified with labels (or symbols) rather than addresses.
Note The CX-Programmer treats Clock Pulses as global symbols beginning with P_.
The Clock Pulses are read-only; they cannot be overwritten from instructions or the CX-Programmer.
The Clock Pulses 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 0.02s P_0_02s ON for 0.01 s
OFF for 0.01 s
0.1 s Clock Pulse 0.1s P_0_1s ON for 0.05 s
OFF for 0.05 s
0.2 s Clock Pulse 0.2s P_0_2s ON for 0.1 s
OFF for 0.1 s
1 s Clock Pulse 1s P_1s ON for 0.5 s
OFF for 0.5 s
1 min Clock Pulse 1min P_1min ON for 30 s
OFF for 30 s
0.01
s
0.01 s
0.05 s
0.05 s
0.1 s
0.1 s
0.5 s
0.5 s
30 s
30 s
1 s 0001.00
φ0.5 s
ψ
φ0.5 s
ψ
0001.00
LD 1 s
OUT 0001.00
Instruction Operand
310
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. The System Setups contain settings such as the serial port communications
settings and constant cycle time setting.
311
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-Pro-
grammer to customize operation for the following types of applications.
The addresses given for the settings in the System Setup are not required for actually making the settings. Use
the menus of the CX-Programmer Ver. 5.0@.
System Setup in the Coordinator Module
Sync Settings between Modules (CX-Programmer: Module Settings Tab Page)
Allow Writing to User Memory
Prohibit System Interrupt of the Sync Mode
Cases when settings must be changed Setting(s) to be changed
• When programming the FQM1 for the first time and the Motion Control
Modules are being programmed before the Coordinator Module.
• When editing or debugging the program in a specific Motion Control Mod-
ule.
Sync Mode
• When you want the FQM1 to go into RUN mode or MONITOR mode and
start operating immediately after startup.
• When you want the operating mode to be other than RUN mode when the
power is turned ON.
Startup Mode
When the peripheral port will not be used with the CX-Programmer (periph-
eral bus) communications speed 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-
eral bus) communications speed auto-detection and will not be used with the
default Host Link communications settings, such as 9,600 bps.
Host Link Port Settings
When you want to communicate with a PT via an NT Link. Peripheral Port Settings or Host Link Port Settings
You want a constant (minimum) cycle time setting to create a consistent I/O
refresh cycle or cycle time. Cycle Time
You want to set a maximum cycle time other than 50 ms (1 ms to 100 ms). Watch Cycle Time
You want to extend peripheral servicing time because peripheral services
are being executed over several cycles, delaying completion of servicing
(want to set a specific time rather than a percent of the cycle time).
Set Time to All Events
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+304 00 0: Writing enabled
1: Writing disabled
Default: Writing enabled
Sets and releases write-protection for
the user memory and System Setup.
--- When disabling: At
power ON or at
start of operation
When enabling:
When changed
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+304 08 0: Not prohibited
1: Prohibited
Default: Not prohibited
Sets and releases prohibition of system
interrupts during program execution.
Set to 1: Prohibit coordinating (match-
ing) the operation start timings among
Modules in Sync Mode.
--- At start of opera-
tion
312
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Sync Cycle Time
Sync Mode
Startup Mode Setting (CX-Programmer: Startup Tab Page)
Startup Mode
Cycle Time Settings (CX-Programmer: Timer/Peripheral Service)
Cycle Time
Watch Cycle Time
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+319 00 to 14 0000 hex: Default (Coordina-
tor Module cycle time)
0001 to 0064 hex: 0.1 to 10.0
ms (unit: 0.1 ms)
Default: Coordinator Module
cycle time
Sets the cycle time for the Coordinator
Module when high-speed synced oper-
ation is to be used only between Motion
Control Modules.
A404.06 (Sync Cycle
Time Too Long Flag)
At power ON
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+319 15 0: Sync mode
1: Async mode
Default: Sync mode
Sets either Sync Mode or Async Mode.
Sync Mode is used to sync operation
between the Coordinator Module and
Motion Control Modules.
Async Mode is convenient for debug-
ging Motion Control Modules even if
Sync Mode is to be used for actual
operation.
--- At power ON
Address Settings Function Related 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 be enabled and disabled. If
this setting is disabled, the Coordinator
Module will start in RUN mode.
--- At power ON
15 00: Setting disabled
01: Setting enabled
Default: Setting disabled
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+307 00 to 15 0001 to 03E8 hex: 0.1 to
100.0 ms (unit: 0.1 ms)
Default: 0000 hex (variable
cycle time)
Set to 0001 to 03E8 hex to specify a
constant (minimum) cycle time. If the
cycle time is less than this setting, it will
be extended until this time passes.
Leave this setting at 0000 for a variable
cycle time.
A404.05 (Constant
Cycle Time Exceeded
Flag)
At start of opera-
tion (cannot be
changed during
operation)
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+308 00 to 15 0001 to 0064 hex: 1 to 100
ms (unit: 0.1 ms)
Default: 0000 hex (50 ms)
Change this setting only when you want
to change the default maximum cycle
time. The Cycle Time Too Long Flag
(A401.08) will be turned ON if the
actual cycle time exceeds this setting.
A208 to A209 (Present
Cycle Time)
At start of opera-
tion (cannot be
changed during
operation)
313
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Peripheral Port Settings (CX-Programmer: Peripheral Port Tab Page)
Communications Settings
Peripheral Port Settings for Host Link
Standard/Custom Setting
Serial Communications Mode
Baud Rate
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+144 00 to 07 Setting Data
length
Start bits Stop bits Parity Sets the communi-
cations conditions
for the peripheral
port.
A412.15 (Periph-
eral Port Settings
Changing Flag)
At next cycle (Also
can be changed
with STUP (237).)
00 hex:712Even
01 hex:712Odd
02 hex:712None
04 hex:711Even
05 hex:711Odd
06 hex:711None
08 hex:812Even
09 hex:812Odd
0A hex:812None
0C hex:811Even
0D hex:811Odd
0E hex:811None
Default: 00
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+144 15 0: Standard
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
with STUP (237).)
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+144 08 to 11 00 hex: Host Link
Default: 00 hex
This setting determines whether the
peripheral port will operate in Host Link
mode or another serial communications
mode. Set 00 for Host Link Mode.
A412.15 (Peripheral
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
+145 00 to 07 00 hex: 9,600
01 hex: 300
02 hex: 600
03 hex: 1,200
04 hex: 2,400
05 hex: 4,800
06 hex: 9,600
07 hex: 19,200
08 hex: 38,400
09 hex: 57,600
Unit: bit/s
Default: 00 hex
This setting is valid when the peripheral
port is set for the Host Link Serial Com-
munications Mode. Set the Standard/
Custom setting to 1 to enable this set-
ting.
A412.15 (Peripheral
Port Settings Changing
Flag)
At next cycle (Also
can be changed
with STUP (237).)
314
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Host Link Unit Number
Peripheral Port Settings for NT Link
Serial Communications Mode
Baud Rate
Maximum Unit Number for NT Link (NT Link Max.)
Peripheral Port Settings for Peripheral Bus (ToolBus)
Standard/Customer Setting
Serial Communications Mode
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+147 00 to 07 00 to 1F hex: Unit number 0
to 31
Default: 00 hex
This setting determines the Coordinator
Module's unit number when it is con-
nected in a 1-to-N (N=2 to 32) Host
Link.
A412.15 (Peripheral
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
+144 08 to 11 02 hex: NT Link
Default: 0 hex
This setting determines whether the
peripheral port will operate in NT Link
mode or another serial communications
mode. Set 02 for NT Link Mode.
Note Communications will not be pos-
sible with PTs set for 1:1 NT Links.
A412.15 (Peripheral
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
+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 Commu-
nications Mode.
A412.15 (Peripheral
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
+150 00 to 03 0 to 7 hex
Default: 0 hex
This setting determines the highest unit
number of PT that can be connected to
the FQM1.
A412.15 (Peripheral
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
+144 15 0: Standard
1: Custom
Default: 0
The standard setting is for 9,600 baud. A412.15 (Peripheral
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
+144 08 to 11 04 hex: Peripheral bus
Default: 0 hex
This setting determines whether the
peripheral port will operate in Periph-
eral Bus Mode or another serial com-
munications mode. Set 04 for
Peripheral Bus Mode.
Peripheral Bus Mode is used to com-
municate with the CX-Programmer.
A412.15 (Peripheral
Port Settings Changing
Flag)
At next cycle (Also
can be changed
with STUP (237).)
315
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Baud Rate
RS-232C Port Settings (CX-Programmer: Host Port Tab Page)
RS-232C Port Settings for Host Link
Serial Communications Mode
Format
Baud Rate
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+145 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.
A412.15 (Peripheral
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
+160 08 to 11 00 hex: Host Link
05 hex: Host Link
Default: 00 hex
This setting determines whether the
RS-232C port will operate in Host Link
mode or another serial communications
mode. Specify 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
read
Word Bits
+160 15 0: Default format
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
with STUP (237).)
03 0: 7-bit
1: 8-bit
Default: 0
Sets the data length.
02 0: 2 bits
1: 1 bit
Default: 0
Sets the number of stop bits.
00 and
01
00: Even
01: Odd
10: None
Default: 00 hex
Sets the parity.
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+161 00 to 07 00 hex: 9,600
01 hex: 300
02 hex: 600
03 hex: 1,200
04 hex: 2,400
05 hex: 4,800
06 hex: 9,600
07 hex: 19,200
08 hex: 38,400
09 hex: 57,600
Unit: bit/s
Default: 00 hex
Sets the Host Link baud rate. Set the
Standard/Custom setting to 1 to enable
this setting.
A410.15 (RS-232C Port
Settings Changing Flag)
At next cycle (Also
can be changed
with STUP (237).)
316
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Host Link Unit Number
RS-232C Port Settings for NT Link
Serial Communications Mode
Baud Rate
Maximum Unit Number for NT Link (NT Link Max.)
RS-232C Port Settings for Peripheral Bus (ToolBus)
Standard/Custom Setting
Serial Communications Mode
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+163 00 to 07 00 to 1F hex: 0 to 31
Default: 00 hex
This setting determines the Coordinator
Module's unit number when it is con-
nected in a 1-to-N (N=2 to 32) Host
Link.
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
read
Word Bits
+160 08 to 11 02 hex: NT Link
Default: 00 hex
This setting determines whether the
RS-232C port will operate in NT Link
mode or another serial communications
mode. Set 02 for NT Link Mode.
Note Communications will not be pos-
sible with PTs set for 1:1 NT Links.
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
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-
nications 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
read
Word Bits
+166 00 to 03 0 to 7 hex
Default: 00 hex
This setting determines the highest unit
number of PT that can be connected to
the FQM1.
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
read
Word Bits
+160 15 0: Standard
1: Custom
Default: 0
The standard setting is for 9,600 baud. 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
read
Word Bits
+160 08 to 11 04 hex: Peripheral bus
Default: 0 hex
This setting determines whether the
RS-232C port will operate in Peripheral
Bus Mode or another serial communi-
cations mode. Set 04 for Peripheral Bus
Mode.
Peripheral Bus Mode is used to com-
municate with the CX-Programmer.
A410.15 (RS-232C Port
Settings Changing Flag) At next cycle (Also
can be changed
with STUP (237).)
317
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Baud Rate
RS-232 Port Settings for No-protocol Communications (RS-232C)
Serial Communications Mode
Data Format
Baud Rate
Send Delay
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+161 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.
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
read
Word Bits
+160 08 to 11 03 hex: No-protocol
Default: 00 hex
This setting determines whether the
RS-232C port will operate in No-proto-
col mode or another serial communica-
tions mode. Set 03 for No-protocol
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
read
Word Bits
+160 15 0: Default format
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
with STUP (237).)
03 0: 7-bit
1: 8-bit
Default: 0
Sets the data length.
02 0: 2 bits
1: 1 bit
Default: 0
Sets the number of stop bits.
00 and
01
00: Even
01: Odd
10: None
Default: 00 hex
Sets the parity.
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+161 00 to 07 00 hex: 9,600
01 hex: 300
02 hex: 600
03 hex: 1,200
04 hex: 2,400
05 hex: 4,800
06 hex: 9,600
07 hex: 19,200
08 hex: 38,400
09 hex: 57,600
Unit: bit/s
Default: 00 hex
This setting is valid when the RS-232C
port is set for the No-protocol Serial
Communications Mode. Set the Data
Format setting to 1 to enable this set-
ting.
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
read
Word Bits
+162 00 to 15 Send delay time,
0 to 99,990 ms
(0000 to 270F hex,
unit: 10 ms)
Default: 0000 hex
When TXD(236) is executed, data will
be sent from the RS-232C port after the
delay time set here.
A410.15 (RS-232C Port
Settings Changing Flag)
At next cycle (Also
can be changed
with STUP (237).)
318
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Start Code and End Code
Number of Received Bytes
RS-232C Port Settings for PLC Link (PC Link (Slave))
Serial Communications Mode
Baud Rate
PLC Link Unit No. (PC Link Unit Number)
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+164 00 to 07 00 to FF hex
Default: 00 hex
The frame format for
no-protocol commu-
nications data (mes-
sages) can be
specified.
Specifies the end
code. This setting is
valid when bits 08 to
09 of +165 are set to
01.
A410.15 (RS-232C Port
Settings Changing Flag)
At next cycle (Also
can be changed
with STUP (237).)
08 to 15 00 to FF hex
Default: 00 hex
Specifies the start
code. This setting is
valid when bit 12 of
+165 is set to 1.
+165 12 0: Don’t add start code
1: Add start code
Default: 0
Specifies whether
the frame format for
no-protocol commu-
nications is speci-
fied.
Specifies whether to
add a start code.
08 and
09
00: Don’t add end code
and use number of
received bytes setting
01: Add 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
+165 00 to 07 00 hex: 256 bytes
01 to FF hex: 1 to 255
Default: 00 hex
Specifies 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.
The default setting for each TXD(236)/
RXD(235) instruction is 256 bytes. This
setting can be set to 01 to FF to set 255
bytes or less.
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
read
Word Bits
+160 08 to 11 07 hex: Serial PLC Link
Slave (Polled Unit)
Default: 00 hex
This setting determines whether the
RS-232C port will operate in Serial PLC
Link Slave mode or another serial com-
munications mode. Set 07 for Serial
PLC Link Slave 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
read
Word Bits
+161 00 to 07 00 hex: Standard setting
Default: 00 hex
Only the standard setting of 38,400 can
be used for the Serial PLC Link Slave
Serial Communications 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
read
Word Bits
+167 00 to 03 0 to 7 hex
Default: 0 hex
Sets the unit number of the FQM1 as a
Serial PLC Link Slave.
A410.15 (RS-232C Port
Settings Changing Flag)
At next cycle (Also
can be changed
with STUP (237).)
319
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
Serial Communications Mode
RS-422A Response Timeout Time (RS422 Response Timeout of Command)
RS-422A Port Settings for No-protocol Communications (Non-procedural)
Serial Communications Mode
Send Delay Time
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+360 15 0: Standard settings
Default: 0
The standard settings are for 1 start bit,
7-bit data, even parity, 2 stop bits, and
9,600 baud.
A414.15 (RS-422A Port
Settings Changing Flag) ---
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+360 08 to 11 00 or 09 hex: Serial Gateway
Default: 00 hex
This setting determines whether the
RS-422A port will operate in Serial
Gateway mode or another serial com-
munications mode. Set 00 or 09 for
Serial 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 to 15 0001 to 00FF hex:
0.1 to 25.5 s
Default: 0000 hex (5 s)
Sets the timeout time for a response
from the Servo Driver.
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
+360 08 to 11 03 hex: No-protocol
Default: 00 hex
This setting determines whether the
RS-422A port will operate in no-proto-
col mode or another serial communica-
tions mode. Set 03 for No-protocol
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
+362 00 to 15 Send delay time, 0 to 99,990
ms
(0000 to 270F hex,
unit: 10 ms)
Default: 0000 hex
When TXD(236) is executed, data will
be sent from the RS-422A port after the
delay time set here.
A414.15 (RS-422A Port
Settings Changing Flag)
At next cycle (Also
can be changed
with STUP (237).)
320
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Start Code and End Code
Number of Received Bytes
Peripheral Service Time Settings (CX-Programmer: Timer/Peripheral Tab Page)
Fixed Service Time Enable Setting (Set Time to All Events)
Peripheral Service Time
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+364 00 to 07 00 to FF hex
Default: 00 hex
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.
A414.15 (RS-422A Port
Settings Changing Flag)
At next cycle (Also
can be changed
with STUP (237).)
08 to 15 00 to FF hex
Default: 00 hex
Specifies the start
code. This setting
is valid when bit 12
of +365 is set to 1.
+365 12 0: Don’t add start code
1: Add start code
Default: 0
Specifies whether
the frame format
for no-protocol
communications is
specified.
Specifies whether
to add a start code.
08 and
09
00: Don’t add end code and
use number of received bytes
setting
01: Add 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 255
Default: 00 hex
Specifies 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 +365 are set to 00.
The default setting for each TXD(236)/
RXD(235) instruction is 256 bytes. This
setting can be set to 01 to FF to set 255
bytes or less.
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
+218 15 0: Default (6.25% of cycle
time)
1: Custom
Default: 0
Sets the default service time or enables
setting of a custom service time.
--- At start of opera-
tion (cannot be
changed during
operation)
Address Settings Function Related flags and
words
When setting is
read
Word Bits
+218 00 to 07 00 to FF hex:
0.0 to 25.5 ms
(unit: 0.1 ms)
Default: 00 hex
Sets the time to allocate to peripheral
servicing. Bit 15 of +218 must be set to
1 to enable this setting.
--- At start of opera-
tion (cannot be
changed during
operation)
321
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
CX-Programmer: Cycle Time Tab Page
CX-Programmer: Other Tab Page
These settings are reserved for future expansion of Motion Control Module functionality.
Address Bits Function Remarks When setting is read
+304 00 Allow writing to user memory (user
memory protection)
0 hex: Writing enabled
1 hex: Writing disabled
Note Set this bit to 1 to disable writing the fol-
lowing areas from the CX-Programmer: user
program and System Setup
When disabling: At
power ON or at start of
operation
When enabling: When
changed
08 Prohibit system interruption of the sync
mode
0 hex: Allow interrupts
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.
At power ON
12 Detect cycle time over warming (detec-
tion of cycle times longer than 10 ms)
0 hex: Detect long cycles
1 hex: Do not detect long cycles
Note CIO 0105.09 will turn ON if this bit is set
to 0 and the cycle time exceeds 10 ms.
At start of operation
+305 00 to 03 Interrupt Input Settings, Input 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 to input interrupt mode and counter
mode.
At power ON
04 to 07 Interrupt Input Settings, Input 1 (CIO
0000.01) function
08 to 11 Interrupt Input Settings, Input 2 (CIO
0000.02) function
12 to 15 Interrupt Input Settings, Input 3 (CIO
0000.03) function
+306 00 to 07 Select Synchro-
nous Data Upper 2 words (+0
and +1) 00 hex: Normal (via Ladder)
01 hex: High-speed counter PV (Counter 1 val-
ues)
02 hex: High-speed counter PV (Counter 2 val-
ues)
03 hex: Pulse output 1 PV
04 hex: Pulse output 2 PV
05 hex: Analog input
06 hex: Reserved
07 hex: Analog output 1 value
08 hex: Analog output 2 value
09 hex: Built-in input value (Inner I/O input)
5A hex: No data
08 to 15 Lower 2 words (+2
and +3)
Address Bits Function Remarks When setting is read
+307 00 to 15 Cycle time 0000 hex: Variable cycle time
0001 to 03E8 hex: Constant (minimum) cycle
time of 0.1 to 100.0 ms (unit: 0.1 ms)
If the actual cycle time is less than this setting,
it will be extended until this time passes.
Note A404.05 will turn ON if the minimum
cycle time set here is exceeded.
At start of operation
+308 00 to 15 Watch cycle time Change this setting only when you want to
change the default maximum cycle time. The
Cycle Time Too Long Flag (A401.08) will be
turned ON if the actual cycle time exceeds this
setting.
At start of operation
322
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 Bits Function Remarks When setting is
read
+320 00 to 03 High-speed
counter 1 (Counter
1)
Input method 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
At power ON
04 to 07 Reset method 0 hex: Software reset
1 hex: Phase Z and software reset
08 to 11 Counting speed 0 hex: 50 kHz
1 hex: 500 kHz
12 to 15 Counter operating
mode (Counter 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
counter (0 hex), be sure to set the Circular Maxi-
mum Count/Absolute Encoder Resolution.
+321 00 to 03 Counter data to moni-
tor (Counter data dis-
play)
0 hex: Do not monitor (Non-monitor)
1 hex: Counter PV changes (Counter movements
(mode 1))
2 hex: Frequency (mode 2)
Note The frequency (mode 2) can be set only for
high-speed counter 1.
04 to 15 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 only when the Counter
Data Display (bits 00 to 03 of +321) is set to 1 hex
(mode 1).
323
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
CX-Programmer: Pulse Output Tab Page
+323 00 to 03 High-speed
counter 2 (Counter
2)
Input method Same as for high-speed counter 1 except that fre-
quency measurement (Counter data to monitor,
bit 00 to 03 of +324: 02 hex) cannot be set for
high-speed counter 2.
At power ON
04 to 07 Reset method
08 to 11 Counting speed
12 to 15 Counter operating
mode (Counter opera-
tion)
+324 00 to 03 Counter data to moni-
tor (Counter data dis-
play)
04 to 15 Reserved
+325 00 to 15 Sampling time (for
mode 1 only)
+326 to 327 00 to 15 High-speed
counter 1 (Counter
1)
Circular maximum
count
Sets the maximum circular counter value.
Range: 0000 0001 to FFFF FFFF hex
Absolute encoder res-
olution
0000 0001 to 0000 FFFF hex
Note Set this value in pulses/rotation according
to the encoder dividing ratio set for the Servo
Driver and the input method multiplier set for the
Module.
Example: If the Servo Driver setting is 1,000 and
the Module setting is x4, set FA0 (4,000).
+328 to 329 00 to 15 High-speed
counter 2 (Counter
2)
Circular maximum
count
Same as for high-speed counter 1.
Absolute encoder res-
olution
+330 to 331 00 to 15 High-speed
counter 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
read
+340 00 to 07 Pulse output 1 Operation mode
(Refer to 7-6-6
Pulse Output
Function Details.)
00 hex: Relative pulse output
01 hex: Absolute pulse output in linear mode
02 hex: Absolute pulse output in circular mode (See
note.)
03 hex: Electronic cam control in linear mode (See
note.)
04 hex: One-shot pulse output
05 hex: Time measurement using pulse counter
06 hex: Electronic cam control in circular mode (See
note.)
At power ON
08 to 15 Clock 00 hex: 20 MHz Pulse output frequency: 400 Hz
to 1 MHz
01 hex: 10 MHz Pulse output frequency: 200 Hz
to 200 kHz
02 hex: 5 MHz Pulse output frequency: 100 Hz
to 100 kHz
03 hex: 2.5 MHz Pulse output frequency: 40 Hz
to 50 kHz
04 hex: 1.25 MHz Pulse output frequency: 20 Hz
to 20 kHz
+341 00 to 07 Pulse output 2 Operation mode Same as for pulse output 1.
08 to 15 Clock
+342 to 343 00 to 15 Pulse output 1 Circular maximum
count Sets the maximum circular counter value when the
pulse output mode is set to absolute pulse output in
circular mode or electronic cam control in circular
mode.
Range: 0000 0001 to FFFF FFFF hex (See note.)
+344 to
+345
00 to 15 Pulse output 2 Circular maximum
count
Same as for pulse output 1.
Address Bits Function Remarks When setting is
read
324
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.
FQM1-MMA21 Motion Control Modules with Analog I/O
CX-Programmer: Pulse Input Tab Page
Address Bits Function Remarks When setting
is read
+320 00 to 03 High-speed
counter 1 (Counter
1)
Input method 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
At power ON
04 to 07 Reset method 0 hex: Software reset
1 hex: Phase Z and software reset
08 to 11 Counting speed 0 hex: 50 kHz
1 hex: 500 kHz
12 to 15 Counter operating
mode (Counter 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+)
+321 00 to 03 Counter data to moni-
tor (Counter data dis-
play)
0 hex: Do not monitor (Non-monitor)
1 hex: Counter PV changes (Counter movements
(mode 1))
2 hex: Frequency (mode 2)
Note The frequency (mode 2) can be set only for
high-speed counter 1.
04 to 15 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 only when the Counter
Data Display (bits 00 to 03 of +321) is set to 1 hex
(mode 1).
+323 00 to 03 High-speed
counter 2 (Counter
2)
Input method Same as for high-speed counter 1 except that fre-
quency measurement (Counter data to monitor, bit
00 to 03 of +324: 02 hex) cannot be set for high-
speed counter 2.
04 to 07 Reset method
08 to 11 Counting speed
12 to 15 Counter operating
mode (Counter opera-
tion)
+324 00 to 03 Counter data to moni-
tor (Counter data dis-
play)
04 to 15 Reserved
+325 00 to 15 Sampling time (for
mode 1 only)
+326 to 327 00 to 15 High-speed
counter 1 (Counter
1)
Circular maximum
count
Sets the maximum circular counter value.
Range: 0000 0001 to FFFF FFFF hex
Absolute encoder res-
olution 0000 0001 to 0000 FFFF hex
Note Set this value in pulses/rotation according to
the encoder dividing ratio set for the Servo Driver
and the input method multiplier set for the Module.
Example: If the Servo Driver setting is 1,000 and
the Module setting is x4, set FA0 (4,000).
+328 to 329 00 to 15 High-speed
counter 2 (Counter
2)
Circular maximum
count
Same as for high-speed counter 1.
Absolute encoder res-
olution
325
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
CX-Programmer: Analog Input/Output Tab Page
Note Analog outputs that are not being used can be disabled to decrease the cycle time.
Details on System Setup Settings
Startup Mode
This setting determines the operating mode that will be used when the power supply to the Coordinator Module
is turned ON.
Note The Coordinator Module will start in RUN mode unless the Startup Mode setting in the System Setup is
enabled.
Peripheral Port Settings
The standard settings are for Host Link Mode, 1 start bit, 7-bit data, even parity, 2 stop bits, and 9,600 baud.
Change the System Setup if any other settings are required.
RS-232C Port Settings (Host Link Port)
The standard settings are for Host Link Mode, 1 start bit, 7-bit data, even parity, 2 stop bits, and 9,600 baud.
Change the System Setup if any other settings are required. If no-protocol communications are to be used, be
sure to change the frame format.
+330 to 331 00 to 15 High-speed
counter 1 (Counter
1)
Absolute offset 8000 0000 to 7FFF 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 When setting is read
+350 00 to 03 Analog I/O Input method 0 hex: END refresh
1 hex: Immediate refresh (using PRV(881)
instruction)
At power ON
04 to 07 Output method 0 hex: END refresh (Analog value output to
A560 and A561 after executing END(001).)
1 hex: Immediate refresh (using instructions)
(Analog value output when SPED(885) or
ACC(888) is executed.) (A560 and A561 are
used for monitoring.)
+351 00 to 07 Analog input 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: 0 to 5 V
At power ON
+353 00 to 07 Analog output 1 Output range 00 hex: −10 to 10 V
01 hex: 0 to 10 V
02 hex: 1 to 5 V
03 hex: 0 to 5 V
5A hex: Output disabled (Can be used to
shorten I/O refresh time.) (See note.)
At power ON
08 to 11 Output stop func-
tion
0 hex: Clear
1 hex: Hold
2 hex: Maximum value
+354 00 to 07 Analog output 2 Output range Same as for analog output 1.
08 to 15 Output stop func-
tion
System Setup mode setting disabled RUN mode
System Setup mode setting enabled Program: PROGRAM mode
Monitor: MONITOR mode
Run: RUN mode
Address Bits Function Remarks When setting
is read
326
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 set-
tings have actually been changed.
Note The following data is set for no-protocol mode.
Messages Sent and Received with No-protocol Mode
Constant Cycle Time
Set the cycle time to a non-zero value, e.g., to create a consistent motor control cycle. This setting is effective
only when the actual cycle time is shorter than the constant cycle time setting. If the actual cycle time is longer
than the constant cycle time setting, the actual cycle time will remain unchanged.
Note The constant 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) will
be turned ON and FQM1 operation will be stopped. This setting must be changed if the normal cycle time
exceeds the default watch cycle time setting of 50 ms.
FLEXIBLE
MOTION
CONTROLLER
RDY
RUN
ERR
PRPHL
COMM1
COMM2
PERIPHERAL
ON OFF
CM001
2
CN1
RS422
1
4039
1 2
PORT
RS-232C Port Settings
The standard (default) settings are as follows:
Host Link Mode
1 start bit
7-bit data
Even parity
2 stop bits
9,600 baud rate
If any other serial communications mode is
being used (e.g., NT Link, no-protocol,
peripheral bus, or Host Link), change the
baud rate or other settings as requried.
Send delay
TXD(236)
Data sent Time
End code
Yes CR+LFNo
Start code No
Yes
Received bytes Data: 1 to 256 bytes
Data Data ED CR+LFData
Data Data EDST ST ST CR+LFData
Constant
(minimum)
time
327
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.
Note The default value for the watch cycle time is 50 ms.
Fixed Peripheral Servicing Time
This setting determines whether the peripheral servicing for the following processes is performed with
the default settings (6.25% of the cycle time) or all together in a fixed servicing time.
Exchange data with Modules when necessary
Exchange data with peripheral port
Exchange data with serial communications ports
The following table shows a breakdown of the peripheral servicing time.
Note A default value of 100 µs is allocated in Motion Control Modules for event servicing with the Coordinator
Module
ON
Watch
Time
Watch Cycle
Time Watch Cycle
Time Watch Cycle
Time
Actual Cycle
Time
Actual Cycle
Time
Actual Cycle
Time
Cycle Time
Too Long Flag
A401.08
↓
Module operation
is stopped.
OVER
↓
Peripheral servicing time Default value Setting range
Event service time for
Motion Control Modules
6.25% of the previous
cycle’s cycle time
Uniform servicing time in ms:
0.0 to 25.5 ms (unit: 0.1 ms)
Event service time for
peripheral port
Same as above.
Event service time for
RS-232C port
Same as above.
Event service time for
RS-422A port
Same as above.
Initialization
Power ON
Common processes
Program execution
(Tasks executed)
I/O refreshing
Peripheral servicing
Cycle
time
Cyclic refreshing
328
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 rec-
ommended 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.
(2) The fixed peripheral servicing time setting cannot be changed while the Module is in RUN mode or
MONITOR mode.
329
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.
Motion Control Modules
Allocations That Are the Same for All Modules
FQM1-MMP21 Motion Control Modules with Pulse I/O
Address Bits Name Function Controlled by
A202 00 Motion Control Module
slot 1
ON if the Motion Control Module is in slot 1. Module
01 Motion Control Module
slot 2 ON if the Motion Control Module is in slot 2.
02 Motion Control Module
slot 3 ON if the Motion Control Module is in slot 3.
03 Motion Control Module
slot 4
ON if the Motion Control Module is in slot 4.
Address Bits Name Function Controlled by
A600 00 to 15 High-speed Counter 1 PV Range: 8000 0000 to 7FFF FFFF
Note For a Linear Counter, high-speed counter over-
flows/underflows are checked when the PV is read
(i.e., when Module 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 circu-
lar
• Absolute linear
(CW+)
PV of abso-
lute number
of rotations
Contains the number of rotations data (PV) read from
the Encoder when the SEN signal is input to the
Servo Driver.
8000 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 of the high-speed counter over
the specified sampling time as a 8-digit hexadeci-
mal value (0000 0000 to FFFF FFFF hex).
• When monitoring the counter frequency (mode 2),
contains the frequency of the high-speed counter
calculated from the PV of the high-speed counter
between 0 and 7A120 hex (0 and 500 kHz).
A606 to
A607
00 to 15 High-
speed
Counter
2
For following
counter modes
• Absolute linear
(CW−)
• Absolute circu-
lar
• Absolute linear
(CW+)
PV of abso-
lute number
of rotations
Same as for A604 and A605 for high-speed counter
1 except that measuring the high-speed counter fre-
quency is not possible for high-speed counter 2.
For following
counter modes
• Linear counter
• Circular
counter
Monitor data
330
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Address Bits Name Function Controlled
by
A608 00 High-speed
counter 1 status Target Compar-
ison In-
progress Flag
OFF: Target value comparison is not being performed for
CTBL(882).
Note This flag is always OFF for range comparison.
ON: Target value comparison is being performed for CTBL(882).
Note Target comparison is continued without interruption once it
has been started (as opposed to range comparison), so this flag
can be used to check whether target comparison is in progress.
Module
01 PV Overflow/
Underflow Flag OFF: There is no counter overflow or underflow in Linear Counter
Mode. This flag will always be OFF in Circular Counter Mode.
ON: There is a counter overflow or underflow in Linear Counter
Mode. The counter PV will be fixed at the overflow or underflow
limit. This flag will be cleared when the High-speed Counter Start
Bit is turned OFF.
02 Reserved ---
03 Phase Z Input
Reset Flag (ON
for one cycle)
ON for one cycle when the counter PV is reset with the counter
reset method set to a phase Z + software 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
Rotations Read
Error Flag
OFF: No error
ON: Error
05 Absolute No. of
Rotations Read
Completed
Flag
OFF: Rotations being read or reading has not been executed.
ON: Reading has been completed (Turned ON when serial recep-
tion of the number of rotations has been completed.)
06 Measuring Flag
(measurement
mode 1 or 2)
OFF: Changes in the counter PV or the counter frequency is not
being measured.
ON: Changes in the counter PV or the counter frequency is being
measured.
In measurement mode 1, this flag will turn ON at the beginning of
the sampling time after the Measurement Start Bit (A610.02) is
turned ON.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
07 High-speed
Counter Oper-
ating Flag
OFF: Counter is not operating.
ON: Counter is operating.
08 Count Latched
Flag
OFF: Count has not been latched.
ON: Latching the count has been completed for the latch input.
09 to 11 Reserved ---
12 Absolute Off-
set Preset
Error Flag
OFF: No error occurred when saving the absolute offset.
ON: An error occurred when saving the absolute offset.
13 to 15 Reserved ---
331
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
A609 00 High-speed
counter 2 status
Target Compar-
ison In-
progress Flag
Same as for high-speed counter 1. Module
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
(measurement
mode 1 or 2)
07 High-speed
Counter Oper-
ating Flag
08 Count Latched
Flag
09 to 11 Reserved
12 Absolute Off-
set Preset
Error Flag
13 to 15 Reserved
Address Bits Name Function Controlled
by
332
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
A610 00 High-speed
counter 1 com-
mand bits
Start Bit OFF: Stops counter operation. The counter PV will be maintained.
ON: Starts counter operation. The counter PV will not be reset.
User
01 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 Con-
trol Module. If a phase Z + software reset is set, disables the phase
Z input.
ON: If a software reset is set in the System Setup, resets the
counter PV to 0 when internal I/O is refreshed in the Motion Control
Module. If a phase Z + software reset is set, enables the phase Z
input.
02 Measurement
Start Bit
OFF: Disables measuring changes in counter PV or the counter
frequency.
ON: Starts measuring changes in counter PV or the counter fre-
quency.
Note Measuring the high-speed counter frequency is possible only
for high-speed counter 1.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
03 Measurement
Direction Bit
(measurement
mode 2)
OFF: Forward (up)
ON: Reverse (down)
This bit specifies the up/down direction of the pulse input for fre-
quency measurement.
Note Always set this bit before turning ON the Measurement Start
Bit.
04 Range Com-
parison Results
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 the execution results (A612) or output bit pattern
(A613) from CTBL(882) execution for range comparison for the
counter.
05 Absolute Off-
set Preset Bit
OFF: Does not preset the offset.
OFF to ON: Stores the number of multi-turns read from the Servo
Driver and the number of initial incremental pulses as an offset in
the Absolute Offset value in the System Setup.
When establishing the machine origin, the position from the abso-
lute encoder origin is set as the Absolute Offset in the System
Setup as the machine origin.
06 Absolute
Present Value
Preset Bit
OFF: Disables the absolute present value preset.
OFF to ON: Stores the Absolute PV in the counter 1 PV (A600 and
A601).
Note Refer to 7-7-6 Absolute Present Value for details on the
absolute PV.
07 Absolute Num-
ber of Rota-
tions Read Bit
OFF: Disables reading the number of rotations data from the Servo
Driver.
OFF to ON: Outputs the SEN output to the Servo Driver and
receives the number of rotations data on the phase A input.
08 Latch Input 1
Enable Bit
OFF: Disables the exterior latch input 1 signal.
ON: Enables the exterior latch input 1 signal.
09 Latch Input 2
Enable Bit OFF: Disables the exterior latch input 2 signal.
ON: Enables the exterior latch input 2 signal.
10 to 15 Reserved ---
Address Bits Name Function Controlled
by
333
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
A611 00 High-speed
counter 2 com-
mand bits
Start Bit Same as command bits for high-speed counter 1. User
01 Reset Bit
02 Measurement
Start Bit
03 Reserved
04 Range Com-
parison Results
Clear Bit
05 Absolute Off-
set Preset Bit
06 Absolute
Present Value
Preset Bit
07 Absolute Num-
ber of Rota-
tions Read Bit
08 Latch Input 1
Enable Bit
09 Latch Input 2
Enable Bit
10 to 15 Reserved
A612 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 match
ON: Match
Module
A613 00 to 15 Output Bit Pat-
tern
Contains the output bit pattern when a match is found for
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit pat-
terns with matches will be stored here.
A614 00 to 15 High-speed
counter 2 moni-
tor data
Range Com-
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
334
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
A620 to
A621
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 out-
put in circular mode, or elec-
tronic cam mode.
Contains the pulse output PV as an 8-digit hexadecimal number.
Relative mode: 00000000 to FFFFFFFF hex
Absolute linear mode: 80000000 to 7FFFFFFF hex
Absolute circular mode: 00000000 to circular maximum count
Module
One-shot Pulse Output 1 ON
Time
Note This item applies when the
operation mode is one-shot out-
put mode.
Contains the time that the one-shot pulse output has been ON as
an 8-digit hexadecimal number.
0000 0000 to 0000 270F (unit: set by STIM(980))
Pulse Time Measurement 1
Note This item applies when the
operation mode is time measure-
ment mode using a pulse
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 Output 1 PV.
One-shot Pulse Output 2 ON
Time
Same as for One-shot Pulse Output 1 ON time.
Pulse Time Measurement 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 distribution has been
completed).
01 Pulse Output
Set Flag
OFF: Pulse output amount not set by PULS(886).
ON: Pulse output amount set by PULS(886).
02 Target Fre-
quency Not
Reached Flag
OFF: Target speed has been reached during pulse output for
PLS2(887).
ON: Decelerated before reaching the target speed during pulse
output for PLS2(887).
03 Target Compar-
ison Flag
OFF: Comparison stopped.
ON: Comparison in progress.
04 Independent
Pulse Output
Flag
OFF: Pulses not being output or being output continuously.
ON: Pulses being output.
05 PLS2 Position-
ing Flag
OFF: Not positioning.
ON: Positioning in progress.
06 Accelerating/
Decelerating
Flag
OFF: No output or constant-speed output.
ON: Acceleration or deceleration in progress for ACC(888) or
PLS2(887).
07 Pulse Output
Flag
OFF: Pulse output stopped.
ON: Pulse output in progress.
08 to 15 Reserved ---
A625 00 Pulse Output 2
Status Pulse Output
Completed
Flag
Same as for Pulse Output 1 Status.
01 Pulse Output
Set Flag
02 Target Fre-
quency Not
Reached Flag
03 Target Compar-
ison Flag
04 Independent
Pulse Output
Flag
05 PLS2 Position-
ing Flag
06 Accelerating/
Decelerating
Flag
07 Pulse Output
Flag
08 to 15 Reserved
Address Bits Name Function Controlled
by
335
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
A626 00 Pulse Output 1
Command Bits
PV Reset Bit OFF: Pulse output 1 PV not reset.
ON: Resets pulse output 1 PV.
User
01 Range Com-
parison Results
Clear Bit
OFF: Does not clear the execution results (A630) or output bit pat-
tern (A631) from CTBL(882) execution for range comparison for
the pulse output PV.
ON: Clears the execution results (A630) or output bit pattern
(A631) from CTBL(882) execution for range comparison for the
pulse output PV.
02 to 15 Reserved ---
A627 00 Pulse Output 2
Command Bits PV Reset Bit Same as for Pulse Output 1 Command Bits.
01 Range Com-
parison Results
Clear Bit
02 to 15 Reserved
A628 00 to 06 Pulse Output
Control Bits
(Apply to both
pulse outputs 1
and 2.)
Reserved ---
07 Speed Change
Cycle Bit OFF: Sets the speed change cycle to 2 ms during pulse output for
ACC(888) or PLS2(887).
ON: Sets the speed change cycle to 1 ms 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 the pulse
output direction and the direction of the specified absolute position
are the same.
ON: Sets Absolute Position Priority Mode.
In Absolute Position Priority Mode, pulses are always output in the
direction of the specified absolute position.
15 Reserved ---
A629 00 to 15 Reserved --- --- ---
A630 00 to 15 Pulse Output 1
Monitor Data Range Com-
parison Results Contains the CTBL(882) execution results for range comparison.
Bits 00 to 15 correspond to ranges 1 to 16.
OFF: No match
ON: Match
Module
A631 00 to 15 Output Bit Pat-
tern
Contains the output bit pattern when a match is found for
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit pat-
terns with matches will be stored here.
A632 00 to 15 Pulse Output 2
Monitor Data
Range Com-
parison Results
Same as for Pulse Output 1 Monitor Data.
A633 00 to 15 Output Bit Pat-
tern
Address Bits Name Function Controlled
by
336
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 Controlled
by
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.
The PV range depends on the input range:
• 0 to 10 V: FE70 to 20D0 hex
• 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
•−10 to 10 V: DDA0 to 2260 hex
Module
A552 00 Analog Input Sta-
tus User Adjustment Com-
pleted OFF: Not adjusted
ON: Adjustment completed
01 to 06 Reserved
07 Analog Sampling Started OFF: Not started
ON: Started
08 Factory Adjustment Data
Error OFF: No Error
ON: Error (Checked at power ON.)
09 User Adjustment Data
Error
OFF: No Error
ON: Error (Checked at power ON.)
10 to 14 Reserved
15 Analog Sampling Overlap OFF: Normal sampling
ON: The next sampling operation occurred before
the present sampling operation completed.
A559 01 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 out-
put from analog output port 1 is stored here for monitoring. The output value
range depends on the output range, as shown below.
• 0 to 10 V, 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
•−10 to 10 V: EA84 to 157C hex
Note
1. Set the analog output method (END or immediate refreshing) with the System
Setup’s output method setting. A setting of 0 hex specifies an END refresh.
This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 1 setting.
With immedi-
ate refresh:
Module
With END
refresh: User
A561 00 to 15 Analog Output 2
Output Value
This word has the same settings as the analog output 1 output value (A560),
above. (When an END refresh is selected, set the value to output from analog
output port 2. When an immediate refresh is selected, the output value is stored
here for monitoring.)
Note
1. Set the analog output method (END or immediate refresh) with the System
Setup’s output method setting. A setting of 0 hex specifies an END refresh.
This setting applies to both analog output 1 and 2.
2. Specify the output range with the output 2 setting.
337
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
A562 00 Analog Output 1
Flags
User Adjustment Com-
pleted
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.
Module
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.
05 to 07 Reserved ---
08 Output SV Error ON: ON when the output SV setting is outside of the
allowed setting range.
OFF: OFF when the 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 data stored in flash
memory is normal.
13 Reserved ---
14 User Adjustment Value
Error
ON: ON when the user-set adjustment value stored
in flash memory is invalid.
OFF: OFF when the user-set adjustment value
stored in flash memory is normal.
15 Reserved ---
A563 00 Analog Output 2
Flags
User Adjustment Com-
pleted
Same as for Analog Output 1 Flags.
01 to 03 Reserved
04 Operating
05 to 07 Reserved
08 Output SV Error
09 to 11 Reserved
12 Factory Adjustment Value
Error
13 Reserved
14 User Adjustment Value
Error
15 Reserved
Address Bits Name Function Controlled
by
338
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Address Bits Name Function Controlled by
A564 00 Analog Output 1 Conversion Enable
Bit
ON: Enables D/A conversion (enables analog output).
OFF: Disables DA conversion (analog values output
according to Output Stop Function specification in Sys-
tem Setup).
Note This bit is cleared when the Modules operating
mode is changed between RUN or MONITOR mode
and PROGRAM mode.
User
01 to 15 Reserved --- ---
A565 00 Analog Output 2 Conversion Enable
Bit
ON: Enables D/A conversion (enables analog output).
OFF: Disables DA conversion (analog values output
according to Output Stop Function specification in Sys-
tem Setup).
Note This bit is cleared when the Modules operating
mode is changed between RUN or MONITOR mode
and PROGRAM mode.
User
01 to 15 Reserved --- ---
A570 00 Adjustment Mode
Command Bits
(Effective only
when A575 is
5A5A hex.)
Adjustment Enable Analog Input 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).
User
01 Reserved
02 Analog Out-
put 1
03 Analog Out-
put 2
04 to 06 Reserved
07 Adjustment Mode
Specifier
OFF: Offset adjustment
ON: Gain adjustment
08 to 11 Reserved
12 Adjustment Value
Increment
While this bit is ON, the offset or gain value will be
incremented by one resolution unit each 0.5 ms.
13 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 factory
defaults.
15 Adjustment Value
Set OFF to ON: Reads the present value in the Adjustment
Mode Monitor Area (A572 and A573) and saves this
value to flash memory. This adjustment value will be
used for the next normal mode operation.
A571 00 Adjustment Mode
Status Adjustment Opera-
tion Error ON when an operational error has been made, such as
turning ON both the Analog Input and Analog Output 2
Adjustment Enable Bits at the same time.
Module
01 to 14 Reserved
15 Adjustment Mode
Started
ON during adjustment mode operation (when A575
contains 5A5A hex).
A572 00 to 15 Adjustment Mode
Monitor
(Effective only
when A575 is
5A5A hex.)
Both Analog Input
and Analog Out-
puts
Setting Off-
set Monitor
The values in
these words
can be over-
written
directly, with-
out using the
Adjustment
Value Incre-
ment/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
Module/User
A573 00 to 15 Gain Value
Monitor •−10 to 10 V: 1194 to
157C hex
• 0 to 10 V, 0 to 5 V, 1 to
5 V: 0ED8 to 1068 hex
A574 00 to 15 Analog Inputs Number of
Average
Value Sam-
ples in Adjust-
ment Mode
Indicates the number of values to be
averaged to obtain the Offset/Gain
Value Monitor values in adjustment
mode. The number of samples can be
set between 0000 and 0040 hex (0 to
64). Set this parameter before turning
ON the Adjustment Enable Bit.
User
A575 00 to 15 Adjustment Mode Password 5A5A hex: Adjustment mode enabled.
Other value: Adjustment mode disabled.
User
339
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Address Bits Name Function Controlled by
A600 00 to 15 High-speed Counter 1 PV Range: 8000 0000 to 7FFF FFFF
Note For a Linear Counter, high-speed counter over-
flows/underflows are checked when the PV is read
(i.e., when Module 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 circu-
lar
• Absolute linear
(CW+)
PV of abso-
lute number
of rotations
Contains the number of rotations data (PV) read from
the Encoder when the SEN signal is input to the
Servo Driver.
8000 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 of the high-speed counter over
the specified sampling time as a 8-digit hexadeci-
mal value (0000 0000 to FFFF FFFF hex).
• When monitoring the counter frequency (mode 2),
contains the frequency of the high-speed counter
calculated from the PV of the high-speed counter
between 0 and 7A120 hex (0 and 500 kHz).
A606 to
A607
00 to 15 High-
speed
Counter
2
For following
counter modes
• Absolute linear
(CW−)
• Absolute circu-
lar
• Absolute linear
(CW+)
PV of abso-
lute number
of rotations
Same as for A604 and A605 for high-speed counter
1 except that measuring the high-speed counter fre-
quency is not possible for high-speed counter 2.
For following
counter modes
• Linear counter
• Circular
counter
Monitor data
340
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Address Bits Name Function Controlled
by
A608 00 High-speed
counter 1 status Target Compar-
ison In-
progress Flag
OFF: Target value comparison is not being performed for
CTBL(882).
Note This flag is always OFF for range comparison.
ON: Target value comparison is being performed for CTBL(882).
Note Target comparison is continued without interruption once it
has been started (as opposed to range comparison), so this flag
can be used to check whether target comparison is in progress.
Module
01 PV Overflow/
Underflow Flag OFF: There is no counter overflow or underflow in Linear Counter
Mode. This flag will always be OFF in Circular Counter Mode.
ON: There is a counter overflow or underflow in Linear Counter
Mode. The counter PV will be fixed at the overflow or underflow
limit. This flag will be cleared when the High-speed Counter Start
Bit is turned OFF.
02 Reserved ---
03 Phase Z Input
Reset Flag (ON
for one cycle)
ON for one cycle when the counter PV is reset with the counter
reset method set to a phase Z + software 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
Rotations Read
Error Flag
OFF: No error
ON: Error
05 Absolute No. of
Rotations Read
Completed
Flag
OFF: Rotations being read or reading has not been executed.
ON: Reading has been completed (Turned ON when serial recep-
tion of the number of rotations has been completed.)
06 Measuring Flag
(measurement
mode 1 or 2)
OFF: Changes in the counter PV or the counter frequency is not
being measured.
ON: Changes in the counter PV or the counter frequency is being
measured.
In measurement mode 1, this flag will turn ON at the beginning of
the sampling time after the Measurement Start Bit (A610.02) is
turned ON.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
07 High-speed
Counter Oper-
ating Flag
OFF: Counter is not operating.
ON: Counter is operating.
08 Count Latched
Flag
OFF: Count has not been latched.
ON: Latching the count has been completed for the latch input.
09 to 11 Reserved ---
12 Absolute Off-
set Preset
Error Flag
OFF: No error occurred when saving the absolute offset.
ON: An error occurred when saving the absolute offset.
13 to 15 Reserved ---
341
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
A609 00 High-speed
counter 2 status
Target Compar-
ison In-
progress Flag
Same as for high-speed counter 1. Module
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
(measurement
mode 1 or 2)
07 High-speed
Counter Oper-
ating Flag
08 Count Latched
Flag
09 to 11 Reserved
12 Absolute Off-
set Preset
Error Flag
13 to 15 Reserved
Address Bits Name Function Controlled
by
342
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
A610 00 High-speed
counter 1 com-
mand bits
Start Bit OFF: Stops counter operation. The counter PV will be maintained.
ON: Starts counter operation. The counter PV will not be reset.
User
01 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 Con-
trol Module. If a phase Z + software reset is set, disables the phase
Z input.
ON: If a software reset is set in the System Setup, resets the
counter PV to 0 when internal I/O is refreshed in the Motion Control
Module. If a phase Z + software reset is set, enables the phase Z
input.
02 Measurement
Start Bit
OFF: Disables measuring changes in counter PV or the counter
frequency.
ON: Starts measuring changes in counter PV or the counter fre-
quency.
Note Measuring the high-speed counter frequency is possible only
for high-speed counter 1.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
03 Measurement
Direction Bit
(measurement
mode 2)
OFF: Forward (up)
ON: Reverse (down)
This bit specifies the up/down direction of the pulse input for fre-
quency measurement.
Note Always set this bit before turning ON the Measurement Start
Bit.
04 Range Com-
parison Results
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 the execution results (A612) or output bit pattern
(A613) from CTBL(882) execution for range comparison for the
counter.
05 Absolute Off-
set Preset Bit
OFF: Does not preset the offset.
OFF to ON: Stores the number of multi-turns read from the Servo
Driver and the number of initial incremental pulses as an offset in
the Absolute Offset value in the System Setup.
When establishing the machine origin, the position from the abso-
lute encoder origin is set as the Absolute Offset in the System
Setup as the machine origin.
06 Absolute
Present Value
Preset Bit
OFF: Disables the absolute present value preset.
OFF to ON: Stores the Absolute PV in the counter 1 PV (A600 and
A601).
Note Refer to 7-7-6 Absolute Present Value for details on the
absolute PV.
07 Absolute Num-
ber of Rota-
tions Read Bit
OFF: Disables reading the number of rotations data from the Servo
Driver.
OFF to ON: Outputs the SEN output to the Servo Driver and
receives the number of rotations data on the phase A input.
08 Latch Input 1
Enable Bit
OFF: Disables the external latch input 1 signal.
ON: Enables the external latch input 1 signal.
09 Latch Input 2
Enable Bit OFF: Disables the external latch input 2 signal.
ON: Enables the external latch input 2 signal.
10 to 15 Reserved ---
Address Bits Name Function Controlled
by
343
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Allocations Related to Built-in Inputs
Input Interrupts
A611 00 High-speed
counter 2 com-
mand bits
Start Bit Same as command bits for high-speed counter 1. User
01 Reset Bit
02 Measurement
Start Bit
03 Reserved
04 Range Com-
parison Results
Clear Bit
05 Absolute Off-
set Preset Bit
06 Absolute
Present Value
Preset Bit
07 Absolute Num-
ber of Rota-
tions Read Bit
08 Latch Input 1
Enable Bit
09 Latch Input 2
Enable Bit
10 to 15 Reserved
A612 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 match
ON: Match
Module
A613 00 to 15 Output Bit Pat-
tern
Contains the output bit pattern when a match is found for
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit pat-
terns with matches will be stored here.
A614 00 to 15 High-speed
counter 2 moni-
tor data
Range Com-
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 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
User
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. Interrupt task
001 will start when interrupt counter 1 has counted this number of
pulses.
Setting range: 0000 to FFFF
A522 00 to 15 Interrupt Counter 2
Counter SV Used for interrupt input 2 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt task
002 will start when interrupt counter 2 has counted this number of
pulses.
Setting range: 0000 to FFFF
A523 00 to 15 Interrupt Counter 3
Counter SV
Used for interrupt input 3 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt task
003 will start when interrupt counter 3 has counted this number of
pulses.
Setting range: 0000 to FFFF
Address Bits Name Function Controlled
by
344
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Allocations That Are the Same for the Coordinator Module and Motion
Control Modules
System Flags
Program Error Flags
Other Error Flags and Bits
Error Log and Error Code
A524 00 to 15 Interrupt Counter 0
Counter PV
These words contain the interrupt counter PVs for interrupt input 0 to 3
operating in counter mode.
The counter PV starts decrementing from the counter SV. When the
counter PV reaches the 0, the PV is automatically reset to the SV.
Range: 0000 to FFFF
Module
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
Address Bits Name Function Controlled by
A000 to
A015 00 to 15 Subroutine Input Condi-
tion Flags These flags contain the status of the input condition for JSB(982) when
JSB(982) is used to call a subroutine. Module
A206 to
A207
00 to 15 Maximum Cycle Time These words store the maximum cycle time every cycle. The cycle
time is recorded in 8-digit hexadecimal
(unit: 0.01 ms).
A208 to
A209 00 to 15 Present Cycle Time These words store the present cycle time every cycle in 8-digit hexa-
decimal (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 when there isn’t an END(001) instruction in each program within a
task.
12 Task Error Flag ON when a task error has occurred. The following conditions generate
a task error.
There isn’t a program allocated to the task.
13 Differentiation Overflow
Error Flag The allowed value for Differentiation Flags which correspond to differ-
entiation instructions has been exceeded.
14 Illegal Instruction Error
Flag ON when a program that cannot be executed has been stored.
15 UM Overflow Error Flag ON when the last address in UM (User Memory) has been exceeded.
Address Bits Name Function Controlled by
A100 to
A199
00 to 15 Error Log Area When an error has occurred, the error code and error contents are
stored in the Error Log Area.
Module
A408 00 to 15 Error Log Pointer When an error occurs, the Error Log Pointer (binary) is incremented by
1 to indicate the location where the next error will be recorded as an
offset from the beginning of the Error Log Area (A100 to A199).
Address Bits Name Function Controlled by
Address Corresponding subroutines
Word Bits
A000 00 to 15 SBN000 to SBN015
A001 00 to 15 SBN016 to SBN031
A002 00 to 15 SBN032 to SBN047
to to to
A015 00 to 15 SBN240 to SBN255
345
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
FAL/FALS Errors
Memory Errors
System Setup
I/O Errors
Module Errors
A500 14 Error Log Pointer Reset
and Memory Not Held
Flag OFF Bit
The error log pointer in A408 is reset to 0000 hex and Memory Not
Held Flag (A404.14) is turned OFF when this bit is turned ON.
User
A400 00 to 15 Error code When a non-fatal error (user-defined FAL(006) or system error) or a
fatal error (user-defined FALS(007) or system error) occurs, the hexa-
decimal error code is written to this word.
Module
Address Bits Name Function Controlled by
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. Module
A402 15 FAL Error Flag
(non-fatal error) Turns ON when a non-fatal error is generated by executing FAL(006).
The FQM1 will continue operating.
Address Bits Name Function Controlled by
A401 15 Memory Error Flag (fatal
error)
Turns ON when there is an error in the memory. FQM1 operation will
stop and the ERR indicators on the front of the Modules will light.
Module
A403 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 Coordina-
tor 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 adjust-
ment value in flash memory.
14 Flash Memory DM
Checksum Error Flag Turns ON when there is an error in the DM Area data backed up in
flash memory in the Coordinator Module.
A404 14 Memory Not Held Flag Turns ON when corruption is found in the check performed after turn-
ing ON power in the areas backed up during power interruptions (DM
Area (Coordinator Module only) and Error Log Area).
Address Bits Name Function Controlled by
A402 10 System Setup Error
Flag Turns ON when there is a setting error in the System Setup. Module
A409 00 to 15 System Setup Error
Location
When there is a setting error in the System Setup, the location of that
error is written to A409 in 4-digit hexadecimal.
Address Bits Name Function Controlled by
A401 10 I/O Setting Error Flag Turns ON when more than four Motion Control Modules are connected
to the Coordinator Module. Module
Address Bits Name Function Controlled by
A402 05 Motion Control Module
Monitoring Error Flag
(Coordinator Module
only)
Turns ON in the Coordinator Module when a system error, such as a
WDT error, occurs in any of the Motion Control Modules.
Module
13 Coordinator Module
WDT Error Flag (Motion
Control Modules only)
Turns ON in the Motion Control Modules when a WDT error occurs in
the Coordinator Module.
14 Coordinator Module
Fatal Error Flag (Motion
Control Modules only)
Turns ON in the Motion Control Modules when a fatal error occurs in
the Coordinator Module.
Address Bits Name Function Controlled by
346
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Other
Allocations Related to DM Data Transfer (Coordinator Module Only)
Communications
Peripheral Port
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
System Setup (the Watch Cycle Time).
Module
A404 05 Constant Cycle Time
Exceeded Flag
Turns ON when the actual cycle time exceeds the specified constant
(minimum) cycle time.
06 Sync Cycle Time Too
Long Flag
Turns ON when one of the Modules exceeds the specified sync cycle
time. (Coordinator Module only)
A509 15 Constant Cycle Time
Exceeded Error Clear
Bit
Used to enable the constant cycle time function again after the con-
stant cycle time has been exceeded. User
Address Bits Name Function Controlled by
A530 00 DM Write Request Bit
(Coordinator Module to
Motion Control Module)
DM data transfer is executed from the Coordinator Module to Motion
Control Module when this bit turns ON.
User
01 DM Read Request Bit
(Motion Control Module
to Coordinator Module)
DM data transfer is executed from the Motion Control Module to Coor-
dinator Module when this bit turns ON.
A531 00 to 15 Slot No. of Motion Con-
trol Module for DM
Transfer
Specifies the slot number (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 Module #4
A532 00 to 15 DM Transfer Size (num-
ber of words)
Specifies the size, in number of words, of the DM data to be trans-
ferred.
0001 to 01F3 hex (1 to 499 words)
A533 00 to 15 First DM Transfer
Source Word
Specifies the first address of the DM transfer source in the Coordinator
Module or Motion Control Module.
0000 to 7FFF hex
A534 00 to 15 First DM Transfer Desti-
nation Word Specifies the first address of the DM transfer destination in the Coordi-
nator Module or Motion Control Module.
0000 to 7FFF hex
A535 14 Transfer Error Flag Turns ON when a DM data transfer error occurs.
15 Transfer Busy Flag Turns ON during DM data transfer and turns OFF when the transfer
has been completed.
Address Bits Name Function Controlled by
A412 02 to 05 Peripheral Port Error
Flags
Indicates the status of the error flags that turn ON when an error has
occurred at the peripheral port.
Module
08 Peripheral Port Commu-
nications Error Flag
Turns ON when a communications error has occurred at the peripheral
port.
15 Peripheral Port Settings
Changing Flag
Turns ON while the peripheral port’s communications settings are
being changed.
A502 01 Peripheral Port Restart
Bit
Turn this bit ON to restart the peripheral port.
This bit is turned OFF automatically when the restart processing is
completed.
User
347
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
RS-232C Port
RS-422A Port
Allocations Directly Related to Instructions
Built-in I/O Allocations
The Coordinator Module and Motion Control Modules all have built-in I/O. The I/O Area allocations to the con-
tacts on the Modules are given in the following tables.
Address Bits Name Function Controlled by
A410 02 to 05 RS-232C Port Error
Flags
Indicates the status of the error flags that turn ON when an error has
occurred at the RS-232C port.
Module
08 RS-232C Port Commu-
nications Error Flag
Turns ON when a communications error has occurred at the RS-232C
port.
09 RS-232C Port Send
Ready Flag (no-protocol
mode)
Turns ON when the RS-232C port is ready to send data in no-protocol
mode.
10 RS-232C Port Recep-
tion Completed Flag
(no-protocol mode)
Turns ON when the RS-232C port has completed the reception in no-
protocol mode.
11 RS-232C Port Recep-
tion Overflow Flag (no-
protocol mode)
Turns ON when a data overflow occurred during reception through the
RS-232C port in no-protocol mode.
15 RS-232C Port Settings
Changing Flag
Turns ON while the RS-232C port’s communications settings are being
changed.
A411 00 to 15 RS-232C Port Recep-
tion Counter (no-proto-
col mode)
Indicates (in binary) the number of bytes of data received when the
RS-232C port is in no-protocol mode.
A502 00 RS-232C Port Restart
Bit Turn this bit ON to restart the RS-232C port.
This bit is turned OFF automatically when the restart processing is
completed.
User
Address Bits 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-
nications Error Flag Turns ON when a communications error has occurred at the RS-422A
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.
10 RS-422A Port Recep-
tion Completed Flag
(no-protocol mode)
Turns ON when the RS-422A port has completed the reception in no-
protocol mode.
11 RS-422A Port Recep-
tion Overflow Flag (no-
protocol mode)
Turns ON when a data overflow occurred during reception through the
RS-422A port in no-protocol mode.
15 RS-422A Port Settings
Changing Flag
Turns ON while the RS-422A port’s communications settings are being
changed.
A415 00 to 15 RS-422A Port Recep-
tion Counter (no-proto-
col mode)
Indicates (in binary) the number of bytes of data received when the
RS-422A port is in no-protocol mode.
A502 02 RS-422A Port Restart
Bit
Turn this bit ON to restart the RS-422A port.
This bit is turned OFF automatically when the restart processing is
completed.
User
Address Bits Name Function Controlled by
A200 11 First Cycle Flag ON for one cycle after FQM1 operation begins. Module
12 Step Flag ON for one cycle when step execution is started with STEP(008).
A510 to
A514
00 to 15 Macro Area Input Words Before the subroutine specified in MCRO(099) is executed, the con-
tents of the five words specified in the operand to be passed to the
subroutine are stored here.
A515 to
A519 00 to 15 Macro Area Output
Words After the subroutine specified in MCRO(099) has been executed, the
results of the subroutine are transferred to these five words.
348
System Setup, Auxiliary Area Allocations, and Built-in I/O Allocations Appendix C
Coordinator Module Built-in I/O Allocations
Inputs (40-pin General-purpose I/O Connector)
Outputs (40-pin General-purpose I/O Connector)
Motion Control Module Built-in I/O Allocations
Inputs (26-pin General-purpose I/O Connector)
Outputs (26-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
Name I/O Area allocations
External output 0 CIO 0001.00
External output 1 CIO 0001.01
to to
External output 7 CIO 0010.07
Name I/O Area allocations
External input 0 (interrupt) CIO 0000.00
External input 1 (interrupt) CIO 0000.01
External input 2 (interrupt) CIO 0000.02
External input 3 (interrupt) CIO 0000.03
to to
External input 11 CIO 0000.11
Name I/O Area allocations
External output 0 CIO 0001.00
External output 1 CIO 0001.01
to to
External output 7 CIO 0001.07
349
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.
Read-only Words: A000 to A447, Read/Write Words: A448 to A649
Address Bits Name Function
A000 to
A015
00 to 15 Subroutine Input Condition Flags These flags contain the status of the input condition for JSB(982)
when JSB(982) is used to call a subroutine.
A100 to
A199 00 to 15 Error Log Area When an error has occurred, the error code and error contents
are stored in the Error Log Area.
A200 11 First Cycle Flag ON for one cycle after FQM1 operation begins.
12 Step Flag ON for one cycle when step execution is started with STEP(008).
A202 00 Motion Control Module slot 1 ON if the Motion Control Module is in slot 1.
01 Motion Control Module slot 2 ON if the Motion Control Module is in slot 2.
02 Motion Control Module slot 3 ON if the Motion Control Module is in slot 3.
03 Motion Control Module slot 4 ON if the Motion Control Module is in slot 4.
A206 to
A207
00 to 15 Maximum Cycle Time These words store the maximum cycle time every cycle. The
cycle time is recorded in 8-digit hexadecimal (unit: 0.01 ms).
A208 to
A209
00 to 15 Present Cycle Time These words stores the present cycle time every cycle in 8-digit
hexadecimal (unit: 0.01 ms).
A400 00 to 15 Error code When a non-fatal error (user-defined FAL(006) or system error) or
a fatal error (user-defined FALS(007) or system error) occurs, the
hexadecimal error 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 (fatal error) Turns ON if the cycle time exceeds the maximum cycle time set in
the System Setup (the Watch Cycle Time).
09 Program Error Flag
(fatal error)
ON when program contents are incorrect.
Module operation will stop.
10 I/O Setting Error Flag Turns ON when more than four Motion Control Modules are con-
nected to the Coordinator Module.
14 I/O Bus Error Flag Turns ON when an error occurs in transferring data between the
Coordinator Module and Motion Control Modules. Module opera-
tion will stop.
15 Memory Error Flag (fatal error) Turns ON when there is an error in the memory. FQM1 operation
will stop and the ERR indicators on the front of the Modules will
light.
A402 05 Motion Control Module Monitoring Error Flag
(Coordinator Module only)
Turns ON in the Coordinator Module when a system error, such
as a WDT error, occurs in any of the Motion Control Modules.
10 System Setup Error Flag Turns ON when there is a setting error in the System Setup.
13 Coordinator Module WDT Error Flag (Motion
Control Modules only)
Turns ON in the Motion Control Modules when a WDT error
occurs in the Coordinator Module.
14 Coordinator Module Fatal Error Flag (Motion
Control Modules only)
Turns ON in the Motion Control Modules when a fatal error occurs
in the Coordinator Module.
15 FAL Error Flag
(non-fatal error) Turns ON when a non-fatal error is generated by executing
FAL(006). The FQM1 will continue operating.
Address Corresponding
subroutines
Word Bits
A000 00 to 15 SBN000 to SBN015
A001 00 to 15 SBN016 to SBN031
A002 00 to 15 SBN032 to SBN047
to to to
A015 00 to 15 SBN240 to SBN255
350
Auxiliary Area Allocations Appendix D
A403 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 Coor-
dinator 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.
14 Flash Memory DM Checksum Error Flag
(Coordinator Module only)
Turns ON when there is an error in the DM Area data backed up
in flash memory in the Coordinator Module.
A404 05 Constant Cycle Time Exceeded Flag Turns ON when the actual cycle time exceeds the specified con-
stant (minimum) cycle time.
06 Sync Cycle Time Too Long Flag Turns ON when one of the Modules exceeds the specified sync
cycle time. (Coordinator Module only)
14 Memory Not Held Flag Turns ON when corruption is found in the check performed after
turning ON power in the areas backed up during power interrup-
tions (DM Area (Coordinator Module only) and Error Log Area).
A405 11 No END Error Flag ON when there isn’t an END(001) instruction in each program
within a task.
12 Task Error Flag ON when a task error has occurred. The following conditions gen-
erate a task error.
There isn’t a program allocated to the task.
13 Differentiation Overflow Error Flag The allowed value for Differentiation Flags which correspond to
differentiation instructions has been exceeded.
14 Illegal Instruction Error Flag ON when a program that cannot be executed has been stored.
15 UM Overflow Error Flag ON when the last address in UM (User Memory) has been
exceeded.
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 of the Error Log Area
(A100 to A199).
A409 00 to 15 System Setup Error Location When there is a setting error in the System Setup, the location of
that error is written to A409 in 4-digit hexadecimal.
A410 02 RS-232C
Port
Error
Flags
Parity Error Flag These error flags turn ON when an error has occurred at the RS-
232C port.
03 Framing Error Flag
04 Overrun Error Flag
05 Timeout Error Flag
08 RS-232C Port Communications Error Flag Turns ON when a communications error has occurred at the RS-
232C port.
09 RS-232C Port Send Ready Flag (no-protocol
mode)
Turns ON when the RS-232C port is ready to send data in no-pro-
tocol mode.
10 RS-232C Port Reception Completed Flag (no-
protocol mode) Turns ON when the RS-232C port has completed the reception in
no-protocol mode.
11 RS-232C Port Reception Overflow Flag (no-pro-
tocol mode) Turns ON when a data overflow occurred during reception
through the RS-232C port in no-protocol mode.
15 RS-232C Port Settings Changing Flag Turns ON while the RS-232C port’s communications settings are
being changed.
A411 00 to 15 RS-232C Port Reception Counter (no-protocol
mode)
Indicates (in binary) the number of bytes of data received when
the RS-232C port is in no-protocol mode.
A412 02 Periph-
eral Port
Error
Flags
Parity Error Flag These error flags turn ON when an error has occurred at the
peripheral port.
03 Framing Error Flag
04 Overrun Error Flag
05 Timeout Error Flag
08 Peripheral Port Communications Error Flag Turns ON when a communications error has occurred at the
peripheral port.
15 Peripheral Port Settings Changing Flag Turns ON while the peripheral port’s communications settings are
being changed.
Address Bits Name Function
351
Auxiliary Area Allocations Appendix D
A414 02 RS-422A
Port
Error
Flags
Parity Error Flag These error flags turn ON when an error has occurred at the RS-
422A port.
03 Framing Error Flag
04 Overrun Error Flag
05 Timeout Error Flag
08 RS-422A Port Communications Error Flag Turns ON when a communications error has occurred at the RS-
422A 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-pro-
tocol mode.
10 RS-422A Port Reception Completed Flag (no-
protocol mode) Turns ON when the RS-422A port has completed the reception in
no-protocol mode.
11 RS-422A Port Reception Overflow Flag (no-pro-
tocol mode)
Turns ON when a data overflow occurred during reception
through the RS-422A port in no-protocol mode.
15 RS-422A Port Settings Changing Flag Turns ON while the RS-422A port’s communications settings are
being changed.
A415 00 to 15 RS-422A Port Reception Counter (no-protocol
mode)
Indicates (in binary) the number of bytes of data received when
the RS-422A port is in no-protocol mode.
A500 14 Error Log Pointer Reset and Memory Not Held
Flag OFF Bit
The error log pointer in A408 is reset to 0000 hex and Memory
Not Held Flag (A404.14) is turned OFF when this bit is turned
ON.
A502 00 RS-232C Port Restart Bit Turn this bit ON to restart the RS-232C port.
This bit is turned OFF automatically when the restart processing
is completed.
01 Peripheral Port Restart Bit Turn this bit ON to restart the peripheral port.
This bit is turned OFF automatically when the restart processing
is completed.
02 RS-422A Port Restart Bit Turn this bit ON to restart the RS-422A port.
This bit is turned OFF automatically when the restart processing
is completed.
A507 00 to 15 Data Trace Period Data will be traced using the period specified here when tracing
each cycle 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
established during execution of differentiation monitoring.
(This flag will be turned OFF when differentiation monitoring
starts.)
11 Trace Trigger Monitor Flag Turns ON when a trigger condition is established by the Trace
Start Bit (A508.14). OFF when the next Data Trace is started by
the Sampling Start bit (A508.15).
12 Trace Completed Flag Turns ON when sampling of a region of trace memory has been
completed during execution of a Trace.
Turns OFF when the next time the Sampling Start Bit (A508.15) is
turned from OFF to ON.
13 Trace Busy Flag Turns ON when the Sampling Start Bit (A508.15) is turned from
OFF to ON. Turns OFF when the trace is completed.
14 Trace Start Bit Turn this bit ON to establish the trigger condition. The offset indi-
cated by the delay value (positive or negative) determines which
data samples are valid.
15 Sampling Start Bit When a data trace is started by turning this bit from OFF to ON
from the CX-Programmer, the FQM1 will begin storing data in
Trace Memory by one of the three following methods:
1) Data is sampled at regular intervals (10 to 2,550 ms).
2) Data is sampled when TRSM(045) is executed in the program.
3) Data is sampled at the end of every cycle.
The operation of A508.15 can be controlled only from the CX-Pro-
grammer.
A509 15 Constant Cycle Time Exceeded Error Clear Bit Used to enable the constant cycle time function again after the
constant cycle time has been exceeded.
A510 to
A514
00 to 15 Macro Area Input Words Before the subroutine specified in MCRO(099) is executed, the
contents of the five words specified in the operand to be passed
to the subroutine are stored here.
A515 to
A519
00 to 15 Macro Area Output Words After the subroutine specified in MCRO(099) has been executed,
the results of the subroutine are transferred to these five words.
Address Bits Name Function
352
Auxiliary Area Allocations Appendix D
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 num-
ber 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. Interrupt
task 001 will start when interrupt counter 1 has counted this num-
ber of pulses.
Setting range: 0000 to FFFF
A522 00 to 15 Interrupt Counter 2 Counter SV Used for interrupt input 2 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt
task 002 will start when interrupt counter 2 has counted this num-
ber of pulses.
Setting range: 0000 to FFFF
A523 00 to 15 Interrupt Counter 3 Counter SV Used for interrupt input 3 in counter mode.
Sets the count value at which the interrupt task will start. Interrupt
task 003 will start when interrupt counter 3 has counted this num-
ber of pulses.
Setting range: 0000 to FFFF
A524 00 to 15 Interrupt Counter 0 Counter PV These words contain the interrupt counter PVs for interrupt input
0 to 3 operating in counter mode.
The counter PV starts decrementing from the counter SV. When
the counter PV reaches the 0, the PV is automatically reset to the
SV.
Range: 0000 to FFFF
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
A530 00 DM Write Request Bit (Coordinator Module to
Motion Control Module)
DM data transfer is executed from the Coordinator Module to
Motion Control Module when this bit turns 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 No. of Motion Control Module for DM Trans-
fer
Specifies the slot number (in 4-digit hexadecimal) for the Motion
Control 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 Module #4
A532 00 to 15 DM Transfer Size (number of words) Specifies the size, in number of words, of the DM data to be trans-
ferred.
0001 to 01F3 hex (1 to 499 words)
A533 00 to 15 First DM Transfer Source Word Specifies the first address of the DM transfer source in the Coor-
dinator Module or Motion Control Module.
0000 to 7FFF hex
A534 00 to 15 First DM Transfer Destination Word Specifies the first address of the DM transfer destination in the
Coordinator Module or Motion Control Module.
0000 to 7FFF hex
A535 14 Transfer Error Flag Turns ON when a DM data transfer error occurs.
15 Transfer Busy Flag Turns ON during DM data transfer and turns OFF when the trans-
fer has been completed.
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.
The PV range depends on the input range:
• 0 to 10 V: FE70 to 20D0 hex
• 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
•−10 to 10 V: DDA0 to 2260 hex
A552 00 Analog Input Status User Adjustment
Completed OFF: Not adjusted
ON: Adjustment completed
07 Analog Sampling
Started OFF: Not started
ON: Started
08 Factory Adjustment
Data Error
OFF: No Error
ON: Error (Checked at power ON.)
09 User Adjustment
Data Error
OFF: No Error
ON: Error (Checked at power ON.)
15 Analog Sampling
Overlap
OFF: Normal sampling
ON: The next sampling operation occurred
before the present sampling operation com-
pleted.
Address Bits Name Function
353
Auxiliary Area Allocations Appendix D
A559 00 to 15 Number of Analog Samples Indicates the number of data samples actually input since sam-
pling 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. The output value range depends on the output range,
as shown below.
• 0 to 10 V, 0 to 5 V or 1 to 5 V: FF38 to 1068 hex
•−10 to 10 V: EA84 to 157C hex
Note
1. Set the analog output method (END or immediate refreshing)
with the System Setup’s output method setting. A setting of 0
hex specifies an END refresh. This setting applies to both ana-
log output 1 and 2.
2. Specify the output range with the output 1 setting.
A561 00 to 15 Analog Output 2 Output Value This word has the same settings as the analog output 1 output
value (A560), above. (When an END refresh is selected, set the
value to output from analog output port 2. When an immediate
refresh is selected, the output value is stored here for monitoring.)
Note
1. Set the analog output method (END or immediate refresh) with
the System Setup’s output method setting. A setting of 0 hex
specifies an END refresh. This setting applies to both analog
output 1 and 2.
2. Specify the output range with the output 2 setting.
A562 00 Analog Output 1 Flags 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 analog output is being changed by ACC(888).
OFF: Turned OFF when target value is reached.
08 Output SV Error ON: ON when the output SV setting is outside of the allowed set-
ting range.
OFF: OFF when the output SV is within range.
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.
14 User Adjustment
Value Error
ON: ON when the user-set adjustment value stored in flash mem-
ory is invalid.
OFF: OFF when the user-set adjustment value stored in flash
memory is normal.
A563 00 Analog Output 2 Flags User Adjustment
Completed
Same as for Analog Output 1 Flags.
04 Operating
08 Output SV Error
12 Factory Adjust-
ment Value
Error
14 User Adjustment
Value Error
A564 00 Analog Output 1 Conversion Enable Bit ON: Enables D/A conversion (enables analog output).
OFF: Disables D/A conversion (analog values output according to
Output Stop Function specification in System Setup).
Note This bit is cleared when the Modules operating mode is
changed between RUN or MONITOR mode and PROGRAM
mode.
A565 00 Analog Output 2 Conversion Enable Bit ON: Enables D/A conversion (enables analog output).
OFF: Disables D/A conversion (analog values output according to
Output Stop Function specification in System Setup).
Note This bit is cleared when the Modules operating mode is
changed between RUN or MONITOR mode and PROGRAM
mode.
Address Bits Name Function
354
Auxiliary Area Allocations Appendix D
A570 00 Adjustment Mode Command
Bits
(Effective only when A575 is
5A5A hex.)
Adjustment
Enable
Analog Input OFF: Adjustment disabled.
ON: Adjustment enabled.
When one of these bits is turned ON, the
default value (offset or gain value) corre-
sponding to the selected I/O signal range is
transferred to Adjustment Mode Monitor
Area (A572 and A573).
02 Analog Output 1
03 Analog Output 2
07 Adjustment
Mode Specifier
OFF: Offset adjustment
ON: Gain adjustment
12 Adjustment
Value Increment
While this bit is ON, the offset or gain value will be incremented
by one resolution unit each 0.5 ms.
13 Adjustment
Value Decre-
ment
While this bit is ON, the offset or gain value will be decremented
by one resolution unit each 0.5 ms.
14 Adjustment
Value Clear
OFF to ON: Clears the adjustment data to the factory defaults.
15 Adjustment
Value Set
OFF to ON: Reads the present value in the Adjustment Mode
Monitor Area (A572 and A573) and saves this value to flash mem-
ory. This adjustment value will be used for the next normal mode
operation.
A571 00 Adjustment Mode Status Adjustment
Operation Error
ON when an operational error has been made, such as turning
ON both the Analog Input and Analog Output 2 Adjustment
Enable Bits at the same time.
15 Adjustment
Mode Started ON during adjustment mode operation (when A575 contains
5A5A hex).
A572 00 to 15 Adjustment Mode Monitor
(Effective only when A575 is
5A5A hex.)
Both Analog
Input and Ana-
log Outputs
Setting Offset Mon-
itor The values in these
words can be over-
written directly,
without 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 to 5 V, 1
to 5 V: 0ED8 to 1068
hex
A574 00 to 15 Analog Inputs Number of Average
Value Samples in
Adjustment Mode
Indicates the number of values to be aver-
aged to obtain the Offset/Gain Value Moni-
tor values in adjustment mode. The number
of samples can be set between 0000 and
0040 hex (0 to 64). Set this parameter
before turning ON the Adjustment Enable
Bit.
A575 00 to 15 Adjustment Mode Password 5A5A hex: Adjustment mode enabled.
Other value: Adjustment mode disabled.
A600 00 to 15 High-speed Counter 1 PV Range: 8000 0000 to 7FFF FFFF
Note For a Linear Counter, high-speed counter overflows/under-
flows are checked when the PV is read (i.e., when Module inter-
nal I/O is refreshed).
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 circular
• Absolute linear
(CW+)
PV of absolute
number of rota-
tions
Contains the number of rotations data (PV) read from the
Encoder when the SEN signal is input to the Servo Driver.
8000 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 of the high-
speed counter over the specified sampling time as a 8-digit
hexadecimal value (0000 0000 to FFFF FFFF hex).
• When monitoring the counter frequency (mode 2), contains the
frequency of the high-speed counter calculated from the PV of
the high-speed counter between 0 and 7A120 hex (0 and 500
kHz).
Address Bits Name Function
355
Auxiliary Area Allocations Appendix D
A606 to
A607
00 to 15 High-
speed
Counter
2
For following
counter modes
• Absolute linear
(CW−)
• Absolute circular
• Absolute linear
(CW+)
PV of absolute
number of rota-
tions
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.
For following
counter modes
• Linear counter
• Circular counter
Monitor data
A608 00 High-
speed
counter 1
status
Target Comparison In-progress Flag OFF: Target value comparison is not being performed for
CTBL(882).
Note This flag is always OFF for range comparison.
ON: Target value comparison is being performed for CTBL(882).
Note Target comparison is continued without interruption once it
has been started (as opposed to range comparison), so this flag
can be used to check whether target comparison is in progress.
01 PV Overflow/Underflow Flag OFF: There is no counter overflow or underflow in Linear Counter
Mode. This flag will always be OFF in Circular Counter Mode.
ON: There is a counter overflow or underflow in Linear Counter
Mode. The counter PV will be fixed at the overflow or underflow
limit. This flag will be cleared when the High-speed Counter Start
Bit is turned OFF.
03 Phase Z Input Reset Flag (ON for
one cycle)
ON for one cycle when the counter PV is reset with the counter
reset method set to a phase Z + software 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 Rotations Read Error
Flag
OFF: No error
ON: Error
05 Absolute No. of Rotations Read
Completed Flag OFF: Rotations being read or reading has not been executed.
ON: Reading has been completed (Turned ON when serial recep-
tion of the number of rotations has been completed.)
06 Measuring Flag (measurement mode
1 or 2)
Note Valid when Counter Data Dis-
play in System Setup is set to
Counter Movements (mode 1) or Fre-
quency (mode 2).
OFF: Changes in the counter PV or the counter frequency is not
being measured.
ON: Changes in the counter PV or the counter frequency is being
measured.
In measurement mode 1, this flag will turn ON at the beginning of
the sampling time after the Measurement Start Bit (A610.02) is
turned ON.
07 High-speed Counter Operating Flag OFF: Counter is not operating.
ON: Counter is operating.
08 Count Latched Flag OFF: Count has not been latched.
ON: Latching the count has been completed for the latch input.
12 Absolute Offset Preset Error Flag OFF: No error occurred when saving the absolute offset.
ON: An error occurred when saving the absolute offset.
A609 00 High-
speed
counter 2
status
Target Comparison In-progress Flag Same as for high-speed counter 1.
01 PV Overflow/Underflow Flag
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 (measurement mode
1 or 2)
07 High-speed Counter Operating Flag
08 Count Latched Flag
12 Absolute Offset Preset Error Flag
Address Bits Name Function
356
Auxiliary Area Allocations Appendix D
A610 00 High-
speed
counter 1
com-
mand
bits
Start Bit OFF: Stops counter operation. The counter PV will be main-
tained.
ON: Starts counter operation. The counter PV will be reset.
01 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. If a phase Z + software reset is set, disables the
phase Z input.
ON: If a software reset is set in the System Setup, resets the
counter PV to 0 when internal I/O is refreshed in the Motion Con-
trol Module. If a phase Z + software reset is set, enables the
phase Z input.
02 Measurement Start Bit OFF: Disables measuring changes in counter PV or the counter
frequency.
ON: Starts measuring changes in counter PV or the counter fre-
quency.
Note Measuring the high-speed counter frequency is possible
only for high-speed counter 1.
Note Valid when Counter Data Display in System Setup is set to
Counter Movements (mode 1) or Frequency (mode 2).
03 Measurement Direction Bit (mea-
surement mode 2)
OFF: Forward (up)
ON: Reverse (down)
This bit specifies the up/down direction of the pulse input for fre-
quency measurement.
Note Always set this bit before turning ON the Measurement
Start Bit.
04 Range Comparison Results Clear Bit OFF: Does not clear the execution results (A612) or output bit
pattern (A613) from CTBL(882) execution for range comparison
for the counter.
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 ON: Stores the number of multi-turns read from the Servo
Driver and the number of initial incremental pulses as an offset in
the Absolute Offset value in the System Setup.
When establishing the machine origin, the position from the abso-
lute encoder origin is set as the Absolute Offset in the System
Setup as the machine origin.
06 Absolute Present Value Preset Bit OFF: Disables the absolute present value preset.
OFF to ON: Stores the Absolute PV in the counter 1 PV (A600
and A601).
Note Refer to 7-7-6 Absolute Present Value for details on the
absolute PV.
07 Absolute Number of Rotations Read
Bit
OFF: Disables reading the number of rotations data from the
Servo Driver.
OFF to ON: Outputs the SEN output to the Servo Driver and
receives the number of rotations data on the phase A input.
08 Latch Input 1 Enable Bit OFF: Disables the external latch input 1 signal.
ON: Enables the external latch input 1 signal.
09 Latch Input 2 Enable Bit OFF: Disables the external latch input 2 signal.
ON: Enables the external latch input 2 signal.
A611 00 High-
speed
counter 2
com-
mand
bits
Start Bit Same as command bits for high-speed counter 1.
01 Reset Bit
02 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
Address Bits Name Function
357
Auxiliary Area Allocations Appendix D
A612 00 to 15 High-
speed
counter 1
monitor
data
Range Comparison Execution
Results Flags
Contains the CTBL(882) execution results for range comparison.
Bits 00 to 15 correspond to ranges 1 to 16.
OFF: No match
ON: Match
A613 00 to 15 Output Bit Pattern Contains the output bit pattern when a match is found for
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit
patterns with matches will be stored here.
A614 00 to 15 High-
speed
counter 2
monitor
data
Range Comparison Results Same as for high-speed counter 1 monitor data.
A615 00 to 15 Output Bit Pattern
A620 to
A621 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.
Contains the pulse output PV as an 8-digit hexadecimal number.
Relative mode: 00000000 to FFFFFFFF hex
Absolute linear mode: 80000000 to 7FFFFFFF hex
Absolute circular mode: 00000000 to circular maximum count
One-shot Pulse Output 1 ON Time
Note This item applies when the operation
mode is one-shot output mode.
Contains the time that the one-shot pulse output has been ON as
an 8-digit hexadecimal number.
0000 0000 to 0000 270F (unit: set by STIM(980))
Pulse Time Measurement 1
Note This item applies when the operation
mode is time measurement mode using a pulse
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 Output 1 PV.
One-shot Pulse Output 2 ON Time Same as for One-shot Pulse Output 1 ON time.
Pulse Time Measurement 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 distribution has
been completed).
01 Pulse Output Set Flag OFF: Pulse output amount not set by PULS(886).
ON: Pulse output amount set by PULS(886).
02 Target Frequency Not Reached Flag OFF: Target speed has been reached during pulse output for
PLS2(887).
ON: Decelerated before reaching the target speed during pulse
output for PLS2(887).
03 Target Comparison Flag OFF: Comparison stopped.
ON: Comparison in progress.
04 Independent Pulse Output Flag OFF: Pulses not being output or being output continuously.
ON: Pulses being output.
05 PLS2 Positioning Flag OFF: Not positioning.
ON: Positioning in progress.
06 Accelerating/Decelerating Flag OFF: No output or constant-speed output.
ON: Acceleration or deceleration in progress for ACC(888) or
PLS2(887).
07 Pulse Output Flag OFF: Pulse output stopped.
ON: Pulse output in progress.
A625 00 Pulse
Output 2
Status
Pulse Output Completed Flag Same as for Pulse Output 1 Status.
01 Pulse Output Set Flag
02 Target Frequency Not Reached Flag
03 Target Comparison Flag
04 Independent Pulse Output Flag
05 PLS2 Positioning Flag
06 Accelerating/Decelerating Flag
07 Pulse Output Flag
Address Bits Name Function
358
Auxiliary Area Allocations Appendix D
A626 00 Pulse
Output 1
Com-
mand
Bits
PV Reset Bit OFF: Pulse output 1 PV not reset.
ON: Resets pulse output 1 PV.
01 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.
ON: Clears the execution results (A630) or output bit pattern
(A631) from CTBL(882) execution for range comparison for the
pulse output PV.
A627 00 Pulse
Output 2
Com-
mand
Bits
PV Reset Bit Same as for Pulse Output 1 Command Bits.
01 Range Comparison Results Clear Bit
A628 07 Pulse
Output
Control
Bits
(Apply to
both
pulse
outputs 1
and 2.)
Speed Change Cycle Bit OFF: Sets the speed change cycle to 2 ms during pulse output to
ACC(888) or PLS2(887).
ON: Sets the speed change cycle to 1 ms during pulse 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 the direction of the specified absolute posi-
tion are the same.
ON: Sets Absolute Position Priority Mode.
In Absolute Position Priority Mode, pulses are always output in
the direction of the specified absolute position.
A630 00 to 15 Pulse
Output 1
Monitor
Data
Range Comparison Results Contains the CTBL(882) execution results for range comparison.
Bits 00 to 15 correspond to ranges 1 to 16.
OFF: No match
ON: Match
A631 00 to 15 Output Bit Pattern Contains the output bit pattern when a match is found for
CTBL(882) execution results for range comparison
Note If more than one match is found, an OR of the output bit
patterns with matches will be stored here.
A632 00 to 15 Pulse
Output 2
Monitor
Data
Range Comparison Results Same as for Pulse Output 1 Monitor Data.
A633 00 to 15 Output Bit Pattern
Address Bits Name Function
359
Auxiliary Area Allocations Appendix D
Detailed Explanations on the Auxiliary Area
Error Log Area: A100 to A199
Error Codes and Error Flags
Note (1) Codes C101 to C2FF will be stored for FALS numbers 001 to 511.
(2) Codes 4101 to 42FF will be stored for FAL numbers 001 to 511.
(3) Only the contents of A405 is stored as the error flag contents for program errors.
(4) 0000 hex will be stored as the error flag contents.
0101
0101
0101
0101
0101
0101
A100
A101
A102
A103
A104
A195
A196
A197
A198
A199
01 01
01 01
01 01
80 F1
00 04
01 01
01 01
01 01
C1 01
00 00
Error code
Error contents
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 Setup (04 hex).
The following data would be generated in an error record if
an FALS error with FALS number 001 occurred
Classification Error code Meaning Error flags
System-defined
fatal errors 80F1 Memory error A403
80C0 I/O bus error ---
80CE No End Cover ---
80CF Sync bus error
80E0 I/O setting error ---
80F0 Program error A405
809F Cycle time too long error ---
System-defined
non-fatal errors 009B System Setup setting error A409
User-defined
fatal errors C101 to C2FF FALS instruction executed (See note 1.) ---
User-defined
non-fatal errors 4101 to 42FF FAL instruction executed (See note 2.) ---
360
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.
There are also instructions for which Index Registers can be directly designated to use the FQM1 memory
addresses stored in them by other instructions. These instructions include DOUBLE MOVE (MOVL(498)),
some symbol comparison instructions (=L,<>L, <L, >L,<=L, and >=L), DOUBLE COMPARE (CMPL(060)),
DOUBLE INCREMENT BINARY (++L(591)), DOUBLE DECREMENT BINARY (– –L(593)), DOUBLE SIGNED
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 memory areas. As reference, the FQM1 memory addresses are provided in the next page.
Note Directly setting FQM1 memory addresses in the program should be avoided whenever possible. If FQM1
memory addresses are set in the program, the program will be less compatible with new Modules for
which changes have been made to the layout of the memory.
Memory Configuration
There are two classifications of the RAM memory (with capacitor backup) in the FQM1.
Parameter Areas: These areas contain Coordinator Module system setting data, such as the System Setup.
An illegal access error will occur if an attempt is made to access any of the parameter areas from an instruction
in the user program.
I/O Memory Areas: These are the areas that can be specified as operands in the instructions in user pro-
grams.
361
Auxiliary Area Allocations Appendix D
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.
0B840 to 0B9FF A000 to A447 Read-only Auxiliary Area
0BA00 to 0BACB A448 to A649 Read/Write Auxiliary 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 Counter Completion Flags
0BF10 to 0BFFF --- Reserved for system.
0C000 to 0C0FF CIO 0000 to CIO 0255 CIO Area
0C100 to 0D7FF --- Reserved for system.
0D800 to 0D9FF --- Reserved for system.
0DA00 to 0DDFF --- Reserved for system.
0DE00 to 0DEFF W000 to W255 Work Area
0DF00 to 0DFFF --- Reserved for system.
0E000 to 0E0FF T0000 to T0250 Timer PVs
0E100 to 0EFFF --- Reserved for system.
0F000 to 0F0FF C0000 to C0255 Counter PVs
0F100 to 0FFFF --- Reserved for system.
10000 to 17FFF D00000 to D32767 DM Area
18000 to FFFFF --- Reserved for system.
362
Auxiliary Area Allocations Appendix D
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 execu-
tion when calculating the cycle time. (See note.)
Note User programs are allocated tasks that can be executed within cyclic tasks and interrupt tasks that sat-
isfy interrupt conditions.
Execution times for most instructions differ depending on the conditions when the instruction is executed. The
execution time can also vary when the execution condition is OFF.
The following table also lists the length of each instruction in the Length (steps) column. The number of steps
required in the user program area for each of the instructions varies from 1 to 7 steps, depending upon the
instruction and the operands used with it. The number of steps in a program is not the same 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 (indicated with ↑, ↓, @, and %). Specifying
differentiation will increase the execution times by the following amounts.
(2) Use the following time as a guideline when instructions are not executed.
Approx. 0.2 to 0.5 µs
Sequence Input Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Sequence Output Instructions
Symbol µs
↑ or ↓+0.5
@ or % +0.5
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
LOAD LD --- 1 0.10 Yes ---
LOAD NOT LD NOT --- 1 0.10 Yes ---
AND AND --- 1 0.10 Yes ---
AND NOT AND NOT --- 1 0.10 Yes ---
OR OR --- 1 0.10 Yes ---
OR NOT OR NOT --- 1 0.10 Yes ---
AND LOAD AND LD --- 1 0.05 Yes ---
OR LOAD OR LD --- 1 0.05 Yes ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
OUTPUT OUT --- 1 0.35 Yes ---
OUTPUT NOT OUT NOT --- 1 0.35 Yes ---
KEEP KEEP 011 1 0.40 Yes ---
DIFFERENTIATE UP DIFU 013 2 0.50 Yes ---
DIFFERENTIATE
DOWN DIFD 014 2 0.50 Yes ---
SET SET --- 1 0.30 Yes ---
RESET RSET --- 1 0.30 Yes ---
363
Auxiliary Area Allocations Appendix D
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
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Timer and Counter Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Comparison Instructions
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
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 0.95 Yes ---
JUMP END JME 005 2 --- --- ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
TIMER TIM --- 3 1.30 Yes ---
COUNTER CNT --- 3 1.30 Yes ---
HIGH-SPEED TIMER TIMH 015 3 1.80 Yes ---
ONE-MS TIMER TMHH 540 3 1.75 Yes ---
REVERSIBLE
COUNTER
CNTR 012 3 24.8 --- ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
Input Comparison
Instructions (unsigned)
LD, AND, OR += 300 4 0.35 Yes ---
LD, AND, OR + <> 305
LD, AND, OR + < 310
LD, AND, OR +<= 315
LD, AND, OR +> 320
LD, AND, OR +>= 325
Input Comparison
Instructions (double,
unsigned)
LD, AND, OR +=+L 301 4 0.35 Yes ---
LD, AND, OR +<>+L 306
LD, AND, OR +<+L 311
LD, AND, OR +<=+L 316
LD, AND, OR +>+L 321
LD, AND, OR +>=+L 326
Input Comparison
Instructions (signed)
LD, AND, OR +=+S 302 4 0.35 Yes ---
LD, AND, OR +<>+S 307
LD, AND, OR +<+S 312
LD, AND, OR +<=+S 317
LD, AND, OR +>+S 322
LD, AND, OR +>=+S 327
364
Auxiliary Area Allocations Appendix D
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Data Movement Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Input Comparison
Instructions (double,
signed)
LD, AND, OR +=+SL 303 4 0.35 Yes ---
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 0.30 Yes ---
DOUBLE SIGNED
BINARY COMPARE
CPSL 115 3 0.50 Yes ---
TABLE COMPARE TCMP 085 4 30.3 --- ---
MULTIPLE COMPARE MCMP 019 4 47.5 --- ---
UNSIGNED 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-
PA R E
ZCP 088 3 11.6 --- ---
DOUBLE AREA
RANGE COMPARE
ZCPL 116 3 11.4 --- ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
MOVE MOV 021 3 0.30 Yes ---
DOUBLE MOVE MOVL 498 3 0.60 Yes ---
MOVE NOT MVN 022 3 0.35 Yes ---
DOUBLE MOVE NOT MVNL 499 3 0.60 Yes ---
MOVE BIT MOVB 082 4 0.50 Yes ---
MOVE DIGIT MOVD 083 4 0.50 Yes ---
BLOCK TRANSFER XFER 070 4 0.8 Yes Transferring 1 word
650.2 Yes Transferring 1,000 words
BLOCK SET BSET 071 4 0.55 Yes Setting 1 word
400.2 Yes Setting 1,000 words
DATA EXCHANGE XCHG 073 3 0.80 Yes ---
SINGLE WORD DIS-
TRIBUTE
DIST 080 4 10.5 --- ---
DATA COLLECT COLL 081 4 10.5 --- ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
365
Auxiliary Area Allocations Appendix D
Data Shift Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Increment/Decrement Instructions
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SHIFT REGISTER SFT 010 3 12.4 --- Shifting 1 word
368.1 --- Shifting 1,000 words
REVERSIBLE SHIFT
REGISTER SFTR 084 4 14.0 --- Shifting 1 word
1.44 ms --- Shifting 1,000 words
ASYNCHRONOUS
SHIFT REGISTER
ASFT 017 4 13.9 --- Shifting 1 word
3.915 ms --- Shifting 1,000 words
WORD SHIFT WSFT 016 4 9.7 --- Shifting 1 word
728.1 --- Shifting 1,000 words
ARITHMETIC SHIFT
LEFT ASL 025 2 0.45 Yes ---
DOUBLE SHIFT LEFT ASLL 570 2 0.80 Yes ---
ARITHMETIC SHIFT
RIGHT ASR 026 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
CARRY
RLNL 576 2 0.80 Yes ---
ROTATE RIGHT ROR 028 2 0.45 Yes ---
DOUBLE ROTATE
RIGHT RORL 573 2 0.80 Yes ---
ROTATE RIGHT WITH-
OUT CARRY RRNC 575 2 0.45 Yes ---
DOUBLE ROTATE
RIGHT WITHOUT
CARRY
RRNL 577 2 0.80 Yes ---
ONE DIGIT SHIFT
LEFT
SLD 074 3 10.1 --- Shifting 1 word
1.208 ms --- Shifting 1,000 words
ONE DIGIT SHIFT
RIGHT
SRD 075 3 11.7 --- Shifting 1 word
1.775 ms --- Shifting 1,000 words
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
INCREMENT BINARY ++ 590 2 0.45 Yes ---
DOUBLE INCRE-
MENT BINARY
++L 591 2 0.80 Yes ---
DECREMENT BINARY – – 592 2 0.45 Yes ---
DOUBLE DECRE-
MENT BINARY
– –L 593 2 0.80 Yes ---
INCREMENT BCD ++B 594 2 12.1 --- ---
DOUBLE INCRE-
MENT BCD
++BL 595 2 9.37 --- ---
DECREMENT BCD – –B 596 2 11.5 --- ---
DOUBLE DECRE-
MENT BCD
– –BL 597 2 9.3 --- ---
366
Auxiliary Area Allocations Appendix D
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 Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SIGNED BINARY ADD
WITHOUT CARRY
+ 400 4 0.30 Yes ---
DOUBLE SIGNED
BINARY ADD WITH-
OUT 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 16.3 --- ---
DOUBLE BCD ADD
WITHOUT CARRY +BL 405 4 22.9 --- ---
BCD ADD WITH
CARRY
+BC 406 4 17.2 --- ---
DOUBLE BCD ADD
WITH 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
BINARY SUBTRACT
WITH CARRY
–CL 413 4 0.60 Yes ---
BCD SUBTRACT
WITHOUT CARRY
–B 414 4 16.3 --- ---
DOUBLE BCD SUB-
TRACT WITHOUT
CARRY
–BL 415 4 23.1 --- ---
BCD SUBTRACT
WITH CARRY –BC 416 4 18.1 --- ---
DOUBLE BCD SUB-
TRACT WITH CARRY –BCL 417 4 24.2 --- ---
SIGNED BINARY MUL-
TIPLY
* 420 4 0.65 Yes ---
DOUBLE SIGNED
BINARY MULTIPLY
*L 421 4 12.8 --- ---
UNSIGNED BINARY
MULTIPLY
*U 422 4 0.75 Yes ---
DOUBLE UNSIGNED
BINARY MULTIPLY
*UL 423 4 12.4 --- ---
BCD MULTIPLY *B 424 4 16.9 --- ---
DOUBLE BCD MULTI-
PLY
*BL 425 4 34.7 --- ---
SIGNED BINARY
DIVIDE / 430 4 0.70 Yes ---
DOUBLE SIGNED
BINARY DIVIDE /L 431 4 11.9 --- ---
UNSIGNED BINARY
DIVIDE
/U 432 4 0.8 Yes ---
DOUBLE UNSIGNED
BINARY DIVIDE
/UL 433 4 11.9 --- ---
367
Auxiliary Area Allocations Appendix D
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Conversion Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Logic Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
BCD DIVIDE /B 434 4 18.3 --- ---
DOUBLE BCD DIVIDE /BL 435 4 26.7 --- ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
BCD-TO-BINARY BIN 023 3 0.40 Yes ---
DOUBLE BCD-TO-
DOUBLE BINARY
BINL 058 3 7.4 --- ---
BINARY-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 ASCII
18.1 --- Converting 4 digits into ASCII
ASCII TO HEX HEX 162 4 12.2 --- Converting 1 digit
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
LOGICAL AND ANDW 034 4 0.30 Yes ---
DOUBLE LOGICAL
AND
ANDL 610 4 0.60 Yes ---
LOGICAL OR ORW 035 4 0.45 Yes ---
DOUBLE LOGICAL OR ORWL 611 4 0.60 Yes ---
EXCLUSIVE OR XORW 036 4 0.45 Yes ---
DOUBLE EXCLUSIVE
OR XORL 612 4 0.60 Yes ---
EXCLUSIVE NOR XNRW 037 4 0.45 Yes ---
DOUBLE EXCLUSIVE
NOR XNRL 613 4 0.60 Yes ---
COMPLEMENT COM 029 2 0.45 Yes ---
DOUBLE COMPLE-
MENT COML 614 2 0.80 Yes ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
368
Auxiliary Area Allocations Appendix D
Special Math Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Floating-point Math Instructions
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
ARITHMETIC PRO-
CESS
APR 069 4 24.3 --- Linear approximation specifica-
tion, normal
12.1 --- Linear approximation table trans-
fer, 1 word
126.1 --- Linear approximation table trans-
fer, 128 words
241.3 --- Linear approximation table trans-
fer, 256 words
21.5 --- Linear approximation buffer specifi-
cation, 256 words, beginning
186.9 --- Linear approximation buffer specifi-
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 --- Stopping processing
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
FLOATING TO 32-BIT FIXL 451 3 7.4 --- ---
32-BIT TO FLOATING FLTL 453 3 7.0 --- ---
FLOATING-POINT
ADD +F 454 4 11.4 --- ---
FLOATING-POINT
SUBTRACT –F 455 4 11.0 --- ---
FLOATING-POINT
DIVIDE
/F 457 4 11.1 --- ---
FLOATING-POINT
MULTIPLY
*F 456 4 11.0 --- ---
DEGREES TO RADI-
ANS
RAD 458 3 9.7 --- ---
RADIANS TO
DEGREES
DEG 459 3 9.4 --- ---
SINE SIN 460 3 15.8 --- ---
COSINE COS 461 3 15.5 --- ---
TANGENT TAN 462 3 17.5 --- ---
ARC SINE ASIN 463 3 42.7 --- ---
ARC COSINE ACOS 464 3 42.5 --- ---
ARC TANGENT ATAN 465 3 21.3 --- ---
SQUARE ROOT SQRT 466 3 25.5 --- ---
EXPONENT EXP 467 3 18.1 --- ---
LOGARITHM LOG 468 3 16.1 --- ---
EXPONENTIAL
POWER
PWR 840 4 31.5 --- ---
369
Auxiliary Area Allocations Appendix D
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Table Data Processing Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Data Control Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Subroutine Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Floating Symbol Com-
parison
LD, AND, OR +=F 329 3 8.9 --- ---
LD, AND, OR +<>F 330
LD, AND, OR +<F 331
LD, AND, OR +<=F 332
LD, AND, OR +>F 333
LD, AND, OR +>=F 334
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
FIND MAXIMUM MAX 182 4 13.0 --- Searching for 1 word
1.41 ms --- Searching for 1,000 words
FIND MINIMUM MIN 183 4 12.8 --- Searching for 1 word
1.412 ms --- Searching for 1,000 words
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SCALING SCL 194 4 22.7 --- ---
SCALING 2 SCL2 486 4 21.8 --- ---
SCALING 3 SCL3 487 4 26.1 --- ---
AVERAGE AVG 195 4 27.9 --- Average of an operation
27.9 --- Average of 64 operations
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SUBROUTINE CALL SBS 091 2 25.5 Yes ---
SUBROUTINE ENTRY SBN 092 2 --- --- ---
SUBROUTINE
RETURN RET 093 1 21.9 Yes ---
MACRO MCRO 099 4 47.4 --- ---
JUMP TO SUBROU-
TINE JSB 982 4 34.9 --- ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
370
Auxiliary Area Allocations Appendix D
Interrupt Control Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
High-speed Counter and Pulse Output Instructions
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SET INTERRUPT
MASK
MSKS 690 3 7.6 --- ---
READ INTERRUPT
MASK
MSKR 692 3 5.2 --- ---
CLEAR INTERRUPT CLI 691 3 7.2 --- ---
DISABLE INTER-
RUPTS
DI 693 1 5.3 --- ---
ENABLE INTER-
RUPTS
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
10.8 --- Reading timer PV
7.4 --- Stopping timer
17.8 --- Starting pulse counting
14.7 --- Stopping pulse counting
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
MODE CONTROL INI 880 4 16.7 --- Starting high-speed counter com-
parison
12.7 --- Stopping high-speed counter com-
parison
13.3 --- Changing pulse output PV
10.9 --- Changing high-speed counter cir-
cular value
16.7 --- Starting pulse output comparison
12.6 --- Stopping pulse output comparison
14.9 --- Changing pulse output PV
13.1 --- Changing pulse output circular
value
12.5 --- Stopping pulse output
10.1 --- Stopping sampling counter com-
parison
14.5 --- Changing sampling counter PV
13.9 --- Changing sampling counter circu-
lar value
HIGH-SPEED
COUNTER PV READ PRV 881 4 13.5 --- Reading pulse output PV
15.1 --- Reading high-speed counter PV
50.8 --- Reading analog input PV
14.3 --- Reading high-speed counter travel
distance
12.1 --- Reading high-speed counter
latched value
371
Auxiliary Area Allocations Appendix D
Step Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
I/O Refresh Instruction
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
COMPARISON TABLE
LOAD
CTBL 882 4 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
22.1 --- Executing range comparison for 1
range
113.7 --- Executing range comparison for 16
ranges
22.1 --- Only registering target value table
for 1 target value
240.1 --- Only registering target value table
for 48 target values
20.9 --- Registering a 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 pulse output in relative
mode
16.1 --- Setting pulse output in absolute
mode
31.5 --- Absolute output mode (electronic
cam)
PULSE OUTPUT PLS2 887 4 53.5 --- ---
ACCELERATION CON-
TROL
ACC 888 4 42.5 --- Continuous mode
44.1 --- Independent mode
18.7 --- Analog output
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
STEP DEFINE STEP 008 2 24.3 --- Step control bit ON
13.0 --- Step control bit OFF
STEP START SNXT 009 2 9.1 --- ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
I/O REFRESH IORF 097 3 7.7 --- Refreshing 1 input word
7.6 --- Refreshing 1 output word
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
372
Auxiliary Area Allocations Appendix D
Serial Communications Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Debugging Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Failure Diagnosis Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Other Instructions
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Block Programming Instructions
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
TRANSMIT TXD 236 4 24.1 --- Sending 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
time (µs)
Hardware
implementation
Conditions
TRACE MEMORY
SAMPLING
TRSM 045 1 34.6 --- Sampling 1 bit and 0 words
148.3 --- Sampling 31 bits and 6 words
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
FAILURE ALARM FAL 006 3 157.1 --- Recording errors
56.0 --- Deleting errors (in order of priority)
457.0 --- Deleting errors (all errors)
53.6 --- Deleting errors (individually)
SEVERE FAILURE
ALARM
FALS 007 3 --- --- ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Hardware
implementation
Conditions
SET CARRY STC 040 1 0.15 Yes ---
CLEAR CARRY CLC 041 1 0.15 Yes ---
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Conditions
BLOCK PROGRAM
BEGIN BPRG 096 2 20.3 --- ---
BLOCK PROGRAM
END
BEND 801 1 17.2 --- ---
373
Auxiliary Area Allocations Appendix D
Note When a double-length operand is used, add 1 to the value shown in the length column in the above
table.
Branching IF (input
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 803 1 11.4 Yes IF true
13.4 IF false
Branching IEND 804 1 13.5 Yes IF true
7.0 IF false
Instruction Mnemonic Code Length
(steps)
(See
note.)
ON execution
time (µs)
Conditions
374
Auxiliary Area Allocations Appendix D
375
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. of Rotations Read Error Flag, 340, 341, 355
Absolute Offset Preset Error Flag, 340, 341, 355
absolute position priority mode, 183
absolute positioning (electronic cam control), 191
ACC(888) instruction, 182, 190
and analog outputs, 229
pulse outputs, 170
setting speed-change cycle, 183
Accelerating/Decelerating Flag, 357
acceleration
trapezoidal, 193
acceleration rate, 182
Access Error Flag, 308
addresses
memory map, 360
addressing
BCD mode, 307
binary mode, 307
indirect addresses, 273
memory addresses, 271
operands, 272
alarms
user-programmed alarms, 121
Always OFF Flag, 308
Always ON Flag, 308
analog I/O
high-speed control, 26
analog inputs, 215
Auxiliary Area, 219
connections, 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 examples, 230
Auxiliary Area, 219
connections, 74
details, 225
END refreshing, 226
functions, 227
immediate refreshing, 226
instructions, 228
number of, 226
procedure, 229
refresh methods, 226
signal ranges, 226
specifications, 226
System Setup, 218
used with ACC(888), 229
values, 226
ASync Mode, 96, 104
automatic backup
using flash memory, 119
Auxiliary Area
allocations
for built-in inputs, 343
for Coordinator Modules and Motion Control Modules,
344
in address order, 349
Motion Control Modules, 329
related to DM data transfer, 346
related to instructions, 347
analog I/O, 219
Constant Cycle Time Exceeded Error Clear Bit, 115
Cycle Time PV, 116
detailed explanations, 359
DM Read Request Bit, 113
DM Transfer Size, 113
DM Write Request Bit, 113
First DM Transfer Destination Word, 113
First DM Transfer Source Word, 113
Maximum Cycle Time, 116
overview, 304
Slot No. of Motion Control Module for DM Transfer, 113
AXIS instruction, 213
application example, 215
B
baud rate, 313, 318
detection, 35
376
Index
RS-232C port, 66, 134
serial data, 200
BCD data, 276
BCD-mode addressing, 307
binary-mode addressing, 307
block programs, 270, 286, 287
instruction execution times, 372
C
cables, 235
Carry (CY) Flag, 270, 285, 308
CIO Area, 302
Cyclic Refresh Bit Area, 302
I/O Bit Area, 302
Serial PLC Link Bit Area, 303
Synchronous Data Link Bit Area, 303
Work Areas, 303
Circular Counter, 154, 202
circular mode, 182
CLC(041) instruction, 308
Clock Pulses, 309
communications
instruction execution times, 372
no-protocol, 10, 13
protocol support, 9
protocols, 9
See also serial communications
comparison instructions
execution times, 363, 364
Completion Flags
reset timing, 306
Condition Flags, 281, 307
list, 308
connecting cables
list, 83
connections
analog inputs, 74
analog outputs, 74
Host Link, 64
MIL connectors, 74
peripheral bus (Toolbus), 65
personal computers, 64
pulse inputs, 71
pulse outputs, 73
Servo Drivers, 70
wire size, 75
connectors, 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 Error Clear Bit, 115, 117
Constant Cycle Time Exceeded Flag, 115, 346, 350
constants
operands, 274
control panels
installation, 53
cooling
fan, 50
Coordinator Module Fatal Error Flag, 250, 345, 349
Coordinator Module WDT Error Flag, 250, 345, 349
Coordinator Modules, 92
built-in I/O allocations, 348
connector pin arrangement, 67
connectors, 65
constant cycle time, 115
current consumption, 45
Cyclic Refresh Area, 107
data exchange with Motion Control Modules, 105
dimensions, 43
flash memory, 93
I/O memory, 92, 300
I/O response time, 293
indicators, 34
models, 32
nomenclature, 34
operation, 93
overview, 5, 7
System Setup, 93, 111, 311
troubleshooting, 256
user program, 92
Count Latched Flag, 340, 341, 355
Counter Area, 306
Counter Completion Flags, 361
counter mode, 143, 204
procedure, 144
counters
execution times, 363
operations, 154, 201
reset method, 204
CPU errors, 246
CPU standby, 246
crimp terminals, 61
CTBL(882) instruction, 152, 223
Index
377
current consumption, 45
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
Pulse Input Tab Page, 322, 324
Pulse Output Tab Page, 323
RS-232 Port Settings for No-protocol Communications
(RS-232C), 317
RS-232C Port Settings for Host Link, 315
RS-232C Port Settings for NT Link, 316
RS-232C Port Settings for Peripheral Bus (ToolBus), 316
RS-232C Port Settings for PLC Link (PC Link (Slave)),
318
RS-422A Port Settings for No-protocol Communications
(Non-procedural), 319
RS-422A Port Settings for Serial Gateway, 319
Startup Mode Setting, 312
Sync Settings between Modules, 311
cycle time, 19
computing, 288
errors, 249
maximum cycle time, 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 areas
addressing, 271
data control instructions
execution times, 369
data exchange
between Modules, 105
data formats, 276
Data Memory (DM) Area, 307
data movement instructions
execution times, 364
data shift instructions
execution times, 365
debugging, 14, 120
debugging instructions
execution times, 372
deceleration
rate, 182
trapezoidal, 193
decrement instructions
execution times, 365
decrement pulse inputs, 153
DI(802) instruction
disabling all interrupts, 141
diagnosis, 120
Differentiate Monitor Completed Flag, 351
Differentiation Flags, 270
Differentiation Overflow Error Flag, 344, 350
dimensions, 43
Servo Relay Units, 79
DIN Track, 57, 59
DM data transfer, 105, 112
executing, 113
programming example, 114
DM Read Request Bit, 113
DM Transfer Size, 113
DM Write Request Bit, 113
downwardly differentiated instructions, 280
ducts
wiring, 53
E
EC Directives, xix
EI(694) instruction
enabling all interrupts, 141
electrical noise, 85
electronic cam control, 186
End Modules
current consumption, 45
dimensions, 43
models, 32
overview, 6
378
Index
Equals Flag, 285, 308
error codes, 359
Error Flag, 308
error flags, 359
error log, 120, 242
Error Log Area, 242, 344, 349
Error Log Pointer, 350
error processing flowchart, 245
errors
communications error, 250
Coordinator Module Fatal error, 250
Coordinator Module WDT error, 250
CPU error, 246
CPU standby, 246
cycle time overrun error, 249
error codes, 345, 349, 359
error log, 120, 242
fatal, 246
flags, 308
I/O Bus error, 248
I/O table setting error, 249
memory error, 248
Motion Control Module Monitor error, 249
non-fatal, 249
program error, 248
system FAL error, 249
system FALS error, 249
System Setup error, 249
troubleshooting, 243
Coordinator Module errors, 256
cycle time overrun error check, 253
environmental conditions check, 256
I/O check, 255
I/O setting error check, 254
input errors, 257
memory error check, 252
Motion Control Module errors, 257
output errors, 258
power supply check, 251
program error check, 252
System Setup error check, 253
user-programmed errors, 121, 242
execution conditions
variations, 279
F
failure alarms, 121
failure diagnosis instructions
execution times, 372
FAL Error Flag, 121, 249, 345, 349
FAL errors, 249
FAL(006) instruction, 121
FALS Error Flag, 122, 249, 345, 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
flags, 270
Absolute No. of Rotations Read Completed Flag, 355
Absolute No. of Rotations Read Error Flag, 355
Absolute Offset Preset Error Flag, 355
Access Error Flag, 308
Always OFF Flag, 308
Always ON Flag, 308
Analog Offset/Gain Error Flag, 345, 350
Analog Output 1 Flags, 337, 353
Analog Output 2 Flags, 337, 353
Carry Flag, 308
Clock Pulses, 309
Condition Flags, 281, 307
Constant Cycle Time Exceeded Flag, 115, 346, 350
Coordinator Module Fatal Error Flag, 250, 345, 349
Coordinator Module WDT Error Flag, 250, 345, 349
Count Latched Flag, 355
Cycle Time Too Long Flag, 346, 349
Differentiate Monitor Completed Flag, 351
Differentiation Overflow Error Flag, 344, 350
Equals Flag, 308
Error Flag, 308
FAL Error Flag, 121, 249, 345, 349
FALS Error Flag, 121, 249, 345, 349
First Cycle Flag, 347, 349
Flash Memory DM Checksum Error Flag, 345, 350
Flash Memory Error Flag, 120, 345, 350
Greater Than Flag, 308
Greater Than or Equals Flag, 308
High-speed Counter 1 Status, 355
High-speed Counter 2 Status, 355
High-speed Counter Operating Flag, 355
I/O Bus Error Flag, 248, 349
I/O Setting Error Flag, 249, 345, 349
Illegal Instruction Error Flag, 344, 350
Less Than Flag, 308
Less Than or Equals Flag, 308
Measuring Flag, 355
Index
379
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
Range Comparison Execution Results Flags, 343
RS-232C Port Error Flags, 350
RS-232C port related, 347, 350
RS-422A port related, 347, 351
Step Flag, 347, 349
Subroutine Input Condition Flags, 265, 344, 349
Sync Cycle Time Too Long Flag, 346, 350
System Flags, 344
System Setup Error Flag, 249, 345, 349, 350
System Setup Error Location, 345
Target Comparison In-progress Flag, 355
Task Error Flag, 344, 350
Trace Busy Flag, 351
Trace Completed Flag, 351
Trace Trigger Monitor Flag, 351
Transfer Busy Flag, 113, 352
Transfer Error Flag, 113, 346, 352
UM Error Flag, 345, 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
floating-point decimal, 276
floating-point math instructions
execution times, 368
flowchart
PLC cycle, 288
FQM1 Flexible Motion Controller Set
models, 32
FQM1 Patch Software, 32, 92, 234
Framing Error Flag, 350, 351
functions
list, 139
G
Greater Than Flag, 285, 308
Greater Than or Equals Flag, 308
grounding, 61
H
high-speed analog sampling, 223
high-speed counter instructions
execution times, 370
High-speed Counter Operating Flag, 340, 341, 355
High-speed Counter Reset Bit, 155
high-speed counters, 153
bit pattern output, 164
interrupts, 140, 155
latching PV, 159, 166
monitoring frequency, 158
monitoring movement, 157
procedure, 160
mode 1, 161
mode 2, 162
PV, 205
range comparison, 164
target-value comparison, 162
Host Link (SYSMAC WAY), 9, 124
commands, 127
Host Link System, 10
Host Link(SYSMAC WAY)
communications functions, 126
I
I/O Bit Area, 302
I/O Bus Error Flag, 248, 349
I/O memory, 96
addresses, 360
addressing, 271
areas, 361
Coordinator Modules, 300
Motion Control Modules, 301
overview, 299
structure, 300, 301
Motion Control Modules, 301
I/O refreshing, 94, 303
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(880) instruction, 152
pulse outputs, 170
initialization, 94, 98
input devices
wiring, 87
input instructions
execution times, 362
input interrupts, 140, 142, 343
application example, 145
modes, 142
procedure, 143
procedure, 143
specifications, 142
input pulses
frequency, 204
measuring, 25
inputs
pulse frequency, 204
inspections
procedures, 260
required 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, 279
execution times, 362
input and output instructions, 269, 271
input conditions, 279
input-differentiated, 279
instruction conditions, 269
loops, 270
non-differentiated, 279
operands, 270
programming locations, 271
variations, 279
interlocks, 270, 286
interrupt control instructions
execution times, 370
interrupt modes, 142
interrupt response time, 295
calculation example, 297
interrupts
clearing, 142
disabling, 141
enabling, 141
high-speed counter, 140
input, 140, 142
interval timer, 140, 146
priority, 140
processing time
Motion Control Modules, 296
pulse output, 140
interval timer interrupts, 140, 146
application example, 147
one-shot mode, 146
scheduled interrupt mode, 146
using, 146
isolation transformer, 60
J
JSB(982) instruction, 265
L
latch inputs
applicable instructions, 152
specifications, 152
leakage current
output, 90
Less Than Flag, 285, 308
Index
381
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
Motion Control Modules, 95
built-in I/O refreshing, 98
connections, 70
connectors
pin arrangement, 68
constant cycle time, 115
current consumption, 46
Cyclic Refresh Area, 107
data exchange with Coordinator Modules, 105
dimensions, 43
I/O memory, 301
I/O memory structure, 301
I/O response time, 294
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, 350
noise reduction
electrical noise, 85
external wiring, 86
non-fatal errors, 121, 249
no-protocol communications, 9, 10, 13, 124, 129
end code, 130
RS-232C port, 129
RS-422A port, 136
start code, 130
Not Equal Flag, 308
NT Links, 9, 10, 124
1-to-N mode, 131
O
one-shot pulse outputs, 167, 176, 188
example, 194
specifications, 169, 177
operands
constants, 274
description, 270
specifying, 272
text strings, 275
operating modes, 99
effects of mode changes on counters, 306
effects of mode changes on timers, 306
operation
checking, 16
checking operation, 14
preparations, 13
testing, 14, 17
output instructions
execution times, 362
Overflow Flag, 308
Overrun Error Flag, 350, 351
P
Parameter Area, 310, 361
overview, 299
Parity Error Flag, 350, 351
password protection, 119
Peripheral Bus (Toolbus), 9, 125
connections, 65
382
Index
Peripheral Devices, 6
peripheral port
connecting a personal computer, 235
Peripheral Port Communications Error Flag, 346, 350
Peripheral Port Error Flags, 346, 350
Peripheral Port Settings Changing Flag, 346, 350
peripheral servicing, 94, 98
settings, 327
personal computers
connecting, 235
connectors, 65
phase differential inputs, 153
Phase Z Input Reset Flag, 340, 341, 355
phase-Z signal, 155
PLC Setup, 14, 16
errors, 249
PLCs
cooling, 50
PLS2 Positioning Flag, 357
PLS2(887) instruction, 182, 196
absolute position priority mode, 183
pulse output direction priority mode, 183
pulse outputs, 170
setting speed change cycle, 183
trapezoidal pulse output with acceleration/deceleration,
187
Polled Units
settings, 133
Polling Unit
setting, 133
position control
operations, 21
power flow
description, 269
Power Holding Time, 101
power interruptions
CPU operation for power interruptions, 100, 288
holding time, 101
instruction execution, 102
momentary interruptions, 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
overview, 5
specifications, 33
wiring, 60
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
printing, 18
Program Error Flag, 248, 344, 349
PROGRAM mode, 99
Programmable Terminals, 10
connection example, 66
programming, 14, 16
basic information, 269
block programs, 270, 286
restrictions, 287
error flag, 349
error flags, 344
errors, 248
instruction locations, 271
power flow, 269
precautions, 281
printing the program, 18
running the program, 18
saving the program, 18
step programming, 286
restrictions, 287
subroutines, 264
tasks, 263
transferring the program, 14, 17
Programming Devices
models, 32
protection
using passwords, 118
protocols, 9
PRV(881) instruction, 152, 222
pulse outputs, 170
PULS(886) instruction, 184, 196
pulse outputs, 170
pulse and direction inputs, 153
pulse counter timer, 178, 188
example, 194
specifications, 179
Index
383
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
Pulse Output Set Flag, 357
Pulse Output Status Flags, 334
pulse outputs, 167
accelerating frequency, 190
applicable instructions, 170
bit pattern outputs, 182
changing frequency, 190
connections, 73
details, 167
instructions, 170
interrupts, 140
modes, 168
number of, 169
one-shot, 169, 176, 188
operation modes, 194
operations, 173
precautions, 175
PV storage location, 169
range comparison, 182
signals, 169
specifications, 168, 169
startup conditions, 194, 196
target-value comparison interrupts, 179
with acceleration/deceleration, 185
trapezoidal, 187
without acceleration/deceleration, 184, 186
absolute positioning, 191
positioning, 189
PV Overflow/Underflow Flag, 340, 341, 355
R
RAM memory, 360
range comparison, 156
bit pattern outputs, 182
Range Comparison 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 Modules, 261
RS, 347
RS-232C port
connecting a personal computer, 235
specifications, 66
wiring, 64
RS-232C Port Communications Error Flag, 347, 350
RS-232C Port Error Flags, 347
RS-232C Port Reception Completed Flag, 347, 350
RS-232C Port Reception Overflow Flag, 347, 350
RS-232C Port Send Ready Flag, 347, 350
RS-232C Port Settings Changing Flag, 347, 350
RS-422A Port Communications Error Flag, 347, 351
RS-422A Port Error Flags, 347, 351
RS-422A Port Reception Completed Flag, 347, 351
RS-422A Port Reception Overflow Flag, 347, 351
RS-422A Port Send Ready Flag, 347
RS-422A Port Settings Changing Flag, 347, 351
RUN mode, 99
S
safety precautions
See precautions
sample programs
connecting W-series Servo Driver, 209
Screw-less Clamp Terminal Blocks
wiring, 76, 79
sequence control instructions
execution times, 363
serial communications, 9
functions, 124
protocols, 9
serial communications instructions
execution times, 372
Serial Gateway, 3, 9, 12, 125, 134
Smart Active Parts, 135
system configuration, 134
System Setup, 135
Serial PLC Link Bit Area, 303
Serial PLC Links, 9, 11, 124, 132
384
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. of Motion Control Module for DM Transfer, 113
Smart Active Parts, 12
communications settings, 135
SMARTSTEP Servo Drivers, 6, 12
software reset, 155
special math instructions
execution times, 368
specifications
functions, 35
general, 32
I/O, 37, 40
Motion Control Modules, 37
performance, 39
Power Supply Unit, 33
RS-232C port, 66
SPED(885) instruction, 184, 190
pulse outputs, 170
speed change cycle, 183
speed control
operations, 21
stack processing
execution times, 369
startup, 94
startup mode
specifying, 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
execution times, 369
subroutines, 286
super capacitors, 47
Support Software
See personal computer
switch settings, 15
symbol math instructions
execution times, 366
Sync Cycle Time, 19, 111
Sync Cycle Time Too Long Flag, 346, 350
sync cycles, 19
Sync Mode, 19, 96, 97, 104, 109
constant cycle time, 115
synchronization
between Modules, 109
operations, 19
Synchronization between Modules, 111
synchronous data
selecting, 112
Synchronous Data Link Bit Area, 19, 20, 106, 109, 110,
303
synchronous refreshing, 105
system configuration, 4
Host Link, 10
NT Links, 10
serial communications, 9
System Flags, 344
System Setup, 93, 96, 310
analog I/O, 218
constant cycle time, 326
Coordinator Modules, 111, 311
fixed peripheral servicing time, 327
Motion Control Modules, 112
overview, 311
peripheral port settings, 325
RS-232C port settings, 325
Serial Gateway, 135
startup mode, 325
watch cycle time, 326
System Setup Error Flag, 249, 345, 349, 350
System Setup Error Location, 345
Index
385
T
table data processing instructions
execution times, 369
Target Comparison Flag, 357
Target Comparison In-progress Flag, 340, 341, 355
Target Frequency Not Reached Flag, 357
target-value comparison, 155
interrupts, 162, 179
Task Error Flag, 344, 350
Temporary Relay Area, 304
terminal screws, 61
text strings
operands, 275
Timeout Error Flag, 350, 351
Timer Area, 305
Timer Completion Flags, 361
timer instructions
execution times, 363
timing
controlling, 28
Toolbus (Peripheral Bus), 9, 125
connections, 65
Trace Busy Flag, 351
Trace Completed Flag, 351
Trace Trigger Monitor 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, 344, 350
Underflow Flag, 308
unsigned binary data, 276
upwardly differentiated instructions, 279
V
virtual pulse outputs, 212
application example, 215
AXIS instruction, 213
W
watch cycle time, 116
Windows, 235
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
Work Area, 304
Work Areas (in CIO Area), 303
W-series Servo Drivers, 6, 12
absolute encoder type
connections, 72
sample program, 209
386
Index
387
Revision History
A manual revision code appears as a suffix to the catalog 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 content
01 November 2004 Original production
Cat. No. O010-E1-01
Revision code
388
OMRON CORPORATION
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O010-E1-01 11/05 ©2005 OMRON ELECTRONICS LLC Specifications subject to change without notice.
Printed in the U.S.A.
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