Omron HOME SECURITY SYSTEM - MOTION SENSOR FQM1-CM001 manuale d’uso

OPERA TION MANUAL Cat. No. O010- E1-01 FQM1 Series FQM1-CM001 FQM1-MM P21 FQM1-MMA21 Flexible Motion Controller[...]

FQM1 Series FQM1-CM001 FQM1-MMP21 FQM1-MMA21 Flexib le Motion Control ler Operation Manu al Produ ced Novem ber 2004[...]

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v Notice: OMRON products are manufactured for use accordi ng to prope r proce dures by a qualifie d operato r and onl y for the pur po ses des cri bed i n this manua l. The following conv entions ar e used to in dicate and classi fy preca utions in th is manual. Always heed the in f or mati on provided with the m. F ailure to h eed pre- cautions ca[...]

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vii TABLE OF CONTENTS PRECAUTION S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii 1 Intended Aud ience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xi v 2 General Precaution s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .[...]

viii TABLE OF CONTENTS 4-4 Po wer OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 SECTION 5 Module Fun ctions and Da ta Excha nge . . . . . . . . . . . . . . . . . 103 5-1 Synchro nous Operation between Mo dules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [...]

ix TABLE OF CONTENTS SECTION 10 Inspection and Maintenan ce . . . . . . . . . . . . . . . . . . . . . . . . . 259 10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 A ppendice s Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [...]

x TABLE OF CONTENTS[...]

xi Abou t this Manual : This m anual descr ibe s the opera tion of the Coordi nator Mod ule an d Motio n Control Module s of the FQM1-s erie s Flexible Motion C ontrolle r . Please rea d this m anual and all relat ed manuals li sted i n the table below and b e sur e you understan d informati on provided be f ore attempting to p rogram or use FQ M1-[...]

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xiii PRECA UTIONS This section pro vides general precautions for using the FQ M1-series Flexible Motion C ontroller and related de vices. The information contained in this section is imp ortant for the safe and reliable a pplication of the FQM1-series Flexible Motio n Controller . Y ou must read this sect ion and underst and the information contain[...]

xiv Intend ed A udience 1 1 Intended A udien ce This manual is intended for the following personnel, who mus t also have knowledge of ele ctric al syst ems (an electr ical engine er or the equivalent). • P erson nel in charge of instal ling F A syste ms. • P erson nel in char ge of desi gning F A systems. • P erson nel in char ge of manag ing[...]

xv Safety Precaution s 3 • Wh en the 24-VDC outpu t (ser vice power suppl y to the FQM1) is ov er- loaded or shor t-circuited, the voltage may drop and re sult in the out puts being tur ned OFF . As a c ounter me asure for such p roblems, e xter nal safety measure s must b e provided t o ensu re sa f ety in the sy stem. !WARNING F ail-safe measur[...]

xvi Saf ety Precautions 3 • Loc ation s subject t o static elect ric ity or o ther forms o f nois e • Loc ation s subject t o strong elect romagneti c field s • Loc ation s subject t o poss ible e xposur e to radioa ctivity • Loc ation s close to power supplies !Caution The operating envir onment of th e FQM1 S yste m can have a large effec[...]

xvii Safety Precaution s 3 • O utputs may remain ON due to a malfuncti on in the built-in tran sistor out- puts o r other inter nal circuit s. As a coun ter meas ure for such p roblems, ex ter nal safety measures must be provided to en sure the safety of the system . • Part of the DM Area (data memor y ) in the Moti on Control Mo dule is hel d [...]

xviii Saf ety Precautions 3 • D o not ap ply voltages o r co nnect load s to the built-in outp uts in excess of the maxi mum switching cap acity . Excess voltage or lo ads may resul t in bu r ni n g . • Dis connec t the fu nctional ground ter minal when perform ing withs tand v olta ge tests. Not disconn ecting the func tional ground ter mi nal[...]

xix Conf ormance to EC Dire ctiv es 4 4 Conformance to EC Directives 4-1 Applicab le Direc tives •E M C D i r e c t i v e s • Low V olta ge Direc tive 4-2 Concepts EMC Direct ives OMRON de vi ces that c omply with EC Direct ives also confor m to the r elated EMC stan dards so tha t they can be m ore ea sily built i nto ot her devices or the ov [...]

xx Conf ormance to EC Dire ctive s 4 4-5 Rela y Output Noise Reduction Methods The FQM1 -seri es Flexible Motion Con troller confor ms to the Co mmon E mis- sion Stan dards (EN610 00-6-4 ) of the EMC Directi ves . Howe ver , noi se gener- ated by relay outpu t switching may not s atisfy t hese Standa rds. In suc h a case, a noise filter must be con[...]

xxi Conf ormance to EC Dire ctiv es 4 When switchin g a load with a high in r ush current such as an incand escent lamp, suppress the inr ush curre nt as s hown below . The following Unit and Cables can be used with th e FQM1-s erie s Flexible Motion Con troller. No Y es The diode con nected in para llel with the load changes energ y accumula ted b[...]

xxii Data Bac kup 5 5D a t a B a c k u p The user programs, I/O memor ies, and oth er data in the Coordinator Module and Motion Control Mod ules i s backed up either by a super capac itor or flas h memor y , as listed in the following table. The data backup time of the supe r capac itor is given in the following table and shown in t he following gr[...]

xxiii Data Backup 5 mentar y power interrupt ions. For operating para meters an d other long- ter m dat a, use th e por tion of DM Area stored i n flash memor y in the Coor- dinator Module a nd transfer it to the Mot ion Contr ol Modul es be f ore star t- ing operati on. The dat a in the DM A rea and error l og wi ll bec ome un stable or cor rup te[...]

xxiv Data Bac kup 5[...]

1 SECTION 1 F eatures and System Conf iguration This section des cribes the features of the FQM1 and its system conf iguration. 1-1 Outline of FQM1 Flexible Motion Controller . . . . . . . . . . . . . . . . . . . . . . . . 2 1-2 FQM1 Conf iguration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1-3 Modules[...]

2 Outline of FQM1 F lexible Motion Controller Section 1-1 1-1 Outline of FQM1 Fl exib le Motion Con tr oller The FQM1 (Flexible Quick Motion) is a stand -alone F le xible Mo tion Con troller that can be used to crea te flexible high-speed, high- precis ion motion control syst ems f or 2 to 8 ax es. Flexib le Configurations of Up T o 8 Axes An FQM 1[...]

3 Outline of FQM1 F lexible Motion Controller Section 1-1 Built-in RS-232C P ort in Coor dinator Module A Programmable T er mina l (PT) can be connected to the Coo rdinator Module to monitor present values on th e PT or make parameter s ettings for Ser vomo- tors from the PT . The RS-232 C por t i s useful f or a variety of ap plicati ons. It can b[...]

4 FQM1 Configuration Section 1-2 Pulse Input Frequency Meas urem ent F unct ion The spee d of pulse inp uts can be me asured at the same ti me as the number of pu lse i nput s is coun ted. Wid e V ar iety o f Int errupt Functions The FQM 1 can provide h igh-spe ed I/O respon ses because it ha s a wi de vari- ety of func tions for star t ing inter r[...]

5 FQM1 Configuration Section 1-2 FQM1-CM001 Coor dinator Module One Coordina tor Module is requir ed in an FQM1. The Coordinato r Module provides t he follo wing : I/O: 16 inputs, 8 outputs Program capac ity: 5 Ksteps DM Area capacity : 32 Kwords (D M) • T he CX-Programme r (V er . 5.01 or later ) is conne cted to the per ipheral por t on the Coo[...]

6 Modules Section 1-3 FQM1-TER01 End Module One End Mod ule is supplied with the Coordi nator Module. Always attach the End M odule bec ause it a cts a s a ter m inator for the s ystem. A fatal error wi ll occur if no End Module is at tached . Other P eripheral Devices Special Ser vo Relay Units are av ailable for conne cting the FQM1 F lexib le Mo[...]

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 Coordinat[...]

8 CX-Programmer Section 1-4 1-4 CX-Pr ogrammer The CX-Programm er provides software functio ns f or pro gramming and debugging. FQM1 Patch Software must be i nstalled f or the C X-Programmer V er . 5.0 (Model: WS02 -CXPC1- E-V50) to use i t to cr eate la dder programs, ma ke set- tings in the Sy stem Se tup, and monitor operation. T he FQM1 Patch S[...]

9 Expanded System Configurat ion Section 1-5 1-5 Expanded System Configuratio n 1-5-1 Serial Comm unications The FQM1 system can be e xpande d using the two ser ial por ts built into the Coordina tor Module: P er iphe ral por t and RS-23 2C por t. System Configuration 1-5-2 Sy stems The ser ial commun ications por t mode (prot ocol) can be s witche[...]

10 Expanded System Configurat ion Section 1-5 Host Li nk Sy stem The Host Link System al lows the I/O memor y of the Module s to be read/w rit- ten and the operati ng mode to be chan ged from a host computer ( personal compu ter or Programmable T er mina l (PT)) by ex ecuti ng Host Link co mmands or FINS c omman ds that are pre ceded by a H ost Li [...]

11 Expanded System Configurat ion Section 1-5 Set the P T communi cations settings for a 1:N or Stand ard NT Link. An NT Link Sys tem is possible for either the pe rip heral por t or the RS- 232C por t. Note (1) The FQM1 can b e connec ted to any PT por t that suppor ts 1:N NT Links. It cannot be connected to the RS- 232C por ts on the NT30 o r NT3[...]

12 Expanded System Configurat ion Section 1-5 1:N Connection between CJ1M and FQM1 Contr ollers 1:1 Connection between CJ1M and FQM1 Contr o ller Serial Gatew ay Readin g/wri ting Se r vo P aram eters a nd othe r data in Ser v o Dr ivers co nnecte d via RS- 422A c an be performed throu gh the FQM1 Co ordin ator Mod ule fro m an NS-s erie s PT or co[...]

13 Basic Operating Procedure Section 1-6 No-protocol (Custom) Communications Syste m via RS- 422A Po r t No-prot oco l commu nicat ions all ow simple data tran smis sions, suc h as input- ting bar code d ata and outputtin g pr inter data us ing com munications por t I/O instr uct ions TXD( 236) and RXD(235) . The s tar t and en d codes c an be set [...]

14 Basic Operating Procedure Section 1-6 Wir ing I/O ter minal s and conn ectors. Refer to 3-3 Wir ing M odule Conne c- tors for details. 3. Initial H ardware S etting s Set the DIP switch on the front of t he Coor dinator M odule as r equired . Re- fe r t o 2-3 Co ordi nato r Modu le f or d etails. 4. T urni ng ON P ower and Checking In itial Oper[...]

15 Basic Operating Procedure Section 1-6 1-6-1 Ex amples 1. Installa tion Connect the Po wer Supply Uni t, Coordina tor Module, Motion Co ntrol Mod- ules, and En d Module to assemble the FQM1. Mak e sure th at th e tot al po we r consu mptio n of t he Mo dules i s les s than the maximum c apacity of the Po wer Supply Unit. Use DIN T rack to mount t[...]

16 Basic Operating Procedure Section 1-6 4. T urning ON P ower and Chec king Initial Operation Note The Syst em Setup and user programs are backed up in b u ilt-in fla sh memor y . When the data is b eing b acked up , a m essage indic ating the data is b eing transferred will be displayed on the CX-Programmer . Nev er tur n OFF the power supply to [...]

17 Basic Operating Procedure Section 1-6 7. T ransferr ing t he Pr ograms When the pr ograms has been c reated in the CX-Programmer, the y must be transferred to the Mo tion Con trol Mod ules through th e Coor dinator M odule. 8. T est ing Operation 8-a) I/O W iring Ch ecks Check Output Wir ing With the FQM1 i n PROGRAM mode, f orce- set and force-[...]

18 Basic Operating Procedure Section 1-6 1,2,3. .. 1. Select t he bit for differential moni tori ng. 2. Select Diff er enti al Mon itor from the PLC M enu. The Differential Monitor Dialog B o x will be displ ay ed. 3. Select Risi ng or Falling. 4. Click the Start Button . The buzzer will s ound when th e spec ified ch ange is detected a nd the c ou[...]

19 Function T ables Arranged by Purpose Section 1-7 1-7 Function T ables Arranged by Purpose 1-7-1 Sync Cyc les and Synchr o nized data Purpose Operation Function us ed Details Synchro nizing 3 or mor e axes Simple con trol of all axes oper - atio ns f ro m t he Coordi nator Modul e Synchron izing all Mot ion Con - trol Modu les to Coordi nator Mod[...]

20 Function T ables Arranged by Purpose Section 1-7 Synchro nizing 3 or mor e axes Make contr ol cycle a s sho r t as poss ible w ith Modul es sy n- chroni zed Synchron izing Motion Contro l Modul es on ly Sync Mo de, Sync Cycle Time 5-1 Sync hronous O peratio n betw een Modules Set Sync Mode to Sync and Sync Cycl e Time to betw een 0.1 an d 10.0 m[...]

21 Function T ables Arranged by Purpose Section 1-7 1-7-2 P osition and Speed Contr ol Purpose Operation Main fun ctions used Details PTP posit ioning using p ulse I/O Using Ser vo Driv er compa ti- ble with an incr emental encode r or step- ping S er vom o- tor/Servo D river Cont roll ing po si- tioning speed • Rel ativ e pulse output fu nc- tio[...]

22 Function T ables Arranged by Purpose Section 1-7 PTP posit ioning using p ulse I/O Using Ser vo Driv ers compati - ble with an Absolute Encoder Reading PV from Se r vo Driver • Ab solute counter ope ra- tion (absol ute linear/c ircular) • Hig h-speed counter abs o- lute encod er read 7-7 Fu nctions f or Servo Driv ers Co mpatib le wit h Abso[...]

23 Function T ables Arranged by Purpose Section 1-7 PTP posit ioning using a nalog I/O Simple p osition- ing usi ng in ve r t- ers Stepped o r sloped analog outp ut cor re- spondi ng to the high-sp eed counter PV • T arg et valu e match instr uc- tion (CTBL(88 2) inst ruction) f or high-sp eed counter • Anal og ou tput inst ruction (SPED(885) i[...]

24 Function T ables Arranged by Purpose Section 1-7 Synchro nous control Slave axis co n- trol sync hro- nized t o vir tual axi s. Electroni c cam: Chan gin g tar get pos ition and speed e ve ry cycle based on vir tual p uls e ou t- put (pos ition or speed) t o e x e- cute po sitioning . • Vi r tual axis (AXI S instr uc- tion) •C a m c u r v e [...]

25 Function T ables Arranged by Purpose Section 1-7 1-7-3 Measuring Input Pulses Speed co ntrol T orque cont rol (positio n + torque c ontrol) Individ ual axis control f or mold- ing equ ipment and sim ilar applic ations Switching betw een posi - tion and torque control mo des. During torque control, perf or m- ing spe ed co n- trol usin g hi gh- s[...]

26 Function T ables Arranged by Purpose Section 1-7 1-7-4 High-speed Analog I/O Contr ol Detec ting spee d using ro tar y encode r inputs Detec ting spee d and us e in o ut- put co ntro l whi le managi ng posi- tion using encode r inputs Measuring dis - placem ent of wor kpi ece p er unit ti me Monitoring H igh- speed C ounter Movement (cycle time)[...]

27 Function T ables Arranged by Purpose Section 1-7 Control using measur ement results fo r undu- lation, d istortion, thic kness , heigh t, di ame- ter , etc., of a n objec t Ju dgment pro - cessi ng based on meas ure- ment r esult s Read ing analo g input v alues in high-sp eed cycle s and per- f or ming judg- ment p roces sin g using l adder pro[...]

28 Function T ables Arranged by Purpose Section 1-7 1-7-5 Controlling Timing Purpose Operation Main fun ctions used Details Respo nding quic kly to e xter- nal sig nals and oper ate Ex ecuting pro- cessi ng as soon as chan ge i n e xternal input signal detected Star ting inte r- ru pt pro ces sing when an in put bit turns ON and/or O FF . • In pu[...]

29 Function T ables Arranged by Purpose Section 1-7 Operat ion w ith highly precise timing Increas ing accu - racy of e xter nal output O N time . (F eeding, hole opening , tape windi ng, gluing, and othe r appli- cations ) High-prec ision ON output s, with minimum uni t of 0.01 ms • One -shot pulse outp uts (STIM(980) inst ruction) 7-5 Pul se In[...]

30 Function T ables Arranged by Purpose Section 1-7[...]

31 SECTION 2 Specif ications and Nomenclatur e This section pro vides the specif ications of the FQM1 and de sc ribes th e par ts and thei r fu ncti ons o n the Coo rdi nator Mod ule and Motion Contro l Modules. 2-1 List of Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 2-2 General Specif[...]

32 List of Models Section 2-1 2-1 List of Mode ls Note If CX-Programmer V er . 5.0 is us ed with the F QM1, the FQM 1 P atch Sof tware must be installe d. 2-2 General Specifications General S pecifi cations Name T ype Model Specificatio ns Coordi nator Mod- ule Standard (wit h built -in I/O ) FQM1-CM 001 Progra m capacity : 5 Ksteps 16 gener al-pur[...]

33 General Sp ecifications Section 2-2 Note (1) Disconnec t the P ower Supp ly Unit's L G ter mi nal from th e GR ter minal when t esting insula tion and di electr ic s trength. T esting t he ins ulation and dielect ric strength with th e LG a nd GR ter minals co nnected wi ll da mage inter na l circuit s. (2) Do not app ly mor e than 600 V wh[...]

34 Coordinator Modul e Section 2-3 Note (1) T he in rus h current is given for a cold s tar t at room tempe rature with a n A C power supply . The A C inr ush contr ol circui t uses a ther mis tor elemen t with a low -temperature curre nt contro l ch aracteri stic. If the amb ient tem- perature is hig h or the FQM1 is hot-star ted, the ther mi stor[...]

35 Coordinator Modul e Section 2-3 Switch on Fr ont P anel P er ipheral P or t Baud Rate Detection/ Syst em Setu p Swit ch Function Specifications PRPHL Y ello w P eripheral p or t communi catio ns Lit Communic ating via the peripher al por t. Not lit All othe r times . COMM1 Y ello w RS-232C c ommu - nicat ion s Lit Co mmuni cati ng vi a the RS -2[...]

36 Coordinator Modul e Section 2-3 CIO Area Input Bit Are a 1 6 bits (CIO 00 00): CIO 0000.0 0 to CIO 0000.1 5 Output Bi t Area 8 bits (CIO 000 1): CIO 0001 .00 to CIO 0001.07 Cyclic Refres h Bit Area 640 bits (40 words): CI O 0100 to CIO 0139 Refres h word s f or Motion Control Module # 1: CIO 0100 to CIO 010 9 Refres h word s f or Motion Control [...]

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 ) R UN ou tput 1 (wh en CJ 1W-P A205 R used ) Individ ual func- tions Serial commu nica- tions P eripheral p or t: P eripheral b us (T oolbu s), Host Lin ks, N T Links Built -in RS-232C por t o[...]

38 Motion Control Modules Section 2-4 FQM1-MMA21 ( Analog I/O) Nomenc lature Indicators Note IN0 to IN 11, OUT0 to O UT7, an d A1 to B2 are al l co ntrolled by har dware. Item Specific ations I/O P ulse inpu ts Puls e inp uts: 2 (c ompa tible w ith S er vo Dr ivers w ith ab sol ute en cod ers ) 40-pin connec tor Analog I/O • Ana log input s: 1 ( [...]

39 Motion Control Modules Section 2-4 P erformance S pecifications Item S pecifications Control method Stored prog ram I/O co ntro l met hod Cycl ic sc an Progr amming langua ge Ladder diagram Instruct ion length 1 to 7 ste ps per ins truction Numbe r of instru ctions Appro x. 270 Instruct ion e x ecution time Basi c ins tru ctio ns 0.1 µ s min. S[...]

40 Motion Control Modules Section 2-4 I/O Specifications General-purpos e I/O Specifications Common Specifications f or FQM1-MMP21 (Pulse I/O) and FQM1-MMA21 (Analog I/O) P owe r interruption h old function (momen tar y powe r interruption) Super capa citor Memory back up Supe r capacitor b ack up Error log, part of DM Area (ba cku p f or moment ar[...]

41 Motion Control Modules Section 2-4 Pulse I/O Sp ecifications FQM1-MM P21 (Pulse I/O ) Item Specific ations Pulse inputs Number o f counters 2 Counter o peration s Linear coun ter and ci rcular cou nter Input sign als T wo w ords eac h f or phase A, phase B , and phase Z . Signal le vel s 24 V D C, l ine-driv er Input meth od Phase dif f erential[...]

42 Motion Control Modules Section 2-4 Pulse Inputs and Analog I/O Specifica tions FQM1-MMA21 ( Analog I/O) Item Specificati ons Pulse inputs Numb er of coun ters 2 Counte r operati ons Linear cou nter , circular counter Input si gnals T wo w ords each fo r phase A, p hase B , and phase Z. Signal le vels CH1: 24 V DC , line-driv er CH2: Li ne-driv e[...]

43 Dimensions Section 2-5 2-5 Dimensions FQM1-CM001 Coor dinator Module FQM1-MMP21/MMA21 Motion Contr ol Modules FQM1-TER01 End Module FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL PORT ON OFF CM001 2 CN1 RS422 1 40 39 1 2 49 mm 90 mm 80 mm MMP21 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 RDY [...]

44 Dimensions Section 2-5 P ower Suppl y Units CJ1W -P A202 CJ1W -P A205R 65 45 81.6 90 POWER PA202 INPUT NC NC AC100 -240V L2/N L1 POWER PA205R DC24V AC240V OUTPUT RUN INPUT AC100-240V L2/N L1 65 80 81.6 90[...]

45 Module Cur rent Consum ption Section 2-6 XW2B-80 J7-1A Se rvo Relay Unit 2-6 Module Current Consum ption The amou nt of current /power that can be suppli ed to the M odules mo unted i n the FQM1 is lim ited. Refer to the follo wing tables when de signing your syste m so that th e total current consu mption of the mounte d Modu les does not ex ce[...]

46 Module Cur rent Consum ption Section 2-6 Motion Contr ol Modules Current Consumpti on for 24-V Syst ems Exam ple Calcula tion of Current and P ower Consumption Exampl e f or CJ1W- P A202 P ower Supply Unit with the Following Modules Mounted Combining P ower Supply Units and Motion Control Modules The following table shows the P ower Su pply Uni [...]

47 Memory Block Diagram Section 2-7 2-7 Memory Blo c k Diagram Coordina tor Modu le an d Motion Control Modul e memor y has t he following bloc k confi gurations. • I/O Memor y Area: Mem or y acc essible from user programs. • Us er Memor y (UM): User pr ograms and paramete r area (See note 1.) The following tables show the backup method s for t[...]

48 Memory Block Diagram Section 2-7[...]

49 SECTION 3 Installation and W iring This secti on describes ho w to install and wire the FQ M1. 3-1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 3-1-1 Installation and W iring Precautions . . . . . . . . . . . . . . . . . . . . . . . . . 50 3-1-2 Installation in a Contro l[...]

50 Installation S ection 3-1 3-1 Installation 3-1-1 Installation and Wiring Precautions Be sur e to co nsider the following factors whe n inst alling a nd wir ing the FQM 1 to improve the reliability of the syst em and make the most of th e FQM1’ s func- tions. Ambient Conditions Do n ot instal l the FQ M1 in any of the following lo catio ns. •[...]

51 Installation S ection 3-1 • T he FQM1 will be easiest to install and operate if it is mounted at a he ight of about 1.0 to 1.6 m . Impro ving Nois e Resistance • Do no t mount the F QM1 in a co ntrol pane l containi ng high-voltage equi p- ment. • Ins tall the FQ M1 at least 200 mm awa y from power lines. • G round the mounting p late be[...]

52 Installation S ection 3-1 FQM1 Orientation • T he FQM1 mus t be mou nted in an upr ight pos ition to provide proper coo l- ing. • Do n ot ins tall t he FQM1 in any of the f ollowing posi tions. FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL PORT ON OFF CM001 2 CN1 RS422 1 40 39 1 2 MMP21 2 CN2 CN1 1 1 2 40 39 25 26 IN OU[...]

53 Installation S ection 3-1 3-1-2 Installation in a Contr ol P anel The FQM 1 must be mou nted in side a control pa nel on DIN T rac k. Note The FQM1 must be mounted on DIN T rack. It cannot be mou nted with screws. Wiring Ducts Use wiri ng ducts to wi re the FQM1’ s built-in I/O . Install the wirin g ducts to f acilitat e w iring the built-i n [...]

54 Installation S ection 3-1 Routing Wi ring Ducts Install the wir ing du cts at leas t 20 mm awa y from the FQM1 and any other objects, (e.g., c eiling, wir ing duct s, str uctural suppor ts, and devices) to pro- vide eno ugh sp ace for air cir culation and repl acement o f Modul es. 3-1-3 Assemb led Appearance and Dimensions The Modu les that ma [...]

55 Installation S ection 3-1 Assembled Dimensions W = a + 49 + 49 × n* + 14.7 * n is the number of conne cted Mo tion Contro l Modul es (Up to 4 can be con- nected.) P ower Supply Unit width: “a” mm Coordina tor Module wi dth: 49 mm Motion Con trol Module width: 49 m m End Modul e widt h: 14.7 m m Installation Dimensions FLEXIBLE MOTION CONTRO[...]

56 Installation S ection 3-1 Installation Height The inst allatio n heig ht of the FQM1 varies from 115 to 165 m m. When a CX -Programmer or conne cting cables are conn ected, howe ver , ev en greater height is req uired. Al low suffic ient de pth in the con trol pa nel contai n- ing th e FQM1. 3-1-4 Connecting FQM1 Components The Mod ules that mak[...]

57 Installation S ection 3-1 2. Mov e the yellow sliders at the top a nd bottom of ea ch Mod ule unti l they click into pla ce to lock the Mo dules together . Note If the l ocking tabs are n ot se cured proper ly , the F QM1 m ay not func tion pr op- erl y . Be s ure to s lide the l ocking tabs until they are s ecurely in place. 3. Attach th e End [...]

58 Installation S ection 3-1 2. Fit the back of the FQM1 onto the DIN T rac k by inser ting the FQM1 onto the top of the T rack and then p ressing i n at th e botto m of the F QM1, as shown bel ow . 3. Lock the pins on the backs of t he Modu les. 4. Install a DIN T rack End Plate on each end of the FQ M1. T o install an End Plate, hook the bottom o[...]

59 Installation S ection 3-1 DIN T rack and Access ories Use the DIN T ra ck and DIN T rack End Plates s hown below . • DIN T rack Model numbe rs: PFP- 50N (50 c m), PFP- 100N (10 0 cm), a nd PFP-100N 2 (100 cm) Secure the DIN T rack to the c ontrol pan el using M4 screws separated by 210 mm (6 holes ) or les s and us ing at leas t 3 scr ews. The[...]

60 Wi r i n g Section 3-2 3-2 Wiring 3-2-1 Wiring P ower Supply Units Note The R UN outpu t function is provided onl y f or the CJ 1W -P A205R Po wer Sup- ply Unit . It is not provided on the CJ1 W -P A202 P ower Supply Unit. A C Po wer Source • Suppl y 100 to 240 V AC . • Keep the voltage flu ctuations wi thin th e specif ied range. • If on [...]

61 Wi r i n g Section 3-2 T ermi nal Screws and Crimp T erminals The ter mi nals on the P ower Supply Uni t use M4, self- raising ter minal s crews. Note (1) Us e cr imp te rm inals for wiring . (2) Do n ot con nect bar e stranded w ires dire ctly to t er minal s. (3) Tig hten the ter minal block screws to a torque o f 1.2 N·m . Use M4 c rimp ter [...]

62 Wi r i n g Section 3-2 • LG is a noise -filter ed neutral ter m inal. If noise is a significan t source of errors an d to prev ent electr ical sh ocks, connect the l ine ground ter mi nal to the ground ter minal and ground both with a ground re sistance o f less than 100 Ω or less . • If connec ting the line gro und an d ground t er minals[...]

63 Wi r i n g Section 3-2 T ermi nal Screws and Crimp T erminals The ter mi nals on th e P ower Supply Uni t use M4 s elf-raisi ng ter mi nal screws. Note (1) Us e cr imp te rm inals for wiring . (2) Do n ot con nect bar e stranded w ires dire ctly to t er minal s. (3) Tig hten the ter minal block screws to a torque o f 1.2 N·m . (4) Us e M4 cr im[...]

64 Wi r i n g Section 3-2 3-2-2 RS-232C P ort Wiri ng Connector Pin Arrang ement Note Do not connect the 5- V power supply on pin number 6 of the RS-232C por t t o any de vices oth er than a NT -AL0001 C onv er t er . Doi ng so may damage th e ex ter nal device and the Co ordinato r Module. Connection Methods 1:1 Connections with P ersonal Computer[...]

65 Wi r i n g Section 3-2 P eripheral Bus (T oolbus) Serial Comm unications Mode Use the following conn ectors and cables if m aking the RS-232C c able f o r RS- 232C por t connec tions. Applicable Connector s ■ Coor dinator Module Connector ■ IBM PC/A T or Compatible Connector (9-pin, Male) ■ Connecting to an IBM P C/A T or Compatible Recomm[...]

66 Wi r i n g Section 3-2 Connection Example to Pr ogrammab le T erminal (PT) Direct Con nection f rom RS-232C to RS -232C • Com municati ons Mode : NT Link (1:N, N = 1 node only) • O MRON Cables with Connector s: XW2Z200T ( 2 m) XW2Z5 00T (5 m ) RS-232C P ort Specifications Note Baud rates for the RS-232 C are specifi ed only up to 19.2 kbps. [...]

67 W iring Module Connectors Section 3-3 3-3 Wiring Modu le Connectors 3-3-1 Connector Pin Arrangement The following tables p rovide the conne ctor pi n arrange ment 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 0[...]

68 W iring 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 No t us ed. 24 External input 0 (interrupt inpu t) CIO 0 000.00 23 External input 6 CIO 0000 .06 22 External input 1 (interrupt inpu t) CIO[...]

69 W iring Module Connectors Section 3-3 FQM1-MMA21 Analog I/O 40-pin Connector 23 Cou nter 1 SEN output si gnal f or absolute Servo Driver SEN output 24 Counter 2 SEN out put si gnal for absolute Servo Dr ive r SEN output 25 SEN_0 V 26 Po wer supply f or pulse out puts 5-V GND 27 5-V pow er f or SEN outp ut 28 5-V po wer f or pulse outputs 29 Pul [...]

70 W iring Module Connectors Section 3-3 Note Connect th e voltage inp ut (+) and the cu rrent in put when us ing with a curren t input between 4 and 2 0 mA. 3-3-2 External Connection Dia grams The conn ections wi th the Ser v o Dr ivers, the main type of device connected , are outl ined in th e following tables. FQM1-MM @ 21 Motion Control Modules[...]

71 W iring Module Connectors Section 3-3 3-3-3 Wiring Exa mples Connecting Pulse Inputs (FQM1-MMP21/ MMA21) Connect th e output from an en coder to the co nnecto r in the following way , accord ing to the por t's counter operation. Note The numbers in paren theses a re the pin numbers o n the ne gative side. Examp le • T he wir ing for an en[...]

72 W iring Module Connectors Section 3-3 • T he wir ing for an encoder wi th a line-d river output (A m26LS3 1 or equiva- lent) is shown be low . Connecting a Serv o Driver (OMR ON's W Se ries) Compatib le with an Absolute Encoder ( FQM1-MMP 21/MMA21 ) 3 Differential phase input mode Encoder 5 9 11 15 17 A+ Black B+ White Z+ Orange 5 V DC Br[...]

73 W iring Module Connectors Section 3-3 Connecting Pulse Outputs (FQM1-MMP21) Examp le Connectio ns with a Ser vo Dr iver 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-MMP2[...]

74 W iring Module Connectors Section 3-3 Connecting Analog Outputs (FQM1- MMA21) Output s ignals a re conne cted a s shown i n the following diagram. Connecting Analog Inputs (FQM1-MMA21) V oltage Input Current Input 3-3-4 Wiring Methods Either make a cable usin g the spec ial connecto r (p urchas ed separate ly), or conne ct to a ter mina l block [...]

75 W iring Servo R elay Units Section 3-4 Applicable Connector -T erminal Bloc k C on version Units Recommended Wire Siz e The recomm ended size for cable wires is A W G24 to A WG26 (0.2 to 0.13 mm 2 ) . Use a ca ble with an o uter diam eter of le ss than 1 .61 mm. 3-4 Wiring Ser v o Rel a y Units XW2B- 80J7-1A Ser vo Relay Units c an be u sed to c[...]

76 W iring Servo R elay Units Section 3-4 Nomenclature and Functions 1,2,3. .. 1. Motion Con trol Module 40-pin C onnect or Connects to the 4 0-pin conn ector on the Moti on Cont rol Modu le. 2. Motion Control Module 34-pin C onnect or Connects to the 26 -pin connect or on the Mo tion C ontrol M odule. The Mo- tion Contro l Module gene ral-pur pose[...]

77 W iring Servo R elay Units Section 3-4 Upper T erminal Block Pin Ar rangement Lowe r T erminal Block Pin Arrangement Note (1) Alloc ated when co nnect ing an FQ M1- MMA21 Anal og I/O Moti on Co nt rol Module. (2) Us ed as the power s upply for FQM1-MMP 21 pul se outputs or SEN o ut- puts for Ser vo Dr ivers compat ible with abs olute encoder. (3[...]

78 W iring Servo R elay Units Section 3-4 6. Signal S witch es Note (a) A n exter nal encod er with a line-dr iver output c an be con nected . (b) F or 4 to 2 0 mA cu rren t inputs, voltage input ( +) and curren t inpu t do not need to be connected . 7. T er minating Resistan ce Sw itch Set this ter minat ing resis tance switch to O N when th e Ser[...]

79 W iring Servo R elay Units Section 3-4 External Dimensions Wiring Screw -less Clamp T erminal Bloc ks Screw-less clamp te r min al blocks use clam ps to attach wires, and do no t require s crews. In addition to co ntrol si gnal wir ing to S er vo Drivers, clamp ter- minal blocks can be use d to connec t sens ors and extern al devices. A ferrule,[...]

80 W iring Servo R elay Units Section 3-4 Recommended Scr ewdriver Model Man ufacturer SZF1 Phoenix Contact Inc. 3.5 mm 0.6 mm Side Front[...]

81 W iring Servo R elay Units Section 3-4 Wiring when Using Serv o Relay Units FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL PORT ON OFF CM001 2 CN1 RS422 1 40 39 1 2 MMP21 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 0 1 2 3 4 5 6 7 RDY RUN ERR A1 B1 A2 B2 MMA21 2 CN2 CN1 1 1 2 40 39 25 26 IN OUT 0 1 2 3 4 5 6[...]

82 W iring Servo R elay Units Section 3-4 Exam ple Serv o Rela y Unit Wiring When Ser v o Relay Units for the FQM1 a re used, th e I/O power supply is pro- vided fr om ter min als 20-0 , 21-1, and 60 -40. The o nly additi onal wir ing required ar e the connec tions between the signals, as s hown in the f oll owing diagram. Upper T erminal Block Arr[...]

83 List of FQM1 Connecting Cables Section 3-5 3-5 List of FQM1 Co nnecting Cables It is reco mmende d that specia l cables are use d when connec ting Coo rdinator and Motio n Contr ol Module s to S er vo Relay Units. Connecting Cable Models 1,2,3. .. 1. Connector- T er minal Block Conv ersio n Unit Cables (for FQM1-CM001, 40- pin MIL Co nnector) 2.[...]

84 List of FQM1 Connecting Cables Section 3-5 3. Ser vo Relay Unit Connec ting Cables (for FQM1-MM P21/M MA21, 4 0-pin MIL C onne cto r) 4. RS-422A Con necting Ca bles (with 9-pi n D-sub Connector ) 5. Ser vo Driver Connecting Cables (Ser vo Rela y Unit to Ser vo Driver) 6. Ser vomotor Con necting Ca bles Refer to the catalog for the Ser v o Dri v [...]

85 W iring Precautions Section 3-6 • Attach th e modif ied ca b le to the XW2D- 40G6 Con nector- T ermi nal B lock Conv e rsi on Unit . 3-6 Wiring Precautio ns 3-6-1 Reducing Electrical Noise I/O Signal W iring Whene ver possible, place I/ O signa l lin es and power li nes in s eparate ducts or racew ays both insi de and o utsid e of the control [...]

86 W iring Precautions Section 3-6 Inductive Loads When an indu ctive load i s conn ected to I/O, connect a surge suppres sor or diode in parallel w ith the load as shown be low . Note Use surge suppres sors a nd diodes with the following speci fication s. External Wiring Observe the f oll owing preca utions for I/O wi ring , power sup ply wir ing,[...]

87 W iring Precautions Section 3-6 3-6-2 Connecting I/O De vices Input Devi ces Use the following infor matio n f or reference when sel ecting or connectin g input de vices. DC Inputs The follo wing types of DC inpu t de vices can be c onnected. IN COM 7 mA 0 V + + COM IN IN COM + + Output Contact output Two-wire DC output NPN open-collector output[...]

88 W iring Precautions Section 3-6 • The circuit below sho uld NOT be use d for I/O devices having a voltage output. Precautions when Connecting a T w o-wire DC Sensor When using a two-wire sensor with a 24-V DC input device, check that the f ol- lowing con ditio ns hav e been m et. F ailure to meet these condi tions may result in operati ng erro[...]

89 W iring Precautions Section 3-6 3. Relation b etween FQM1 O FF cur rent and sen sor lea kage curr ent: I OFF ≥ I leak Connect a bleeder res istor R if I leak is greater tha n I OFF . Use the following equation t o calcu late the bleeder resistan ce co nstan t. R ≤ (R IN × V OFF )/(I leak × R IN – V OFF ) Po w e r W ≥ (V CC – V R ) 2 [...]

90 W iring Precautions Section 3-6 Output Sur g e Current When con necting a tra nsistor or tri ac outp ut to an output d evice having a hig h surge c urrent (such as an incand esce nt lamp) , steps mus t be taken to avoid damage to the transi stor or tria c. Use e ither of th e f oll owing metho ds to reduce the surg e current. Method 1 Add a re s[...]

91 SECTION 4 Operation This section describes the oper ation of the FQM1. 4-1 Coordinator Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 4-1-1 Outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 4-1-2 Coordinator Module Operation. . . . . . . . .[...]

92 Coordinator Modul e Section 4-1 4-1 Coord inato r Module The FQM1 Coordina tor Modul e and e ach Motio n Contr ol Module hav e se pa- rate ladder pr ogramming. Ea ch Mod ule in depende ntly pro cesses the ladder programming, I/ O , and pe r ipheral ser v icing to ach iev e h igh-spe ed I/O response somewhat li ke a system o f multiple CP U Units[...]

93 Coordinator Modul e Section 4-1 Syste m Setup The Syst em Setup c ontain s so ftware s witc hes use d to make in itial s ettings and oth er setti ngs. As shown in Ap pendix C Sy stem S etup, A u xiliar y Area Alloca tions, and Bu ilt-in I/ O Alloc ations , address es (words and bits) are all o- cated f or se ttings in the System Setup. The addre[...]

94 Coordinator Modul e Section 4-1 4-1-3 I/O Refreshi ng and P eripheral Servic ing I/O Refreshing I/O ref reshing up dates general- pur pose I /O st atus. All I/O is re freshed in th e same cy cle (i.e., time slici ng is not used ). I/O refre shing i s always performe d after program e xecution. Cyc lic Refreshing For cyclic ref reshing , data is [...]

95 Motion Control Modules Section 4-2 4-2 Motion Control Modules 4-2-1 Outli ne Motion Co ntrol M odule s eac h hav e i ndependen t ladd er pro gramming, whic h perform processi ng ind ependentl y from o ther M odules. Th e follo wing diagram shows the int er nal s truc ture of Mo tion Co ntrol Mod ules. Note (1) User Memo r y (UM) Protect The foll[...]

96 Motion Control Modules Section 4-2 Broadl y speaki ng, the u ser p rogram cons ists of a c yclic task and i nterr upt tasks, whic h are ex ecuted f or inte rr upts. The cy clic ta sk i s e xecuted ev er y cycle. The use r program is stored in RAM and flash mem or y . Data is not l ost, therefore, e ven if the su per capa citor ba ckup time is ex[...]

97 Motion Control Modules Section 4-2 Sync Mode Operation I n Sync M ode , th e Moti on Co ntrol Modul e's cy clic s can i s sync ed with the Coor dinat or Mo dule's cyclic sc an or the s ync cyc le time s et in the Sy stem Setup. The program in each Moti on Con trol Mod ule is thus ex ecuted a t the same tim e. When operat ion is sync hr[...]

98 Motion Control Modules Section 4-2 Initialization at At po wer ON Inter nal Module i nitia lizatio n (det er minin g the o peratin g mode, initi alizing user memor y , clear ing spec ified memor y areas, checking for memor y corr uption , reading the Syste m Setup, etc.) is performed and the bus tha t e xchan ges data with th e Coord inator M od[...]

99 Operating Modes Section 4-3 4-3 Operat ing Mode s 4-3-1 Operating Modes Coordina tor and Motion Control Modules hav e th ree operati ng modes tha t control the user program. PROGRAM Programs are not ex ecu ted and p reparatio ns, such as i nitia lizing t he Syste m Setup and oth er se ttings, transferring pro grams, chec king pr ograms, f o rce-[...]

100 P o wer OFF Operation Section 4-4 4-3-3 Operating Mode Changes and I/O Memory Note (1) T he cycle ti me wil l incre ase by approximately 10 ms when the operatin g mode is chang ed from M ONIT OR to RUN mode. This will not caus e an error f or e xceeding t he maximum cycle time limit. (2) In Sync Mode, the Motio n Contro l Modul e operating mod [...]

101 P o wer OFF Operation Section 4-4 Note The above timing char t shows an example when th e User-set P ower OFF Detection Time is set to 0 ms. The following timing char t shows the Coordinato r Module power OFF opera- tion in m ore detai l. P ower OFF Timing Chart Fixed P ower OFF Detect ion Time The time it takes to det ect power OFF after the p[...]

102 P o wer OFF Operation Section 4-4 Description of Operation P ower OFF wil l be dete cted i f the 10 0 to 24 0 V AC power supply stays below 85% of the mi nimum rated voltage f or the Fi xed P ower OFF Detect ion Time (variable between 10 to 25 ms.) If the User- set P ower OFF Detectio n Time is s et (0 to 10 ms ) in the S ystem Setup, the reset[...]

103 SECTION 5 Module Functions and Data Exchange This section describes the fu nctions common to bo th the Coordinator Modu le and Motion Control Modul es and the methods to transfer data between the Coordinator Module and Motion Control Modules. 5-1 Synchro nous Operation between Mo dules . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5[...]

104 Synch ronous Operation betw een Modules Section 5-1 5-1 Synchr onous Op eration between Mo dules Sync and ASync Modes Sync Mode The Coordin ator Modul e and Mo tion Cont rol Modul es are nor m ally set to operate us ing the same cycle t ime, i.e., sync hronous ly . Synchronous opera- tion is the default setting in the System Se tup. With this s[...]

105 Data Exchange between Modul es Section 5-2 5-2 Data Exchange b etween Modules The three method s f or data exchange between C oordi nator and Motion Con- trol Modu les a re outlin ed in the following table. These m ethods can be u sed simultaneo usly . Method Outl ine Descripti on 1. Cyclic ref resh Exchanges da ta each Coordi nator Mod ule cyc[...]

106 Cyclic Re fresh Section 5-3 5-3 Cyc lic Refresh 5-3-1 Outli ne Status i nf or mati on, general -pur pos e I/O , and ot her infor mation for each Motion Cont rol Mo dule in the Cy clic Refr esh Area of th e Coord inator Mo dule are refres hed ev e r y Coor dinator Module cycle (a synchr onous to th e Motio n Control M odule cyc les). As shown in[...]

107 Cyclic Re fresh Section 5-3 5-3-3 Cyc lic Refresh Area Details Coordinator Module Cyclic Refresh Area CIO 0100 to CIO 0109 in each Mot ion Control Mod ule is alloc ated to ten words between CIO 0 100 to CIO 0139 in the Coordinator Module acc ording to the slot number for the Motio n Control Module. CM: Coord inator Mo dule MM: Moti on Co ntrol [...]

108 Cyclic Re fresh Section 5-3 5-3-4 Cyc lic Refresh Area Allocations CM: Coordina tor Module MM: Mo tion Cont rol Mod ule CIO 0105 00 to 07 MM Output Re fresh Area (This MM to CM) Data from thi s area is al lo- cated to the Coordi nator Mod - ule's CM Inp ut Refresh Area (MM to CM). Rese rved 08 Res er ved 09 Cycle tim e ov er warning OFF: N[...]

109 Synchron ous Dat a Refre sh Section 5-4 5-4 Synchr onous D ata Refresh 5-4-1 Outli ne If Sync is s et under Sy nchroni zation be tween Modul es in the Sy stem Setup, each Mo dule w ill broadc ast the spec ified da ta (2 ty pes data , 4 word s max.) to the Synch ronous Data Link Bit Areas each Coord inator Mod ule cycle or spec- ified sy nc cyc [...]

110 Synchron ous Dat a Refre sh Section 5-4 Synchr onous Data Note (1) Synchron ous data for Coord inator Mo dules is fi xed to general-pur p ose (ladder ex ecution results ) data. (2) If the re is no synch ronous da ta to be sent, sel ect no data for Select Syn- chronou s Data in the System S etup to sh or ten the synch ronous dat a transfer time.[...]

111 Synchron ous Dat a Refre sh Section 5-4 Note (1) Ad dresses ar e the same for the Coordinator Modul e and all Mo tion Con- trol Mod ules. (2) Wh en the sy nchronou s data is one -word data (an alog i nput values, ana- log output values, built-in I/O, etc .), the other word can be use d f or gen- eral-pur pos e data. 5-4-4 Setti ngs The f oll ow[...]

112 DM Data T ransfer Section 5-5 Syste m Setup ( Motion Contro l Modules) Selecting Sync hronous Data Select the type of sy nchron ous data to be s ent by each Motion Con trol M od- ule in th e System Setup for that Mo tion Co ntrol Mod ule, as shown in the fol- low in g tabl e. Note The time f or synch ronou s data exchange can be shor tened by s[...]

113 DM Data T ransfer Section 5-5 5-5-2 Settings Details The sett ings for using the DM data tran sfer function are mad e in the A uxi liar y Area. 5-5-3 Executi ng DM Data T ransfer Step 1: Mak e Auxiliary Area Settings T o transfer data, the A uxiliar y Area setting s, descr ibed ea rli er , must be m ade. The following settings are mad e in the [...]

114 Cycle T ime Set tings Section 5-6 Step 2 : T u rn ON R equest Bit • T ransferring DM Data from the Coo rdinator Module to a M otion C ontrol Module: T ur n ON the DM Wr ite R equest Bit (Coo rdinator Module t o Moti on Cont rol Modu le) (A5 30.0 0). • T r ansf errin g DM Da ta fro m a Mo tion Contr ol Mo dule t o the C oor dinat or Module: [...]

115 Cycle T ime Set tings Section 5-6 System S etup Constant Cycle Ti me Exceeded Flag Constant Cycle Ti me Exceeded Error Clear Bit Constant Cycle Time Function in Sync Mode When in Sy nc Mode with a Sy nc Cycle Time se t f or the Coordinator Mo dule cycle tim e (de f ault), and th e constan t cycle ti me fun ction is used, th e cycle time for Mot[...]

116 Cycle T ime Set tings Section 5-6 Note When the c onst ant cycle ti me fun ction is enabled for the Motion Control M od- ule in A Sync Mode, the M otion Co ntrol Mo dule's cy cle tim e will be cons tant. 5-6-2 W atch Cyc le Time Function If the real cycle ti me is lon ger than t he set watch cycle ti me, operation wil l sto p f or al l Mod[...]

117 Cycle T ime Set tings Section 5-6 5-6-4 Clearing Constant Cyc le Time Exceeded Err ors When us ing th e con stant cy cle ti me functi on, no rm ally the cy cle tim e will no longer s tay constan t (i.e., will vary depending on the real cy cle time) if the constan t cycl e time i s exceeded o nce. T o retu r n to a consta nt cyc le time ev e n i[...]

118 Operation Settin gs at Startup and Maintenan ce Functions Section 5-7 5-7 Operat ion Se ttings at Startup an d Mainte nance Functi ons This sec tion des cri bes the f ollowing operation se ttings at star tup and main te- nance fun ctions. • O perating mo de at s tar tu p • Program protec tion • Rem ote programming and monitor ing •F l a[...]

119 Operation Settin gs at Startup and Maintenan ce Functions Section 5-7 P asswor d Protectio n 1,2,3... 1. Register a password either o nline or offline. a. Select the Modu le in the Device T ype drop -down menu and sel ect Prope r ties from the View Menu. b. S e l e c t Pr otection from the PLC Pr oper ties Dialog B o x and inp ut the password. [...]

120 Diagnostic Function s Section 5-8 in the PLC prope r tie s and Window/PLC Memory Backup Status mus t be sele cted from the Vi ew Menu. F or nor m al transfer operatio ns ( PLC/T ransfer ), the backup status will be dis play e d in the t ransf er wi ndow after t he tran sfer status for the program and other data. Nev er tur n OFF the FQM1 power [...]

121 Diagnostic Function s Section 5-8 The number of rec ords is stored in binar y in the Error Log Pointer (A408). T he pointer is not in cremente d when m ore than 20 error s have occurred. Note The FQM1 d oes not supp or t a c lock and the time data in the error log will alwa ys be 0101. 5-8-2 F ailure Alarm Functions The F AL(006) an d F ALS(007[...]

122 Diagnostic Function s Section 5-8 Errors generated by F A L(006) can be clea red by e xecuting F AL(006 ) with F AL number 00 or performin g the error read/clea r operation from the CX-Program- mer . Operation of F ALS(007) When inp ut con dition B goe s ON , an err or with F ALS numb er 3 i s generate d and A401. 06 (F ALS Err or Flag) is tur [...]

123 SECTION 6 Coordinator Module Fu nctions This section describes the ser ial communications fun ctions, which are supported only by the Coordinator Module . 6-1 Serial Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 6-1-1 Host Link Co mmunications . . . . . . . . . . . . . . . . . . . . . . .[...]

124 Serial Comm unications Section 6-1 6-1 Serial Communications The FQM 1 supp or ts the following ser ial communica tions functions. Pr otocol Connecti ons Description P orts Pe ripheral RS- 232C RS- 422A Host Link H ost co mpute r or OMRON PT ( Progra mmable T er m inal ) V arious con trol comman ds, such as reading and writing I/O mem or y , ch[...]

125 Serial Comm unications Section 6-1 Note The CJ1 W -CIF11 is not insul ated a nd the total t ransmissio n distan ce is 50 meters m ax. If the tota l transmis sion distan ce is great er than 50 meters, use the insul ated NT - AL001 an d do not use the CJ1W -CIF11 . If only the NT - AL001 is used , the tota l transmi ssion d istance is 500 meters [...]

126 Serial Comm unications Section 6-1 6-1-1 Host Link Communications The following table shows th e Host Link communica tion fu nction s availab le in FQM1. Sel ect th e metho d that be st su its your applic ation . Pr ocedure A list of Host Lin k comma nds is provided next. Refer to the C-ser ies Host Link Units Sy stem Manual (W143) for detai ls[...]

127 Serial Comm unications Section 6-1 Host Link Commands The follo wing table lists th e Host L ink com mands. Refer to the C-ser ies Hos t Link Uni ts Syst em Manual (W143) for details. Ty p e H e a d e r code Name Functi on Readi ng I/O memor y RR CIO ARE A REA D Re ads th e con tent s of th e spe cif ied num ber of CIO Ar ea word s, starting fr[...]

128 Serial Comm unications Section 6-1 FINS Commands The following table lis ts the F INS comma nds. Refer to th e C-ser ies Host Link Units Sy stem Manual (W143) for details. Progra m ar ea access com- mands RP PROGRAM READ Reads the contents of the C oordinator Module’ s user p rogram area i n machine language (object c ode). WP PROGR AM WRIT E[...]

129 Serial Comm unications Section 6-1 6-1-2 No-pr otocol Comm unications (RS-232C P ort) No-prot ocol Mo de is used to se nd and rec eive data using the c ommunicati ons por t TXD(236) an d RXD(235 ) I/O in stru ction s in the C oordinat or Mod ule lad- der program, without us ing retr y pr ocessing, dat a conv ersion, bran ch pro- cessi ng based [...]

130 Serial Comm unications Section 6-1 Pr ocedure Message Frame Formats Data can be plac ed betw een a start co de and en d code f or transm ission by TXD(236) and frames with that sa me forma t can be received by RXD(235) . When trans mitting wit h TXD(236), just the data from I/O mem ory is transmitted , and when rec eiving with RXD( 235), j ust [...]

131 Serial Comm unications Section 6-1 Refer to the Instr uct ions R eference Manual (Cat. No. O011) f or more d etails on the TX D(236) and RXD(2 35) inst ruc tions. System Setup RS-232C Settings (Host Link Port Settings) Note The set tings ar e made us ing CX -Programmer V er . 5.0 @ menus . 6-1-3 NT Link (1:N Mode) With the F QM1, co mmunica tio[...]

132 Serial Comm unications Section 6-1 6-1-4 Serial PLC Links Overvie w The FQM1 can be conne cted to a Ser ial PL C Link by linkin g to a Se r ial PLC Master . (It canno t be conne cted by the Complete Link Method. ) Program-fre e data exchange can be achi e ved between the master and slav e by connectin g a CJ1M CP U Unit as the m aster an d the [...]

133 Serial Comm unications Section 6-1 Direction of Data T ransfer For e xample, if th e number of li nk words i s set to 10 , the CJ1 M CPU Unit (master) will broadca st CIO 310 0 to CIO 3109 from its I/O memor y and to CIO 0080 to CIO 0089 in the I/O mem or y of each FQM 1 Controller (slaves). Each FQM1 Controller will send CIO 009 0 to CIO 0099 [...]

134 Serial Comm unications Section 6-1 Settings CJ1M (Master) PLC Set up Note (1) A uto matic ally all ocates 10 words (A hex) when the default setting of 0 hex is used. (2) Con nectio n to the F QM1 is not possi ble at 115,200 b its/s. FQM1 (S lave) System Se tup Note The set tings ar e made us ing CX -Programmer V er . 5.0 @ menus . 6-1-5 Seria l[...]

135 Serial Comm unications Section 6-1 Note When the Se r ial Gatewa y function is u sed, the FQM1 rece ives FINS com- mands (e ncapsulated W -ser ies or SMARTSTEP com mands ) via the RS-4 22A por t from NT -series P Ts or person al comp uters a nd co nv er ts them to W- ser ies or SM ARTSTEP Ser vo Dri ver commands ( removes the encapsul ation) an[...]

136 Serial Comm unications Section 6-1 6-1-6 No-pr otocol Comm unications (RS-422A P ort) RS-422A Sett ings Note The set tings ar e made us ing CX -Programmer V er . 5.0 @ menus . Item Settings Default Enable d Mode No-proto col Se r ial Gate wa y Each cycl e Dela y 0 to 99,9 90 ms (un it: 10 ms) 0 ms End code 00 to FF he x 00 he x Star t cod e 00 [...]

137 SECTION 7 Motion Contr ol Module Functions This section describes th e v arious functio ns supported by the Motion Co ntrol Module. 7-1 Ov erview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139 7-2 Interrupt Function s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .[...]

138 7-6-10 Range Compar ison Bit Pattern Outputs from Puls e Output PVs . . . 182 7-6-11 Acceleration/Deceleration R ates in A CC(888) and PLS2(887) Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182 7-6-12 PLS 2(887) Pul se Output Directi on Prio rity Mode . . . . . . . . . . . . . . 183 7-6-13 Pulse Outpu t Function [...]

139 Overview Section 7-1 7-1 Over view The FQM 1 Modules hav e the following func tions. Main functio n (Applic able Mo dules) Sub-functions Basic i nterrupt functi ons (FQM1-M MP21/MM A21) Input Int errupts (4 po ints) (Inpu t Interrupt Mod e or Counter Mod e) Interval T imer Interrupt (1 point ) Sett ing rang e: 0 .5 to 99, 990 m s Unit: 0.1 m s [...]

140 Interrupt Fun ctions Section 7-2 7-2 Interru pt Functio ns 7-2-1 Overvie w The Moti on Cont rol Modu les supp or t t he following interr upts. Executing Interrupt Pr ograms in the FQM1 The programmi ng routin es that ar e ex ecute d for all of the following interr upts are programmed as interr up t tasks. Input Interrupts Inp uts to the M otion[...]

141 Interrupt Fun ctions Section 7-2 This situ ation can be av oi ded with the programming me thods s hown in the fol- lowing diagram. Note Only o ne int errupt task number is recorde d for pulse output and high- speed count er interr upts. Wh en a pulse ou tput or h igh-spe ed counter interr upt is on standby (be cause a nother i nterrup t is bein[...]

142 Input Interru pts Section 7-3 The EI(694 ) instr ucti on does not enable all inter rup ts. If an interr upt was masked before all in terr upts were di sabled, that inter rupt w ill s till be masked after the prohibi tion on al l interr upts is clea red. Cleari ng Recorded Interrupts The CLI(69 1) in str uction clea rs the interr upt ev ent i nf[...]

143 Input Interru pts Section 7-3 Counter Mod e 7-3-5 Using Input I nterrupts Input Interrupt Mode Pr ocedure 1,2,3... 1. Deter mine which in put inte rrupt num ber will be used. 2. Wire t he i npu t. 3. Make the ne cess ar y Sys tem Se tup se ttin gs. • S et the Interru pt Input Settin gs (set wh ether an interr upt w ill be g enerated when the [...]

144 Input Interru pts Section 7-3 Counter Mode Pr ocedure 1,2,3. .. 1. Deter min e which i nput inter rup t number will be used . 2. Deter min e the i nitial S V for the decrem enting count er . 3. Wire th e input. 4. Make the necess ar y Sys tem Setup settin gs. • Se t the In terrupt Input S etting s (set wheth er an interr upt wi ll be gen erat[...]

145 Input Interru pts Section 7-3 7-3-6 Applicatio n Example This example s hows input in terr upt 0 and in put int errupt 1 used in inter rup t input mod e and c ounter mo de, respect ively . Before e xecuting the program, v er ify th at the following Sys tem Setup settings hav e been m ade: in put 0 and i nput 1 b oth set to I nterr uption ( up) [...]

146 Interval T imer Interrupts Section 7-4 The following timing char t shows the operation of t he program as it is ex e- cuted . Note (1) Cou nting con tinues ev en whil e the i nterrup t task is bein g ex ecute d. (2) The i nput i nterru pts are m asked after th is point . 7-4 Inter v al Timer Interrupts 7-4-1 Applicab le Models 7-4-2 Overvie w I[...]

147 Interval T imer Interrupts Section 7-4 7-4-5 Applicatio n Example In this e xampl e, the inter v a l timer is use d to ge nerate an i nterr upt ev er y 2.4 ms (0.6 ms × 4). The default System Setu p setting s are u sed. (In puts are not refres hed for interr upt pr ocessi ng.) When the pro gram is being ex ecute d, the interr upt task will be [...]

148 Pulse Inputs Section 7-5 7-5 Pulse Inputs 7-5-1 Applicab le Models 7-5-2 Outli ne The FQM 1-MMP21 and FQ M1-MMA2 1 Motion C ontrol Modules can re ceive pulse inpu ts. The following table shows the p rocesses that can be per formed by combining t he pulse i nput functi on with the high-sp eed counte rs to coun t pulse sign als fr om a ro tary en[...]

149 Pulse Inputs Section 7-5 Counte r va lues Linear Cou nter: 8000 0000 to 7FFF FF FF he x Circul ar Counter: 0000 000 0 to Circ ular maxim um co unt (he x) (The circ ular maxim um co unt is se t in the Sy stem Setup between 0000 0001 and FFFF FFFF h ex .) High-spe ed counte r PV storag e locatio ns High-spe ed counte r 1: A601 (up per by tes) and[...]

150 Pulse Inputs Section 7-5 7-5-4 Pulse Input Specifications Item Specifi cation Number of pulse i nputs 2 inpu ts Note High-spe ed counte r 1 can be an RS-422A li ne-drive r input or a n input wit h a v oltage o f 24 VDC . High-spe ed counte r 2 can be an RS-422A li ne-drive r input or a n input wit h a v oltage o f 24 VDC , e xcept f or the FQM1[...]

151 Pulse Inputs Section 7-5 Min imum r esponse pulse At 50 kHz At 500 kH z Operatio n ma y not b e reliab le abov e 50 kH z. Item Specifi cation OFF ON 50% OFF ON T1 T2 T4 T3 OFF ON 50% ON 50% OFF Encoder Inputs A and B Wa veform of Encoder Inputs A and B Signal rise and fall must be 3 µ s max. 50-kHz pulse with 50% duty ratio 20 µ s min. 10 µ [...]

152 Pulse Inputs Section 7-5 7-5-5 Latc h Input Specifications 7-5-6 Applicab le Instruct ions 7-5-7 Internal C ir cuit Configur ations Pulse Inputs Phases A and B Phase Z Item S pec ific at ion Numb er of i nput s 2 Input v oltage 20.4 to 26.4 V Input response ON response: 3 0 µ s OFF respon se: 200 µ s Instruction Contr ol Descripti on (@)CTB L[...]

153 Pulse Inputs Section 7-5 7-5-8 Pulse Input Functi on Description The pulse inp ut functi on uses the high -speed co unter s. The pulse input fun c- tion can be u sed t o moni tor cha nges (mov emen t) in t he hig h-speed counter PV (mo de 1) or chang es in the high- speed co unter frequenc y (mode 2). High-speed Counter Function Description Inp[...]

154 Pulse Inputs Section 7-5 Counter Operation (Numeric Ranges) The following two counter operation s are av aila b le for high-spee d counte rs 1 and 2, with the sp ecified counti ng ranges. Circular Counter With a Circu lar Coun ter , the ci rcular m aximum co unt ca n be set in th e Syste m Setup, and when the count is incr emented beyond this m[...]

155 Pulse Inputs Section 7-5 ■ Phase-Z Signal (Reset Input) and Software Rese t The PV of th e high -speed cou nter is reset on the fir st r ising edge of the phase -Z signal after the correspo nding Hig h-speed Counter Reset Bit (see below) tur n s ON. ■ Softwa re Reset The PV is rese t when the Hig h-speed Counter Res et Bit tur ns O N. There[...]

156 Pulse Inputs Section 7-5 ■ Range Comparison Method Up to 16 compar iso n ranges (lower and upper li mit values) and corr espondin g output bi t patter ns can be regist ered in the compar ison table. When the PV of the count er firs t is with in the upper and lower limits of one of th e ranges for CTBL(882) ex ecu tion, th e corresp ondin g bi[...]

157 Pulse Inputs Section 7-5 Monitoring High-speed Counter Mov ement (Mode 1) This func tion mo nitors t he cha nge in a high-speed count er’ s PV (trav el di s- tance) regular ly at t he pr eset sam pling pe r iod. The sampli ng per iod can b e set betwee n 1 and 9,9 99 ms. If the sa mpling tim e is se t to 0, the chan ge will be samp led once e[...]

158 Pulse Inputs Section 7-5 High-speed Counter Movement (Mode 1) Spe cification s Note (1) Wh en usin g mode 1 wi th a ci rcular c ounter , set the m aximum cir cular val- ue to 10 or higher . (2) In mo de 1, the Mo tion Cont rol Modul e outputs the change a s the differ- ence in the count m easured each samp ling per iod. T he outpu t change v ar[...]

159 Pulse Inputs Section 7-5 Frequency M easureme nt (Mode 2) Specif ications Latching a High-speed Counter’ s PV The prese nt counter value can be latc hed at t he ri sing edge of the l atch si gnal input an d stored as the latch re giste r value. Each time the co unter value is capture d, the latch reg ister value is overwritten with t he new v[...]

160 Pulse Inputs Section 7-5 7-5-9 Pulse Input Functi on Pr ocedures High-speed Counter Pr ocedure 1,2,3. .. 1. Deter min e the Input Mode, reset m ethod, a nd Nume ric Ran ge. • Cou nting Spee d: 50 k Hz or 50 0 kHz • Input Mode: Pha se Differential, In crem ent/Decre ment, or Pulse + Di rec- tion • Res et meth od: Pha se Z and s oftware res[...]

161 Pulse Inputs Section 7-5 Mode 1 Pr ocedure 1,2,3. .. 1. Deter min e the Counting Speed, In put Mode, Reset Metho d, and Coun ter Operation . • Cou nting Spee d: 50 k Hz or 50 0 kHz • Input Mode: Pha se Differential, In crem ent/Decre ment, or Pulse + Di rec- tion • Res et meth od: Pha se Z and s oftware rese t, or Soft ware reset • Cou [...]

162 Pulse Inputs Section 7-5 • Mo nitor the hig h-speed counte r mov emen t value in A6 04 and A 605 (high- speed counter 1) or A 606 and A607 (hi gh-spe ed cou nter 2). Pr ocedure 1,2,3. .. 1. Set Coun ter movements (mode 1) in the System S ettings ( P ulse Inpu t, Coun ter da ta di spla y ). 2. T urn O N the M easurem ent Sta r t B it (A610.02 [...]

163 Pulse Inputs Section 7-5 Exampl e When the P V reac hes 2,500 hex, interr upt task 10 is sta r ted . When the P V reac hes 7,500 hex, interr upt task 11 is sta r ted . When the P V reac hes 10,00 0 hex, interrup t task 12 is star ted. Target value High-speed Counter PV Time 3 10000 Target value 2 7500 Target value 1 2500 Interrupt tasks PV rese[...]

164 Pulse Inputs Section 7-5 Exam ple 2 : High-speed Counter Range Compa rison & Bit P att ern Output In this example, pulse inp ut 1 operat es a high- speed co unter , the high- speed count er PV is com pared i n a range comp aris on, a nd co rrespondi ng bi t patte r n is outpu t inte rn ally wh en the PV is within a spec ified rang e. The in[...]

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 hex 0008 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 2 71 0 0000 00000 00 1 0000 0 00 0 0 01 0 0000 0 00 0 1 00 0 Intern[...]

166 Pulse Inputs Section 7-5 Exam ple 3 : Latching High-speed Counter PV In this example, pulse inp ut 1 operat es a high- speed co unter , the high- speed counter PV is latche d, and the c aptured h igh-spe ed counter PV is read. When the L atch Inpu t 1 E nable Bit is ON and t he la tch i nput 1 is t ur ned O FF → ON ex ter nal ly , t he high-s[...]

167 Pulse Output s Section 7-6 7-6 Pulse Outputs 7-6-1 Applicab le Models 7-6-2 Outli ne The FQM 1-MMP21 Motio n Control Module p rovides 2 pulse ou tputs. The pulse ou tputs can be us ed for the f ollowing func tions. Note Set the puls e output o peration mode f or each o utput in S ystem Set up (Puls e Out put T ab P age) . Note (1) T he process [...]

168 Pulse Output s Section 7-6 7-6-3 Specifi cations Item S pec ific at ion Acceler ation/ d ecelera - tion None Y es T ra pezoi d None None (ac celera tion or decele ration ) Y es with se parate accele ration a nd deceler ation rate s Instruct ions f or inde- pendent -mode posi- tioning PULS(886 ) + SPED(885) PULS(886) (Elec- tronic Cam Contr ol) [...]

169 Pulse Output s Section 7-6 7-6-4 Pulse Output Specificatio ns All Pulse O utputs Except f o r One-shot Pulse Outputs One-shot Pulse Outputs Numbe r of out put puls es 1) Rela tiv e pulse outp ut: 0000 0000 t o FFFF FFFF h e x 2) Absolu te linear pulse output: 80 00 0000 t o 7FFF F FFF he x 3) Absolu te cir cular pulse output: 0000 0000 t o Circ[...]

170 Pulse Output s Section 7-6 7-6-5 Applicab le Instruct ions The following se ven instruc tions can be used to cont rol pulse outp uts. The relatio nship between the i nstr uctio n and the t ypes o f pulse output th at is pos- sible is al so list ed in th e following table. Instructio ns Ineffective during Pulse Output Once pu lse output has be e[...]

171 Pulse Output s Section 7-6 7-6-6 Pulse Output Function Details Overvie w Pulses are outp ut in ind ependen t mode or continuous mode. In i ndependen t mode, the number of ou tput puls es is s pecifie d in a dv ance. In c ontinuous mode, the number of outpu t pulses is not s pecifie d in ad v ance. Note When puls es are b eing ou tput by an SPED[...]

172 Pulse Output s Section 7-6 Pulse output operation mo de (Only in Independent M ode) Description Compatib le instructions (1) Relativ e pulse outpu t P ositions to a relativ e positio n from the present po sition. The nu mber of ou tput puls es (actual o utput amou nt) in the spe cified di rection is the targe t numbe r of pulse s. • Th e freq[...]

173 Pulse Output s Section 7-6 Pulse Output Operations The following table shows the operations that can be perfor med with the pul se output functi on. Mode Frequency changes Des cription Procedure Example Inst ru c- tions Settings Contin u- ous mo de (Speed control) The f requency is changed in steps (u p or down) dur ing puls e out put . SPED(88[...]

174 Pulse Output s Section 7-6 Indepen - dent mode (P osition- ing) Puls e out put starts at the specif ied fre- quen cy and stop s when the specif ied n um- ber of pu lses hav e been ou t- put. (The numbe r of pulses cannot be chan ged dur- ing puls e out- put.) PULS(88 6) ↓ SPED(88 5) No . of pulses , Relativ e or abso lute oper ation, Po r t ,[...]

175 Pulse Output s Section 7-6 Note With ACC(888) and PLS2(88 7), the ac celeratio n/decele ration rate’ s speed -change cycle c an b e set to 2ms or 1 ms. Also, the acce leration/de cel- eration rate can be s et between 1 Hz and 9.9 99 kHz. Refer to 7-6- 11 Acce ler- ation/Dec eleration Ra tes in ACC(888) and PLS2 (887) Instr u ctions for more d[...]

176 Pulse Output s Section 7-6 Form ula: Actual f requenc y = Clock frequ ency ÷ INT (clock frequenc y/target fr equency) Note INT (clock freq uency /target fr equen cy) is th e divi ding ratio. The difference between the ta rget frequ ency and the actual freq uency increa ses at hi gher freq uencies. The f ollowing tables shows examples for a clo[...]

177 Pulse Output s Section 7-6 Set the puls e output ope ration mode to 1 sh ot in advance in the Sys tem Setup, as shown in the following table. Note A pulse ou tput por t that is bei ng used for one-shot pul se outputs cannot be used f or any other pulse output functions. The elapsed ti me of the one-sho t pulse output is stored in 8-di git hexad[...]

178 Pulse Output s Section 7-6 7-6-8 Time Measure ment with the Pulse Counter The one-s hot pul se output function can be used to c reate a high- precisio n pulse coun ter timer. T o measure t ime with h igh-pr ecision , star t the timer by e xecutin g the STIM(980) instr uctio n with C1 = 000B or 00 0C and C2 = 000 0, and st op the timer by ex ecu[...]

179 Pulse Output s Section 7-6 (3) If th e STIM( 980) inst ru ction is ex ecute d again to resta r t an operating ti m- er , the timer value will be reset to 0 and th e time r will restar t. Pulse Counter Timer Specifications 7-6-9 T ar g et-va lue Comparison Interrupts fr o m Pulse Output PVs An inter rup t task c an be ex ecute d when the puls e [...]

180 Pulse Output s Section 7-6 Linear Mode Operation A target value can be set at a d esired p ulse outp ut PV to ex ecute an interr upt task when the target value is reache d. An ACC(888) or SP ED(885) instr uctio n can be programmed i n the interr up t task to perform s peed contr ol at that tar- get value. Frequency (speed) Target value 5 Target[...]

181 Pulse Output s 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 A62[...]

182 Pulse Output s Section 7-6 Circ ular Mode Operation A speed contr ol patt er n can be repeate d in c ontinuous s peed c ontrol to con- trol a se rie s of repet itive operatio ns at spec ific pos ition s. F or example, the fol- lowing dia gram shows an ax is that repeatedl y switches to low-s peed operation a t one pos ition and switches to high[...]

183 Pulse Output s Section 7-6 Setting the Spee d-change Cycle The speed c hange c ycle for the A CC(888) and PLS 2(887) instruc tions is specifi ed by setti ng the ON/OFF bit sta tus o f A628 .07 before ex ecut ing th e A CC(88 8) or PLS2 (887) i nstr uction. 2-ms Cycle Execute ACC(888) o r PLS2(88 7) wit h A628.07 O FF . 1-ms Cycle Execute ACC(88[...]

184 Pulse Output s Section 7-6 Setting the Pulse Output Direction Priority Mode The pul se outpu t direc tion prio r ity mod e for the PLS2( 887) i nstr uction is s pec- ified by se tting the ON/OF F bit status o f A628 .14 be f ore ex ecuting the PLS2 (887) ins tr uctio n. Note The pr ior ity mo de set ting in A628.14 a pplie s to bo th puls e out[...]

185 Pulse Output s Section 7-6 • Se t the clock spee d for pulse outpu ts 1 an d 2. 4. Create the necessar y ladder pr ogramming. • Us e PULS (886) to se t number of output pulses for the specified por t. • Us e SPED (885) to st ar t pulse ou tput c ontrol w ithout acce leration/de celer- ation fro m the spec ified po r t. • Us e INI(880) t[...]

186 Pulse Output s Section 7-6 • Us e PR V(881) to read th e pulse o utput P V of the specifi ed por t. Pulse Outputs without Acceleration/Dece leration (PULS(886) : Elect roni c Cam Control) This proc edure s hows how to use the PUL S(886) instr uction’s electronic ca m control function to g enerate a sing le-phas e pulse out put witho ut acce[...]

187 Pulse Output s Section 7-6 The PULS (886) ins truc tion (El ectronic Cam Contr ol) ca n be used to imme- diately change the pulse output value f or absolute pos itionin g or the pulse output freq uency for speed cont rol i n response to the high -speed c ounter PV (e.g., for a rotational angl e). Thi s f eatur e allows the Motion Control Module[...]

188 Pulse Output s Section 7-6 • Sele ct pu lse ou tput 1 or 2 . 2. Wire th e output. • O utput: CW an d CCW • O utput power supply: 5 V DC 3. Make the nece ssar y Syste m Setu p setti ngs (P ulse Output T ab P age − Op- eration Mod e). • Se t the p ulse ou tput ope ration mod e (in t he Puls e Output T ab Page − Operation Mode) to rela[...]

189 Pulse Output s Section 7-6 • Se t the p ulse ou tput ope ration mod e (in t he Puls e Output T ab Page − Operation Mode) to Calculat ion (tim e measur ement) . 3. Create the necessar y ladder pr ogramming. a. Use STIM(9 80) with C1 = #000 B or #000C and C2 = #0000 to sta r t measur ement. b . Use ST IM(980) wit h C1 = #000B or #000C a nd C2[...]

190 Pulse Output s Section 7-6 Changing the Frequency in Steps In this ex ampl e, the SP ED(885) instr ucti on is u sed t o change the s peed of a pulse ou tput from por t 2 from a freque ncy of 3 ,000 Hz to 50,000 H z. In th is case, the pulse ou tput is a CCW c ontinuou s mod e output . Note Speed con trol timi ng will be ac curate when fr equenc[...]

191 Pulse Output s Section 7-6 Note The pul se ou tput can b e stop ped by ex ecu ting ACC(888) wi th a de celeratio n target frequen cy of 0. Howe ver , since the puls e output c annot be stoppe d at the co rrect number of pulse s, the dece leratio n target fr equen cy shou ld not b e set to 0 if it is nece ssar y to output a preci se number o f p[...]

192 Pulse Output s 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 D0[...]

193 Pulse Output s Section 7-6 Using PLS2(887 ) for T rapezoi dal Accelerati on/Deceleration In this example, the axis is accelerated in the CW dir ection at 500 Hz/2 ms, the accel eration/decel eration rate i s reduced to 300 Hz/2 ms, and the pulse output is stopp ed after 30 0,000 p ulses have been outp ut. After 5 s, the same trapezoidal accele [...]

194 Pulse Output s Section 7-6 get F requenc y Not R eached F lag (A624. 02 or A625.0 2) will tur n ON at the peak of th e tr iangula r patt er n and tu r n OFF whe n dece leration is com pleted. One-shot Pulse Out put Function Example In this ex ampl e, STIM(9 80) is us ed to generate a 1.5-ms one-s hot puls e out- put from p ulse outp ut 1. Pulse[...]

195 Pulse Output s Section 7-6 (3) Us e this fun ction f or positi oning . Allo wed Star tup Conditions for P ulse Ou tput Operations (with Output Stopped) The follo wing ta ble shows when an independ ent mode pulse outpu t (SPED(88 5) indepen dent mod e, A C C(888) indep endent ac cele ration mode, or ACC(888) independe nt deceleration mode) can b[...]

196 Pulse Output s Section 7-6 PULS(886) Absolute Pulse Output in Progress Pulse Ou tput Oper ation Mode (Absolute Linear) Limitations PLS2(887 ) Startup Conditions when other Instructions are being Executed Note (1) Can cel the number of output pu lses set with PULS (886) and then e xecute PLS2 (887). (2) Executio n is OK whe n the numb er of outp[...]

197 Pulse Output s Section 7-6 Note Cancel the number of output pu lses set with PULS(886) and then e x ecute PLS2 (887). Cases (1), (2 ), and (3) Case (4) Case (5) PULS (886) No absol ute output Y es Y es --- Y es N o Ye s Ye s Ye s Ye s ( S e e note.) PULS (886) Abso lute output No No No No Case (5) No No No No No ACC( 888) Acceleration + continu[...]

198 Pulse Output s Section 7-6 Note The pul se output w ill stop. After the ax is stop s, it must be re star ted. Cases (6), (8 ), (9), and (10) • Sta r ting instruction : A CC(888) (co ntinuou s or inde penden t), acceler ation, rela tiv e • Sta r ting inst ruction: A CC(8 88) (conti nuous o r indepen dent), a cceler ation, absol ute linear ?[...]

199 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 • Sta r ting instruction : A CC(888) (co ntinuou s or inde penden t), decele ration, a bsolute circu lar 7-7 Functions for Serv o Drivers Compatible with Absolute Encoders 7-7-1 Applicab le Models The examples in th is secti on dem onstrate the f unctions with high[...]

200 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 7-7-3 Data Format of Absolute Encoder Output The f or mat of dat a from a Ser vo Driver compat ible with an absolute encoder suppor ted by the Motion Co ntrol Mod ule is a s f ollows: Serial Data Spe cification Data Format Note (1) T he “P” is in AS CII. It is 50[...]

201 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 •E x a m p l e 1 A value between 0 a nd 65,5 34 is se t in the Se r vo Driver , th e Syste m Setup’ s Coun ter 1 C ounter ope ration is set to a n abso lute line ar (CW − ) counter , an d the Ser v o Dr iver’ s r ev erse rotation mode settin g (Pn000. 0) is s[...]

202 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 Absolute Circular Counter The ab solute enc oder ’ s puls e inf or mati on is coun ted usi ng a circula r counter. (Only the initi al in crementa l pul se (angl e) read ing is used as the ab solut e v alue.) 7-7-5 Absolute Number of Rotations PV (Counter 1: A604 an[...]

203 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 P s : Absolu te offset Note With an a bsolute circul ar coun ter , th e abso lute numb er of ro tations pre sent v alue (A604/A 605) is not us ed; only the init ial inc remental pulses are use d. The initia l increme ntal pulses are the data of an amount treated as t[...]

204 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 7-7-9 Related Areas Syste m Setup T ab page Function Details Time when setting beco mes effect ive Pulse Input Coun ter 1 P ulse i npu t mode 0 he x: Phase diff erential x1 1 he x: Phase diff erential x2 2 he x: Phase diff erential x4 3 he x: Increment /decremen t pu[...]

205 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 A uxiliary Area Pulse input Counter 1 Max. circ ular va l u e When the co unter oper ation is set to circu lar counter , this pa rameter s ets the m aximum val ue in the circu- lar coun ter . Setting r ange: 000 0 0001 to FFFF FFF F he x At powe r ON Absolute encode [...]

206 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 A606 and A607 00 to 15 High-speed Counter 2 Count er oper ation • Absol ute linear (CW − ) • Absol ute circul ar • Absol ute linear (CW+) Absolute No . of rotations PV The sam e as f or high-spee d counte r 1, e xcept that the high-spe ed counte r frequency m[...]

207 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 7-7-10 Overview of Absolute Encoder Output Data Acquire Behavior of the Serv o Driver Compat ible with an Absolute Encoder The SE N signa l bein g tur ned O N, the S er vo Dr iver behav es in the following manner : 1,2,3. .. 1. The Ser vo Driver transmits the sta te [...]

208 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 After a sho r t tim e has pas sed to allow the Se r vo Driver's output to stabil ize, tur n ON the H igh-spe ed Count er Sta r t B it (A610.00) from the ladde r program. The encod er's statu s (multi-tur n data), which was acquir ed when the SEN si g- nal w[...]

209 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 7-7-11 Timing Char t of the Functions for Serv o Driver s Compatibl e with Absolute Encoders 7-7-12 Sample Pr ograms (Connecting an OMRO N W -series Serv o Driver) Pr ogram Description 1,2,3. .. 1. With the Motio n Control Module set to MONITOR mode, tur ning O N CIO[...]

210 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 Note Adjust the tim er value of TIMH(15 ) instr u ction (1 0 ms timer) to match t o the system requir ements ( such as the a bsolu te encode r's res olution settin g). When mor e prec ision i s requi red, use the TMHH (540) i nstr uctio n (1 ms timer). 000000 (0[...]

211 Function s for Serv o Drivers Compati ble with Absolute Encode rs S ection 7-7 Note Adjust th e timer value of TIMH( 15) instr uctio n (10 m s timer) to ma tch the sy s- tem requi rements (s uch as th e absolute encoder 's resoluti on setting ). When more prec ision i s requi red, use TMHH(54 0) instr ucti on (1 ms timer). 000005 (000026) [...]

212 V irtual Pu lse Output Fu nction Section 7-8 7-8 Vir tual Pulse Outp ut Function 7-8-1 Applicab le Models 7-8-2 Overvie w The AX IS instr ucti on allows the ex ecutio n of vir tual puls e outpu t with trapezoi- dal accele ration/dec eleration. The AX IS in stru ction ex ecutes the p ulse out put with trapezoidal accelera tion/ decelerat ion in [...]

213 V irtual Pu lse Output Fu nction Section 7-8 7-8-3 AXIS Instru ction (For Vir tual Pulse Outputs) Overvie w The AXIS i nstr uction i s used to generate a v ir tual pulse ou tput wit h trapezoi- dal accele ration/dec eleration. The opera nds for the AXIS in str uction are a target po siti on speci fied in p ulses or as an ab solute posit ion, an[...]

214 V irtual Pu lse Output Fu nction Section 7-8 Description • Use th e AXI S instr ucti on with an input condi tion th at is ON for one cycle. AXIS ca nnot be used a s a differentiate d inst ru ction (the @ pr efix is not suppo r ted ). • AX IS is ex ecuted at t he r ising e dge of th e input co nditio n. If the inpu t remains ON, the vir tual[...]

215 Analog Input Functions Section 7-9 7-8-4 Applicatio n Example P ositioning or Speed Contro l Using a Virtual Axis The inte rn al pulse c ount can b e treate d as a vir tual axis pos ition in orde r to perform el ectronic ca m operatio n on the real axis operation with simple c ur ve approximation. First, the AXI S instr uctio n is ex ecuted to [...]

216 Analog Input Functions Section 7-9 The PR V(881) instr uctio n can also be used to read the la test anal og inpu t v alue throu gh immedi ate refr eshin g. Analog signa ls can be input from p res- sure sen sors, posit ion meters, or sens ors that requ ire hi gh-spee d input pro- cessi ng such as a displ aceme nt sensor s/end-m easur ing sen sor[...]

217 Analog Input Functions Section 7-9 7-9-3 Analog Input Function Specifications Note The following diagram is pr ovided as a reference example. This e xampl e shows the inpu t respon se (step respons e) character is tics of an input wh en the ex ter nal input signa l is ch anged in a ste p patter n. In th is case, the inp ut range is − 10 to +1[...]

218 Analog Input Functions Section 7-9 7-9-4 Related Areas and Settings Syste m Setup T ab pa ge Function Setti ngs Time when setting beco mes effec tive Analog In put/ Output Both inpu ts and outp uts Input method 0 he x: END refresh 1 hex: Immediate refres h (Refresh wit h PR V(881).) At pow er ON and start of opera tion Output method 0 he x: END[...]

219 Analog Input Functions Section 7-9 A uxiliary Area W ord Bits Function Settings Contro lled by A550 00 to 15 Analo g Input PV Contains the va lue inpu t from the analog input por t (using eith er the END refresh or immediate refre sh) in 4- digi t hexadec imal . The PV ra nge depen ds on the input ra nge: • 0 to 1 0 V : FE70 to 20D0 h ex • [...]

220 Analog Input Functions Section 7-9 A562 00 Analog Out- put 1 F lag s User Adjus tment Completed Initial v alue is 0. Set to 1 if user perf or ms offset/gain adj ustment and Returns to f actory def ault setti ng of 0 if adjust ment value is cl ear ed. Motion Control Module 01 to 03 Reserved --- 04 O peratin g ON: ON whil e the ana log outp ut is[...]

221 Analog Input Functions Section 7-9 A570 00 Adjustment Mode Co m- mand B its (Eff ective o nly when A575 is 5A5A hex.) Adjustm ent Enab le Analog In put OFF: Adjustmen t disab led. ON: Adjustment e nable d. When thi s bit is t ur ned f rom OFF to ON, th e def ault val ue (offset o r gain v alue) corre- spondin g to th e select ed I/O signal rang[...]

222 Analog Input Functions Section 7-9 7-9-5 Applicab le Instruct ions With END Refreshing Read th e analo g inpu t PV (A5 50) using an instr uctio n suc h as the M O V instr u ction . With Immediate Refreshing The data is acqu ired immediate ly with th e PR V(88 1) instr uct ion. 7-9-6 A/D Con version V alue When a signal i s input tha t exceeds t[...]

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) Overv iew When an FQM 1-MMA2 1 Motion Control Mo dule is be ing us ed, the Motio n Control Mo dule ca n be synchr onized with pul se inpu ts from the en coder to collec t analo g data. This sampl ing[...]

224 Analog Input Functions Section 7-9 Once the sa mpling of ana log inpu t values star ts, the number of v alue s speci- fied with the circ ular value (up to 32,76 7 sam ples) a re st ored in t he DM Are a begin ning a t the spec ified DM add ress. The samp ling opera tion wi ll be c om- pleted whe n the s pecified number of sample s are all stor [...]

225 Analog Outputs Section 7- 10 3. The high-s peed analog sa mpling f unction sto ps when the specifi ed num- ber of hi gh-spee d analog i nput da ta sample s have been collec ted. The following diagram shows h ow this method can b e used to colle ct dis- placeme nt data f rom a par ticular workpi ece posi tion. The sam pled data can be proces sed[...]

226 Analog Outputs Section 7- 10 7-10-3 Analo g Output Fun ction Sp ecifications Analog Outputs Item S pec ific at ion Outpu t s ign als V ol tage ou tput s Numbe r of analo g outpu ts 2 outputs Output ra nges Se lect each output ’ s signal range in the Syst em Setup (Analog Inpu t/Output T ab Page , Output 1 Setting an d Output 2 Setting): –10[...]

227 Analog Outputs Section 7- 10 Note (1) T he ov erall ac curacy is the ratio of accuracy to the full sc ale. (2) T he follo wing table shows the status of the anal og outp uts if ther e is a fa- tal error in the M otion Con trol Modu le or the C oordinat or Module i s in CPU stand by status. If there is an error in the Sys tem Setup settings for [...]

228 Analog Outputs Section 7- 10 Specified Output V alues and Analog Output Signals 7-10-4 Applicable I nstructions END Ref reshin g Se t the analo g output values in A5 60 and A56 1 usin g an instr uct ion suc h as the M O V instructio n. With Immediate Refreshing Outputs can be co ntrolle d with S PED(885 ) and ACC(888) as out lined below . SPED([...]

229 Analog Outputs Section 7- 10 F: Analog o utput value Specifi es the tar get an alog ou tput value as a 4-dig it hexadecimal value. Note The spec ified analo g output v alue must be wit hin the all owed range listed abov e. If an out- of-range outpu t value is spe cified, a n error wil l occur and it will be necess ar y to switch to PROGRAM mod [...]

230 Analog Outputs Section 7- 10 7-10-6 Application Example Outputting the Analog Output V alue S tored in the A uxiliary A rea In this example, the M otion Contr ol Modul e output s the an alog outpu t value stored i n A560 fr om ana log output 1. Set the following Sy stem Setu p settings : • An alog In put/Output T ab P a ge − Output 1: Se t [...]

231 Analog Outputs Section 7- 10[...]

232 Analog Outputs Section 7- 10[...]

233 SECTION 8 Connecting the CX-Programmer This section e xplains ho w to connect a per sonal computer runn ing the CX-Program mer to the FQM1. 8-1 CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234 8-2 Connecting the CX-Programmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . .[...]

234 CX-Programmer Section 8-1 8-1 CX-Pr ogrammer Connect the CX-Programme r Suppor t Software to the Co ordin ator Modu le to create a nd mon itor programs for all Modul es. While mo nitor ing th e ladder pro- grams in M otion Control M odules, i t is po ssible to input op eration conditi ons f or mon itor ing the I/O of the Coor dinator Module, an[...]

235 Connecting the CX-Program mer Section 8-2 8-2 Connecting th e CX-Pr ogrammer 8-2-1 System Configurat ion Connecting a P ersonal Comput er Running Suppor t Software Connecting to the P eripheral Port Connecting to the RS-232 C P ort Pr ogramming Software Note When the CX-Pr ogrammer is used with an FQ M1, t he CX-P rogrammer ver- sion must be V [...]

236 Connecting the CX-Program mer Section 8-2 Connecting through the USB port with a USB-Serial Con version Cab l e Connecting to the P eripheral Port Cable Connecti on Diagram Usin g a C S1W-CN226 /626 Cable Using an RS-232C Cable (XW2Z-200S-CV , XW2Z- 500S -CV , XW2Z -200 S- V , or XW2Z-500S-V) Note The con nection m ust be a Host Link con nectio[...]

237 Connecting the CX-Program mer Section 8-2 Connecting to the RS-232 C P ort Connection Methods (Using a USB-Serial Con version Cable) Cable Connecti on Diagram Using an RS-232C Cable (XW2Z-200S-CV , XW2Z- 500S -CV , XW2Z -200 S- V , or XW2Z-500S-V) Note The con nection m ust be a Host Link con nection. CS1W-CIF31 USB type A plug, male D-sub Conn[...]

238 Connecting the CX-Program mer Section 8-2 8-2-2 CX-Pr ogrammer Connecting Cables Note When conn ecting one of these ca bles to the Coordinator Module ’ s RS- 232C por t, alwa ys touc h a groun ded me tal objec t to discharge any ele ctrostatic charge from the b ody be f ore tou ching the cable connec tor . The XW2Z - @@@ S-CV C ables are equi[...]

239 Connecting the CX-Program mer Section 8-2 Connectin g an RS- 232C Cable to t he Peripheral P or t The following conne ction config urations can be use d when c onnecting an RS- 232C cable to th e Coordin ator Modu le’ s per ipheral por t. Connecting an RS-232 C Cable to the RS -232C Port The following conn ectio n conf iguration can b e used [...]

240 Connecting the CX-Program mer Section 8-2[...]

241 SECTION 9 Error Pr oc essing This section provides information on identifying and correcting err ors that occur during FQM1 operation. 9-1 Error Log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242 9-2 Error Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . [...]

242 Error Log Section 9-1 9-1 Err or Log Each time tha t an er ror o ccurs i n the FQ M1, t he erro r inform ation is stored in the Erro r Log Area st ar ting at A1 00. The error inform ation inc ludes the error code (sa me code st ored in A400) and error contents. Up to 20 recor ds ca n be stored i n the Er ror Log. Err ors Generate d by FA L ( 0 [...]

243 Error Processing Section 9-2 9-2 Err or Pr ocessing 9-2-1 Error Categories Errors in the FQM1 can be bro adly div ided into the following three cate gori es. 9-2-2 Err or Info rmation There ar e basi cally four source s of i nformat ion on er rors th at have occurred: • The L ED ind icators on the front of the Coordi nator and M otion Contr o[...]

244 Error Processing Section 9-2 9-2-3 Err or Cod es E R R O NO F F O F F O NF l a s h i n g - - - - - - - - - PRPHL --- --- --- --- --- OFF --- --- COMM1 --- --- --- --- --- --- OFF --- COMM2 --- --- --- --- --- --- --- OFF Classifi cation Erro r code Error nam e P age F atal system errors 80F1 Memory error 244 80C0 I/ O bus error 244 80CE No End [...]

245 Error Processing Section 9-2 9-2-4 Err or Processing Flo wchart Use the f oll owing flowchar t as a guide for error processing with the CX-Pr o- 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. [...]

246 Error Processing Section 9-2 9-2-5 Err or T ables The following tables s how the error s whic h can occur in the FQM1 a nd ind i- cate t he probable c ause of the error s. Note Always confir m the safety of conne cted equ ipmen t before tur ning the power supply OFF o r ON . CPU Error s If the f oll owing LED indicato r condi tion appe ars dur [...]

247 Error Processing Section 9-2 message and relat ed Auxiliar y Area fl ags/words an d cor rect th e ca use o f the error . Errors are liste d in o rder of impor tance. When two o r more errors o ccur at th e same tim e, the mo re ser ious error ’ s er ror co de will be rec orded in A400. The I/O memo r y will be cleared wh en a fatal error othe[...]

248 Error Processing Section 9-2 When operati on is stopp ed, all outputs will be tur ned OFF . The Ser vo Driver that is in Ser v o ON state for outp uts from the FQ M1 w ill switch to Se r vo OFF state. Fat a l E r ror s Error Error code (in A400) A uxiliary Area flag and w ord data Prob able cau se P ossible rem edy Memor y error 80F1 A401. 15: [...]

249 Error Processing Section 9-2 Non-fatal Err ors If the f o llowing LED ind icator co ndition appe ars dur ing ope ration (in R UN or MONITOR mode), it indi cates tha t a non- fatal error has occurred .. The non-fatal error’s error contents will be displ ay ed in the Er ror T ab in the CX-Prog rammer’ s Error Wi ndow . Determine the caus e of[...]

250 Error Processing Section 9-2 O th e r Er ro rs Coordi nator Module F atal error 0006 A402.1 4: Coor- dinat or Mo dul e F atal Error Flag A f atal error o ccurred in th e Coordi- nato r M odu le. Remov e the cause of the error i n the Coordi nator Modu le and the n clear the error . Coordi nator Modul e WDT error 0001 A402.1 3: Coor- dinat or Mo[...]

251 Error Processing Section 9-2 9-2-6 P ower Suppl y 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 ind[...]

252 Error Processing Section 9-2 9-2-7 Memory Err or Chec k 9-2-8 Pr ogram Err or Chec k 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 OF[...]

253 Error Processing Section 9-2 9-2-9 Cyc le Time Overrun Err or Check 9-2-10 System Setup Err o r Chec k 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 [...]

254 Error Processing Section 9-2 9-2-11 I/O Setting Erro r Chec k 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 Chec k The I/O c heck flowchar t is based on the follo wing ladder d iagram sec tion, assumi ng that t he problem is S OL1 do es not tur n 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 [...]

256 T roubleshooting Problems in Modul es Section 9-3 9-2-13 En vir onmental Conditions Chec k Note Prev e nt exposure to corr osive gases, flamma ble gases, dust, dir t , salts, metal dust, dir ect sun light, water , oils, and c hemical s. 9-3 T roubleshooting Prob lems in Mo dules Coordinator Module Error s Environmental Conditions Check No Is th[...]

257 T roubleshooting Problems in Modul es Section 9-3 Motion Control Module Err ors Input Err ors Error condition Probab le cause Remedy The Mot ion Cont rol Modul e’ s R UN indic ator does not go ON. An error in progra m is causing a fa t a l e rr o r Cor rec t progr am. Motion Con trol Modul e does not ope rate or does not oper ate prope rly . [...]

258 T roubleshooting Problems in Modul es Section 9-3 O ut p u t E r ro rs Error condition Probab le cause Remedy None o f the outpu ts will go ON. (1 ) The load pow er is no t being suppli ed. Supply p ow er . (2) Load p ower supply v oltage i s too lo w . Adjust v oltage to within th e allo wed r ange . (3) F aul ty ter m inal block conne c- tor [...]

259 SECTION 10 Inspection and Mai ntenance This section provides inspection and main tenance information. 10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 10-1-1 Inspection Poin ts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 10-1-2 Modu[...]

260 Inspections Section 10-1 10-1 Inspections Daily o r per iodic insp ections are require d in or der to m aintai n the FQ M1 i n peak operatin g conditi on. 10-1-1 Inspection P oints Although the majo r com ponents in the FQM1 hav e an extremely long li f e time, they can d eteri orate unde r improp er e nvironmental c ondition s. P e riod ic ins[...]

261 Inspections Section 10-1 Note The following table shows the allowable v oltag e fluctuat ion ranges for sourc e power suppl ies. T ools Required for Inspections Required T ools • Phill ips-he ad scre wdriver • V oltage tester o r digital mult imeter • Ind ustr ial al cohol an d clean c otton cloth T ools Require d Occasion ally • Synchr[...]

262 Inspections Section 10-1[...]

263 Appendix A Pr ogramming Pr ograms and T asks Ta s k s There a re basi call y two t ypes of ta sk. 1. Cyclic T ask The cycl ic task i s ex ecu ted onc e each c ycle. 2. Interru pt T asks An inte rrupt ta sk is ex ecute d when the interr upt cond ition i s met, ev en if this oc curs w hile the cy clic ta sk is being ex ecuted. There ar e three ty[...]

264 Programming Appendix A Subroutines What Are Subr outines? A subro utine is a program wr itten between the SBN(092 ) and RET (093) instr uctions in a sp ecial subrou tine area. A s ubrou tine is called f rom th e main program using the SB S(091) , MCRO(099), o r JSB( 982) in str uct ion. Subrouti nes can be used i n the following three wa ys wit[...]

265 Programming Appendix A Using Subr outines That P ass Pa rameter s With thes e subro utines, paramete rs can be p asse d to the sub routine wh en it is c alled an d then th e results o f processi ng in the subrouti ne can be r etur ned to th e main p rogram. This en ables using one sub routine wh ile chang ing the I /O addre sses tha t are used [...]

266 Programming Appendix A Note (1) Inde x regis ters hav e been used to incr ease the usabili ty of subrouti nes calle d with JSB(982) . The actual ad dresse s in I/O m emor y o f the firs t input param eter word and first ou tput paramete r word are autom atica lly stor ed in i ndex registers IR 0 and IR1, resp ectively . T his enables a ccess in[...]

267 Programming Appendix A Application E xampl es Execution without Subr outine 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 0000.02 000[...]

268 Programming Appendix A Execution with Subr outine Input Condition Flags Main Progr am 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 Stopp[...]

269 Programming Appendix A Basic Information on Pr ogramming Basic Inf ormation on Instructions Programs co nsist o f ins truc tions. Th e con ceptua l str uc ture of the in puts to and outpu ts from an i nstr uction is sho wn in the f ollo wing d iag ram. Po w e r F l o w The power flow is the input co nditi on that is use d to contro l the ex e c[...]

270 Programming Appendix A The following ins tr uctions are u sed in p airs to set a nd can cel cer tain i nstr uct ion cond itions. E ach p air of instr uction s must be in the sa me task. Flags In this c ontext, a flag is a bi t that s er ves as an inter face between instr uctio ns. Operands Operands sp ecify preset instr uction p arameters (box [...]

271 Programming Appendix A Instruction Location and Input Conditions The following table shows the possible locati ons for instruc tions. Instr ucti ons are grouped into tho se that d o and those do not req uire in put con ditio ns. Note (1) There is ano ther group of ins tr uctions that ex ecut es a ser ies of mn emoni c instr uct ions based on a [...]

272 Programming Appendix A DM Area addresses are given with “D” prefi x es, as shown b elow for the address D0 0200. Specifying Operands 0010 Word address D00200 Word addres s Operand Description Notation Application exam ples Specify ing bit address es Specify ing wor d address es MO V 0003 D00200 @@@@ . @@ Note The same addresses are used to [...]

273 Programming Appendix A Note With indi rect addr ess sp ecifica tions in binar y mode, th e DM Area addr esses ar e treated as consecut ive memor y addres ses. Specify ing indirec t DM addr esse s in Binary Mode 1) D00000 to D 32767 are specifie d if @D( @@@@@ ) contains 0000 he x to 7FFF he x (00000 to 32767). MO V #0001 @D00300 MO V #0001 *D00[...]

274 Programming Appendix A Operand Descrip tion N otation Application e xamples Specify ing an ind irect address usin g a re g- ister Indirec t addre ss (No o ffs et) The bit o r word wi th the me mor y address containe d in IR @ wi ll be sp eci- fied. Specify ,IR @ to spec ify bits and words f or inst ruction op erands . ,IR0 ,IR1 LD ,IR0 Loads th[...]

275 Programming Appendix A T e xt string T ext st ring data is s tored in ASCI I (one by te ex cept f or special cha rac- ters) in ord er from the leftm ost to the rightmost b yte and from th e right- most (lo wer) to th e leftmos t word. 00 he x (NUL code) is stored in th e rightmost b yte of the last word if there is an odd n umber of char ac- te[...]

276 Programming Appendix A Data Formats The following table shows the dat a forma ts that the FQM1 c an hand le. Note Signed Binary Data In signed binar y data , the lef tmost bi t indica tes the sig n of binar y 16-bit dat a. The value is expressed in 4-digit hexadecimal. P osit ive Numbers: A value is pos itive or 0 if the l eftmost bi t is 0 (OF[...]

277 Programming Appendix A Negative Numbers: A value is ne gative if the leftm ost bit is 1 (ON) . In 4-digit hexadeci mal, this is e xpressed a s 8000 to FFFF h e x. The absolute of the negativ e valu e (decimal) is e x pressed as a two’ s complem ent. Example: T o treat –19 in de cimal as signe d binar y , 0013 hex (th e absolute v alue of 19[...]

278 Programming Appendix A Note Signed BCD Data Signed BC D data is a spec ial data for mat that i s used to express negative numbers in BCD . Althoug h this for mat is found in ap plicatio ns, it i s not st r ictly d efined and d epends o n t he spec ific app lica tion. T he FQM1 supp or ts four data formats and su ppor ts the following instr ucti[...]

279 Programming Appendix A Instruct ion V ariations The following variation s are available f or ins truc tions to differentiate ex ecutin g cond itions. Input Condi tions The FQM 1 offers the following type s of ba sic and spec ial ins tr uctio ns. • Non -differentiated i nstr uctions ex ecute d ev er y cycle • Diff erent iate d inst ructio ns[...]

280 Programming Appendix A • Input Instructions (Logical Starts and Intermediate Instructions) : The ins truc tion r eads bit status, makes compar iso ns, tests bi ts, or perform other type s of pro cessin g ev e r y cycl e and will ou tput an OFF ex ecut ion con dition (power flow stops) when r esults switch from O FF to ON . The ex ecuti on con[...]

281 Programming Appendix A Pr ogramming Preca utions Conditio n Flags Using Condition Flags Condition flags a re sha red by all instr ucti ons, and wil l change du ring a cycle depending o n res ults of e x ecu ting indivi dual ins truc tions. Therefore, be sure t o use Condition Flags o n a branch ed outp ut with the same i nput conditio n imm edi[...]

282 Programming Appendix A Since co nditio n flags a re share d by all instr ucti ons, make absolut ely sure that they do not interfere with eac h other wit hin a sin gle la dder-diagram program. The following are e xampl es. 1. Using Ex ecution Results in NC and NO Inputs The Conditi on Flags will pi ck up instructi on B e xecution results as show[...]

283 Programming Appendix A Example: The following example will mov e #0200 to D00 200 if D001 00 contains #0010 and move #0300 to D0030 0 if D00100 does not con tain #0010 . The Equa ls Flag wil l tur n ON if D0 0100 in the r ung above contains #0 010. #02 00 will be m ov ed to D0 0200 f or in stru ction (1), but then the Equal s Flag wi ll be tur [...]

284 Programming Appendix A 2. Using Execution Results fr om Di fferentiate d Instructions With differentiat ed instr uct ions, e xecution resu lts for instr uctions are refl ected in Con ditio n Flags o nly whe n input con dition is met , and re sults for a previous r ung (rathe r than ex ecution resu lts for the differentiated i n- str uction ) wi[...]

285 Programming Appendix A Equals Flag The Equal s Flag is a temporar y flag for all instr ucti ons except when com pari son resu lts are equa l (=). It is se t automa tically by the sy stem, and i t will ch ange. The Equal s Flag can b e tur ned OFF (ON) by an instr uctio n after a previous instruc tion has tur ned it ON (OFF). The Equa ls Flag wi[...]

286 Programming Appendix A Special P r ogram Sect ions FQM1 pro grams hav e speci al program sec tions th at will c ontrol ins truc tion c onditions. The f ollo wing s pecial progr am secti ons are a v ailab le. Instruction Combinations The following table shows which of the s pecial instr uct ions can be us ed insid e other program se ctions. Note[...]

287 Programming Appendix A Instructions Not Allo wed in Subr outines The following instr u ction s cannot be pla ced in a s ubro utine. Note Block Pr ogram Sections A subro utine can in clude a block program s ectio n. Instructions Not Allo wed in Step Lad der Program Sections Note A step la dder program secti on can be used in an inter lock secti [...]

288 Programming Appendix A Computing th e Cycle Time FQM1 Operation Flo wchart The Coord inator Mod ule and Mo tion Contr ol Module s proces s data in repeating cycles from the overseeing processi ng up t o per ipheral s er vic ing as s hown in the f oll owing diagram. NO YES Sets error flags I/O refreshing ERR indicator lit or flashing? Flashing ([...]

289 Programming Appendix A Overview of Cyc le Time Calculations Coordinator Module The cycl e time of t he C oordinato r Module will var y with the following factors. • T yp e and numbe r of instr uc tions in the use r programs (i n the cy clic tas k and with in inte rru pt task s for which the ex ec ution con dition s have been satis fied) • T[...]

290 Programming Appendix A 5. Sync Bus Refreshi ng 6. Cyclic Refre shing 7. P er ipheral Ser vic e Calculating the Cyc le Time of a Motion Control Module The cy cle tim e is the total time req uired for the M otion Con trol Mod ule to perform the ope rations shown i n the f ollowin g tables. Cycle tim e = (1) + (2) + (3) + (4) + (5) + (6) + (7 ) 1.[...]

291 Programming Appendix A 4. I/O Refresh ing 5. Cyclic Refre shing 6. Sync Bus Refreshi ng 7. P er ipheral Ser vic e Module I/ O Refresh Times Cyclic Refresh Time in the Coor dina tor Module Cyclic Refresh Time in Motion Contr ol Modules Details Pro cessing tim e and fluctuat ion cause The b uilt- in I/O and special in puts (p ulse/ana log) on the[...]

292 Programming Appendix A Example of Calculating the Cyc le Time An example is given here for FQM1 -MMP21 Motion Cont rol M odules c onnected to a Coordi nator Mo dule. Conditions Calculation Exampl e for FQM1-MMP2 1 Online Editing Cycle Time Extension When onlin e editin g is ex ecu ted from the CX-Pr ogrammer whil e the FQM1 is ope rating in MON[...]

293 Programming Appendix A Response Tim e I/O Response Time The I/O resp onse time is the time it ta kes from when an built-in input on a Mod ule tur ns ON, the data is rec og- nized by the Module, and the user program is ex ecuted , up to the time for the result to be outp ut to the built-in output t er minals. The l ength of the I/O r esponse tim[...]

294 Programming Appendix A Motion Control Module I/O Response Time Minimum I/O Response Time (General-purpo se I/O 0 to 3) The I/O res ponse time is sh or te st when th e input r efresh i s e xecuted immedi ately a fter a Motio n Contr ol Mod- ule detec ts an inp ut, as shown in th e figure b elow . The min imum I/O resp onse t ime is th e total of[...]

295 Programming Appendix A Calculation Example Inpu t ON de la y: 0.03 m s Overhead time: 0.193 ms Instr uction ex ecutio n time: 0.0 01 ms Output ON d ela y: 0.1 ms P osi tion of OUT: Be ginni ng of program. I/O Response Time for Puls e and Analog I/O As shown i n the f ollowin g diagram, a n MPU in th e Moti on Cont rol Mod ule di rectly contr ol[...]

296 Programming Appendix A Scheduled Interrupt T ask The interr upt r esponse ti me of sch eduled inte rru pt tasks is the time ta ken from after the s cheduled time sp eci- fied by the STIM( 980) inst ru ction has elapse d until the interr upt tas k is actually e xecuted. The max imum inter- rupt respons e time for scheduled int err upt tas ks is [...]

297 Programming Appendix A Pr ocessing Time The time requ ired fro m when the in terrup t f acto r occurs un til the interr up t task is called an d the time require d from com pleting t he inte rrupt ta sk un til program ex ecutio n retur ns to the o rigi nal posi tion are shown bel ow . • O nline Ed iting: If onlin e edit ing is perfor med dur [...]

298 Programming Appendix A (2) Wh en using i nterr upt task s frequent ly , be s ure to consi der the t ime requir ed for interrupt p rocessin g and it s affect on the overall sys tem. (3) T he resul ts of ex ecuting a n interr upt tas k can b e outpu t imme diately f rom withi n the i nterru pt task by using the IORF(09 7) instr ucti on. (Thi s ca[...]

299 Appendix B I/O Memory Over view of I/O Memor y Intr oduction This se ction desc rib es the I/O Memo r y and othe r par ts of me mor y in the Modules othe r than that conta ining the user program. I/O Memory This regi on of me mor y cont ains t he data are as which c an be a ccessed by instr uctio n operan ds. The data areas in clude the CIO Are[...]

300 I/O Memory Appendix B I/O Memory Struc ture Coor dinator Mod ule The f ollo wing tab le sho ws th e basic structur e of the I /O Memo ry for the Co ordi nato r Modu le. Note When data i s wri tten from th e CX-Programme r or a host co ntroller, these DM Area words are b ack ed up in flash memor y . The conten ts of flas h memo r y is r ead ou t[...]

301 I/O Mem ory Appendix B Motion Control Modules The f ollo wing tab le sho ws th e basic structur e of the I /O Memo ry Area f or the M otio n Contro l Modu les . Note These DM Ar ea words ar e backed up by a super capa citor . If the Memor y Not Held Fla g (A404.1 4) is ON, t hes e wor ds ar e clear ed to a ll z ero s. Area Size Range T ask usag[...]

302 I/O Memory Appendix B CIO Area Overvie w It is no t neces sar y to in put the “ CIO” pr efix wh en sp ecifyin g an addr ess i n the CIO Area. The CIO Area is g en- erally used for data exchanges, such as I/O r efre shing be tween Modu les (C oordin ator M odule and Motio n Control Mo dules). Words that are not allocate d to Modul es may be [...]

303 I/O Mem ory Appendix B This area ca n be u sed t o transfer inform ation bet ween M odules t hat doe s not requir ed high- speed exchang e. The user can al loca te the informat ion to be trans f erred a nd the informat ion can be us ed a ccessed from the lad- der programs in the C oordinato r Module and Mo tion Contr ol Modul es to c oordina te[...]

304 I/O Memory Appendix B Immediat e Refr esh I/O can also be refr eshed on the timing s pecifie d by the user u sing im mediate refresh ing. Any I/O refr eshed using an immed iate refres h wil l also be refreshed f or the END refr esh. Refreshing Usi ng the IORF(097) Inst ruction W ork Area: W0 00 to W255 (W000.00 to W255.15), 4,09 6 Bits W ords i[...]

305 I/O Mem ory Appendix B • Ea ch TR bi t can be u sed on ly once in one program sectio n. • T he status of TR bit s cannot be cha nged from the CX-P rogrammer . TB bits ar e used i n the following ca ses. • Wh en there a re two ou tputs with d ifferent LD instr ucti ons after the last branch point: • Wh en there i s no LD i nstr uctio n o[...]

306 I/O Memory Appendix B The follo wing table s hows when timer P Vs and Co mpletion Flag s will b e reset. Note The prese nt value of TIM, TI MH(015) , and TMHH(54 0) timer s programmed wi ll be upd ated ev en when jumpe d between JM P and J ME in stru ction s. Counter Area The 256 counter numbers (C0000 to C0 255) ar e shar ed by the CNT and CNT[...]

307 I/O Mem ory Appendix B Data Memor y (D M) Area The DM Area co ntains 32,7 68 words wi th address es ranging from D00000 to D32 767. This data area is used f or gen eral data st orage and m anipulati on and is acce ssible only by word. Data in D0000 0 to D29999 is clear ed to all zeros wh en the power suppl y is cycle d, but is held when th e op[...]

308 I/O Memory Appendix B The Condi tion Fl ags cannot be f orce-s et and force-re set except for the Carr y Flag, which c an be manipul ated with the ST C(040) and CL C(041) ins truc tions. Summary of the Condition Flags The following table summarizes the functio ns of the Conditi on Flags, alth ough the functions of the se fla gs will v ar y slig[...]

309 I/O Mem ory Appendix B Clock Pulses The Clock Pul ses are fla gs tha t are tur ned ON and O FF at reg ular int er vals by the sys tem. The Clock Pul ses are specifi ed with labels (or sy mbols) rather than addres ses. Note The CX- Programmer tr eats Clo ck Pulses a s glo bal sym bols begi nning with P _. The Clock Pul ses are r ead-only ; they [...]

310 I/O Memory Appendix B P arameter Area Unlike the data area s in I/O M emor y , which can be us ed in in str uction ope rands, the Par amete r Area can b e access ed only from t he CX-Programm er . The Parameter Area is made u p of the f ollowin g par ts. • The Sys tem Set up • T he Routing T ables System Set up The user can customize the ba[...]

311 Appendix C System Setup, A uxilia ry Area Allocati ons, and Built- in I/O Allocations Over view of System Setups A System Setup cont ains softwa re setting s that the user can change to cu stomi ze FQM1 operatio n. Modul e functions are se t usin g its Sy stem Set up . The Coordin ator Mo dule and Moti on Control Modules al l hav e Syste m Setu[...]

312 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Sync Cycle Time Sync Mode Star tup Mode Setting (CX-Pr ogrammer: Startup T ab P age) Startup Mode Cyc le Time Settings ( CX-Pr ogra mmer: Timer/P eripheral Service) Cycle Time Wa t c h C y cl e T i m e Address Settings F unction Related flags and words When s[...]

313 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C P eripheral P ort Set tings (CX-Progr amm er: P eripheral P ort T ab Pa ge) Communic ations Settings P eripheral P or t Setti ngs for Host Link Standar d/Custom Setting Serial Comm unications Mode Baud Rate Address Settings F unction Related flags and words W[...]

314 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Host Link Unit Number P eripheral P ort Set tings f or NT Link Serial Comm unications Mode Baud Rate Maxim um Unit Number for NT Link (NT Link Max.) P eripheral Port Settings for P eripheral Bus (T oolBus) Standar d/Customer Settin g Serial Comm unications Mo[...]

315 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Baud Rate RS-232C P or t Settings (CX-Programmer: Host P or t T ab P age ) RS-232C P or t Settings fo r Host Link Serial Comm unications Mode Format Baud Rate Address Settings F unction Related flags and words When setting is rea d Wo r d B i t s +145 00 to 0[...]

316 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Host Link Unit Number RS-232C P or t Set tings for NT Link Serial Comm unications Mode Baud Rate Maximum Unit Number f or NT Link (NT Link Max.) RS-232C P ort Settings f o r P eripheral Bus (T oolBus) Standar d/Custom Setting Serial Comm unications Mode Addre[...]

317 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Baud Rate RS-232 P or t Settings f or No-pr otocol Comm unications (R S-232C) Serial Comm unications Mode Data Format Baud Rate Send Delay Address Settings F unction Related flags and words When setting is rea d Wo r d B i t s +161 00 to 07 00 hex: 9,600 06 h[...]

318 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Start Code and End Code Number of R eceived By tes RS-232C P ort Settings f or PLC Link (PC Link (Sla ve)) Serial Comm unications Mode Baud Rate PLC Link Unit No. (PC Link Unit Number) Address Settings Fun ction Related flags an d words When setting is read W[...]

319 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C RS-4 22A P ort Setting s (CX - Pr ogrammer: Drive T ab P age) RS-422A P or t Settings for Ser ial Gatewa y Standar d/Custom Setting Serial Comm unications Mode RS-422A Response Timeout Time (RS422 Response Timeout of Command) RS-422A P or t Settings for No-pr[...]

320 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Start Code and End Code Number of R eceived By tes P eripheral Service Time Setti ngs (CX-Programmer: Tim er/P eripheral T ab P age) Fixed Service Time Enable Setting (Se t Time to All Events) P eripher al Serv ice T ime Address Settings F unction Related fla[...]

321 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C System Setup in Motion Cont r ol Modules Settings Used b y All Motion Contr ol Modules CX-Pr ogrammer: Module Settings T ab Pa ge CX-Pr ogrammer: Cyc le Tim e T ab Pa ge CX-Pr ogrammer: Other T ab P age These setting s are reser ved f o r future e xpa nsion o[...]

322 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C FQM1-MMP21 Motion Control Modules with Pulse I/O CX-Pr ogrammer: Pulse I nput T ab Pa g e Address Bits Funct ion Remarks When setting is read +320 00 t o 03 High-speed counter 1 (Counter 1) Input method 0 hex: Phase differential x1 1 hex: Phase differential x[...]

323 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C CX-Pr ogrammer: Pulse O utput T ab Pa ge +323 00 t o 03 High-speed counter 2 (Counter 2) Input method Same as f or high-speed counter 1 except t hat fre- quency measurem ent (Counter data to monitor , bit 00 to 03 of +324: 02 hex) cannot be s et for high-spee[...]

324 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Note Alwa ys set th e Circul ar Max imum Count whe n setting any of the cir cular ope ration mode s. FQM1-MMA21 Motion Control Modules with Analog I/O CX-Pr ogrammer: Pulse I nput T ab Pa g e Address Bits Function Remarks When setting is read +320 00 t o 03 H[...]

325 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C CX-Pr ogrammer: Analog Input/Output T ab P age Note Analo g outpu ts that are not be ing us ed ca n be disa bled to decr ease the cyc le tim e. Details on System Setup Setting s Star tup M ode This sett ing de ter mines the operat ing mo de that will be used [...]

326 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Note The RS-23 2C por t setting s can a lso b e changed with th e STUP (237) ins truc tion. Th e RS-232 C P o r t Settings Chang ing Fl ag (A4 10.15) wi ll rem ain ON from th e tim e STUP (237) is ex ecuted u ntil the set- tings have actually b een chang ed. [...]

327 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Note The watch c ycle tim e setting canno t be ch anged w hile the M odule is in R UN or MON IT O R mode. Note The default value for the watch cycl e time is 50 ms. Fixed P eripheral Servicing Time This se ttin g deter m ines whether th e per iphera l se r vi[...]

328 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C The default value for each ser vi cing pr ocess is 6.25 % of the las t cycl e’ s c ycle time. In g eneral, it is rec- ommend ed that the de f ault value be used . Set a uniform ser vi cing time only whe n peri pheral ser v icin g is being del ay ed b ecaus [...]

329 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A uxiliar y Area A llocations by Function The following tables list the wo rds and bi ts alloc ated in the Auxiliar y Ar ea by function . These tables provide only an ov e r view of the functiona lity . Refer to Append ix D Auxiliar y A rea All ocations for d[...]

330 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Address Bits Name Function Controlled by A608 00 High-s peed counter 1 status T arget Compar - ison In- progress Flag OFF: T arget v alue comp arison is not being performed for CTBL(882). Note This flag is always OFF for range compar ison. ON: T arget v alue [...]

331 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A609 00 High-s peed counter 2 status T arget Compar - ison In- progress Flag Same as for high-speed counter 1. M odule 01 PV Ov erflo w/ Underflow Flag 02 Reser ved 03 P hase Z Input Reset Flag (ON for one cycle) 04 A bsolute No. of Rotations Read Error Flag [...]

332 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C A610 00 High-s peed counter 1 com- mand bits Star t Bit OFF: S tops counter operation. The count er PV will be m aintained. ON: Star ts c ounter operation. The counter P V will not be reset . Use r 01 Res et Bit OFF: If a software reset is set in the System S[...]

333 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A611 00 High-s peed counter 2 com- mand bits Star t Bit Same as command bits for high-speed counter 1. User 01 Res et Bit 02 M easurement Start Bit 03 Reser ved 04 Rang e Com- parison Res ults Clear Bit 05 Absolute Of f- set Preset Bit 06 A bsolute Present V [...]

334 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C A620 to A621 00 to 15 Pulse Output 1 PV Note This item applies when the operation mode is relativ e 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-di[...]

335 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A626 00 P ulse Output 1 Command B its PV Reset B it OFF: Pulse output 1 PV not r eset. ON: Resets pulse output 1 PV . Use r 01 Rang e Com- parison Res ults Clear Bit OFF: Does no t clear the ex ecution r esults (A630) or out put bit pat- tern (A631) from CTBL[...]

336 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C FQM1-MMA21 Motion Control Modules wi th Analog I/O Address Bits Name Function Contr olled by A550 00 to 15 Analog I nput PV Contains the value input from the analog input por t (using either the END refresh or immediate refresh) in 4-digit hexadecimal. The PV[...]

337 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A562 00 Analog Out put 1 Flags User Adjustment C om- pleted Initial v alue is 0. Set to 1 if us er performs offset/gain adjustment and Retur ns to f ac tory def ault setting of 0 if adjustment value is cleared. Module 01 to 03 Re served --- 04 Operat ing ON: [...]

338 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Address Bits Name Function Control led b y A564 00 Analog Out put 1 Conv ersion Enable Bit ON: Enables D/A conversion (enables analog output). OFF: Disables DA con version (analog v alues output according to Output St op Function specificatio n in Sys- tem S [...]

339 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Address Bits Name Function Contr olled by A600 00 to 15 High-speed Counter 1 PV Range: 8000 0000 to 7FFF F FFF Note F or a Linear Counter , high-speed counter ov er- flows/underflows are check ed when the P V is read (i.e., when Module internal I /O is refres[...]

340 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Address Bits Name Function Controlled by A608 00 High-s peed counter 1 status T arget Compar - ison In- progress Flag OFF: T arget v alue comp arison is not being performed for CTBL(882). Note This flag is always OFF for range compar ison. ON: T arget v alue [...]

341 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C A609 00 High-s peed counter 2 status T arget Compar - ison In- progress Flag Same as for high-speed counter 1. M odule 01 PV Ov erflo w/ Underflow Flag 02 Reser ved 03 P hase Z Input Reset Flag (ON for one cycle) 04 A bsolute No. of Rotations Read Error Flag [...]

342 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C A610 00 High-s peed counter 1 com- mand bits Star t Bit OFF: S tops counter operation. The count er PV will be m aintained. ON: Star ts c ounter operation. The counter P V will not be reset . Use r 01 Res et Bit OFF: If a software reset is set in the System S[...]

343 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C Allocations Related to Built-in Inputs Input Interrupts A611 00 High-s peed counter 2 com- mand bits Star t Bit Same as command bits for high-speed counter 1. User 01 Res et Bit 02 M easurement Start Bit 03 Reser ved 04 Rang e Com- parison Res ults Clear Bit [...]

344 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Allocations That Ar e the Same f or th e Coordinator Module and M otion Contr ol M odules System Flags Pr ogram Err or Flag s Other Error Flags and Bits Err or Log and Err or Code A524 00 to 15 Int errupt Counter 0 Counter PV These words c ontain the interrup[...]

345 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C FA L / FA L S E r r o r s Me m or y E rro rs System S etup I/O Errors Module Err ors A500 14 Error Log P ointer Reset and Memor y Not Held Flag OFF Bit The error log pointer in A408 is reset to 0000 he x and Memory Not Held Flag (A404.14) is turned OFF when t[...]

346 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Other Allocations Related to DM Data T ransfer (Coordinator Module Only) Communications Pe r i p h e r a l Por t Address Bits Name Function Controlled by A401 08 Cycle Time T oo Long Flag (fatal error) T ur ns ON if the cycle time exceeds the maximum cycle ti[...]

347 System S etup, A uxiliary Area Alloca tions, and Buil t-in I/O Allocation s Appendix C RS-232C Port RS-422A Port Allocations Directl y Related to Instructions Built-in I/O Alloca tions The Coordin ator Mo dule and Moti on Contr ol Modules all hav e built-in I/O. The I/O Area allo catio ns to the con- tacts on the Mod ules a re given in the foll[...]

348 System Setup, A uxiliary Area All ocations, and Bu ilt-in I/O Allocati ons Ap pendix C Coor dinator Module Buil t-in I/O Allocations Inputs (40-pin General-purpose I/O Connector) Outputs (40-pin Genera l-purpose I/O Connector) Motio n Control Mod ule B uilt-in I/O A lloc ations Inputs (26-pin General-purpose I/O Connector) Outputs (26-pin Gener[...]

349 Appendix D A uxiliar y Area Allo cations A uxiliar y Area Allocat ions in Order of Address The following table lists the A uxiliar y Area alloc ations in orde r of address. Refer to Auxiliar y Area Allocati ons by Function o n page 329 for a list of a llocati ons by function. Read-onl y Words: A000 to A 447, Read/W rite Words: A448 to A649 Addr[...]

350 A uxiliary Area Allocations Appendix D A403 00 UM Error Flag T ur ns ON when there is an error in the user memory . 04 System Setup Error Flag T ur ns ON when t here is an error in the Syst em Setup in the Coor- dinator Module or Mot ion Control Module. 10 Flash Mem ory Err or Flag T ur ns ON when the flash memor y is physically destroy ed. 13 [...]

351 A uxiliary Area Alloca tions Appendix D A414 02 RS -422A Po r t Error Flags P arity E rror Flag These error flags turn ON when an error has occurred at the RS- 422A por t. 03 F raming Error Flag 04 Overrun Error Flag 05 Timeout Error Flag 08 RS-422A P or t Communications Er ror Flag T urns ON when a c ommunications error has occur red at the RS[...]

352 A uxiliary Area Allocations Appendix D A520 00 to 15 Interr upt Counter 0 Counter SV Used for interrupt input 0 in counter mode. Sets the count v alue at which the interrupt task will start. Interrupt task 000 will star t when interrupt c ounter 0 has c ounted this num- ber of pulses. Setting range: 0000 to FFFF A521 00 to 15 Interr upt Counter[...]

353 A uxiliary Area Alloca tions Appendix D A559 00 to 15 Number of Analog Samples Indicates t he number of dat a samples act ually input since sam- pling star ted. A560 00 to 15 Analog Output 1 Output V alue When an END refresh is selected, the 4-digit hexadecimal v alue set here by the user is output from analog out put por t 1. When immediate r [...]

354 A uxiliary Area Allocations Appendix D A570 00 A djustment Mode Command Bits (Effectiv e only when A 575 is 5A5A hex.) Adjustment Enable Analog Input OFF: Adjustm ent disabl ed. ON: Adjustment enabled. When one of these bit s is tur ned ON, the def ault value (offset or gain value) corre- sponding to the selected I/O signal range is transf erre[...]

355 A uxiliary Area Alloca tions Appendix D A606 to A607 00 to 15 High- speed Counter 2 For f ollowing counter modes • Absolute linear (CW − ) • Absolute circ ular • Absolute linear (CW+) PV of absolute number of rota- tions Same as for A604 and A605 f or high-speed counter 1 except that measuring the high-speed counter frequency is not pos[...]

356 A uxiliary Area Allocations Appendix D A610 00 High- speed counter 1 com- mand bits Star t Bit OFF: S tops counter operation. The c ounter PV will be m ain- tained. ON: Star ts co unter operation. The counter PV will be res et. 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 i[...]

357 A uxiliary Area Alloca tions Appendix D A612 00 to 15 High- speed counter 1 monitor data Range Compar ison Execution Results Flags Contains the CTBL(882) ex ecution results for r ange comparison. Bits 00 to 15 correspond to r anges 1 to 16. OFF: No match ON: Matc h A613 00 to 15 Output Bit P atter n Contains the output bit patt er n when a matc[...]

358 A uxiliary Area Allocations Appendix D A626 00 P ulse Output 1 Com- mand Bits PV Reset B it OFF: Pulse output 1 PV not r eset. ON: Resets pulse output 1 PV . 01 Range Compar ison Results C lear Bit OFF: Does not c lear the ex ecution results (A 630) or output bit pattern (A631) from CTBL(882) e xecution f or range compar ison f or the puls e ou[...]

359 A uxiliary Area Alloca tions Appendix D Detailed Ex planations on the A uxiliary Area Err or Log Area: A100 to A199 Err or Codes and Error Flags Note (1) Codes C101 to C2F F will be store d for F ALS numbers 00 1 to 511 . (2) Cod es 410 1 to 42FF will be stored for F AL numbers 001 to 511. (3) O nly the c ontents of A405 i s stor ed as the e rr[...]

360 A uxiliary Area Allocations Appendix D FQM1 Memory A ddresses FQM1 mem or y a ddress es are set in Index Register s (IR0 or IR1) to indi rectly address I/O memor y . Nor mally , FQM1 me mor y addr esses a re se t into the Index Registers auto maticall y when c alling sub routi nes with JSB( 982). Some inst ru ctions , such a s FIND MAXIMUM ( MA[...]

361 A uxiliary Area Alloca tions Appendix D Memory Map Note Do not acc ess the areas indi cated Reserved f or system. Classification FQM1 memory addresses (hex) User addresses Area P arameter areas 00000 to 0B0FF --- System Setup Area Profile Area I/O memor y ar eas 0B100 to 0B1FF --- Reserved f or system. 0B200 to 0B7FF --- Reserved f or system. 0[...]

362 A uxiliary Area Allocations Appendix D FQM1 Instruction Execution Times a nd Number of Step s The following table lists t he ex e cutio n times for all ins tru ctions th at are av ailable for the FQM1. The total ex ecution ti me of instr uctio ns within one whole user program is the process tim e for program e xecu- tion when c alcula ting the [...]

363 A uxiliary Area Alloca tions Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Sequence Contr ol Instructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Timer and Counter Instructions Note When a do ubl[...]

364 A uxiliary Area Allocations Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Data Mo vement Instructi ons Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Input Comparis on Instructions (double, signed) LD ,[...]

365 A uxiliary Area Alloca tions Appendix D Data Shift Inst ructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Incremen t/Decreme nt Inst ructions Inst ruction Mnemonic Code Lengt h (steps) (See note.) ON ex ecution time ( µ s) Hard ware implementation Condition s SHIFT REGISTE[...]

366 A uxiliary Area Allocations Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Symbol Math Instructions Instruction Mnemon ic Code Length (steps) (See note .) ON ex ecution tim e ( µ s) Har dwa re implementation Conditio ns SIGNED BINARY ADD WITHOUT CARR Y + 400 4 0.3 0 Y[...]

367 A uxiliary Area Alloca tions Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Con v ersion Inst ructi ons Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Logic Instructions Note When a do uble-length ope ra[...]

368 A uxiliary Area Allocations Appendix D Spec ial Math Inst ruc tion s Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Floating-point Math Instructions Instruction Mnemonic C ode Length (steps) (See note .) ON execution time ( µ s) Hardw are implementation Conditions ARITHMET IC PR[...]

369 A uxiliary Area Alloca tions Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. T able Da ta Pr ocessing I nstructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Data Control Instructions Note When a do [...]

370 A uxiliary Area Allocations Appendix D Interrupt Control Instructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. High-speed Counter and Pu lse Output Instructions Inst ruction Mnemonic Code Length (steps) (See note .) ON execution time ( µ s) Hard ware implementation Cond it[...]

371 A uxiliary Area Alloca tions Appendix D Step In stru ctio ns Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. I/O Refresh Inst ruction Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. COMP ARISON T ABLE LOAD CTBL 882 4[...]

372 A uxiliary Area Allocations Appendix D Serial Comm unications Instructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Deb ugging Instructions Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. F ailure Diagnosis In[...]

373 A uxiliary Area Alloca tions Appendix D Note When a do uble-length ope rand is used, add 1 to the value shown in the length colum n in the above tabl e. Branching IF (input condition) 802 1 6.8 Y e s IF true 12.2 IF false Branching IF (rela y number) 802 2 11.0 Y e s IF true 16.5 IF false Branching (NO T) IF NOT (relay n um- ber) 802 2 11.5 Y e[...]

374 A uxiliary Area Allocations Appendix D[...]

375 Index A A/D conversion va lue , 222 absolute en coder absolu te circul ar coun ter , 202 absolute linea r counter , 202 absolut e offset pres et , 203 absolute pres ent value , 202 absolute PV preset , 203 output da ta acquisition , 207 format , 200 Absolute No. of Rotati ons Read Comple ted Flag , 34 0 , 341 , 355 Absolute No . of Rotations Re[...]

376 Index RS-232C port , 66 , 134 serial data , 200 BCD data , 276 BCD-mode addressin g , 307 binar y-mode addre ssing , 307 block pr ogram s , 270 , 286 , 28 7 instructio n execution times , 372 C cables , 23 5 Carry (CY) Flag , 270 , 285 , 308 CIO Area , 302 Cyclic Refresh Bit Are a , 302 I/O Bit Area , 302 Serial PLC Link Bit Area , 303 Synch ro[...]

Index 377 current consum ption , 45 CX-Programmer , 92 , 95 Analo g Input/Outp ut Tab Page , 325 connect ing cable s , 234 , 23 8 connect ions , 23 5 methods , 237 Cycle T ime Settin gs , 312 Cycle Time Tab Page , 321 models , 32 Module Settings Tab Page , 321 Other Ta b Page , 321 overvie w , 8 , 234 Periphera l Port Settin gs , 313 Periphera l Po[...]

378 Index Equal s Flag , 285 , 30 8 error codes , 359 Error Flag , 308 error flags , 359 error log , 120 , 242 Error Log Area , 242 , 344 , 349 Error Log Po inter , 350 error processing flowchart , 245 errors communica tions error , 250 Coor dinat or Modu le Fat al err or , 250 Coordi nat or Modu le WDT er ror , 250 CPU error , 246 CPU standby , 24[...]

Index 379 Memory Error Flag , 248 , 345 , 349 Memory Not Held Flag , 345 , 350 Motion Control Module Monito r Error Flag , 249 Motion Cont rol Module Monitorin g Error Flag , 345 , 34 9 Negative Flag , 30 8 No END Error Flag , 344 , 350 Not Equal Flag , 308 Overflow Flag , 308 Peripheral Port Error Fl ags , 350 Periphera l Port Settings Changing Fl[...]

END refresh , 303 immediate refresh , 30 4 Motion Con trol Module s , 98 using IORF(097) in struction , 304 I/O response time , 293 calcul ating , 29 3 Coor dinat or Modu les , 293 Motion Con trol Module s , 294 I/O Setting Error Flag , 24 9 , 345 , 349 I/O Table Setting error , 249 Illegal Instruction Error Flag , 344 , 350 incremen t instructions[...]

Index 381 Less Than or E quals Flag , 30 8 Linear Counter , 154 linear coun ter CCW rotation , 201 CW rotation , 201 Linea r Counte r Mode , 205 linear mode , 180 logic instr uctions execut ion times , 367 M Maximu m Cycle Time , 116 MCRO(099) instructio n , 265 Measuri ng Fla g , 34 0 , 341 , 355 Memo ry Back up Statu s Wind ow , 119 Memory Error [...]

382 Index Peripheral Devices , 6 per ipher al por t connect ing a personal co mputer , 235 Peripheral Port Communications Error Flag , 346 , 350 Peripheral Port Erro r Flags , 346 , 350 Peri pheral Port Se ttings Changi ng Flag , 346 , 350 periphe ral servicing , 94 , 98 settings , 327 persona l c omputers connect ing , 23 5 connect ors , 65 phase [...]

Index 383 puls e inpu ts , 148 applicable in structions , 15 2 applicat ion exa mples , 162 connect ions , 71 high -speed c ounter , 153 internal circ uit config uration , 15 2 mode , 204 specificati ons , 148 , 150 Pulse Output Co mpleted Flag , 357 puls e outp ut direct ion pr iori ty mode , 183 Pulse Output F lag , 357 puls e outp ut instr uctio[...]

384 Index operatio n procedure , 133 PLC Setup (Master) , 13 4 System Se tup (Slave) , 13 4 Ser vo Dr iv ers compat ible with abso lute encod er , 207 compatibl e with absolute en coders timing ch art , 209 functio ns compatibl e with absolute encoders , 199 Servo Relay Units , 6 dim ensio ns , 45 , 79 functio ns , 76 models , 32 nomenc lature , 76[...]

Index 385 T table d ata proc essing in struc tions execut ion times , 369 Target Compariso n Flag , 357 Target Comparison In-progress Flag , 340 , 341 , 355 Target Fr equency Not Reached Fl ag , 357 target-val ue comparison , 155 interrupts , 162 , 179 Task Error Flag , 344 , 350 Temporar y Rela y Area , 304 terminal screws , 61 text str ings opera[...]

386 Index[...]

387 Revision History A manual r e vision code a ppears a s a suffi x to th e catalog number on th e front c ov er of the manual. The following table outlines the changes mad e to the manua l duri ng each re vision . P age numbers r ef er to the previous version. Revi sion code Date Rev ised content 01 Nov ember 20 04 Original produ ction Cat. No . [...]

388[...]

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