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FQM1-TER01

FQM1-TER01

  • 厂商:

    OMRON(欧姆龙)

  • 封装:

    -

  • 描述:

    5M 4COND 22AWG TPE ST MALE M12

  • 数据手册
  • 价格&库存
FQM1-TER01 数据手册
Flexible Motion Controllers Series A New Concept in Motion Controllers for Ideal Machine Operation OMRON Corporation Industrial Automation Company Control Devices Division H.Q. Motion Control Department Shiokoji Horikawa, Shimogyo-ku, Kyoto, 600-8530 Japan Tel: (81) 75-344-7173/Fax: (81) 75-344-7149 2-2-1 Nishikusatsu, Kusatsu-shi, Shiga, 525-0035 Japan Tel: (81) 77-565-5223/Fax: (81) 77-565-5568 Regional Headquarters OMRON EUROPE B.V. Wegalaan 67-69-2132 JD Hoofddorp The Netherlands Tel: (31)2356-81-300/Fax: (31)2356-81-388 OMRON ELECTRONICS LLC One Commerce Drive Schaumburg, IL 60173-5302 U.S.A. Tel: (1) 847-843-7900/Fax: (1) 847-843-7787 Authorized Distributor: OMRON ASIA PACIFIC PTE. LTD. No. 438A Alexandra Road # 05-05/08 (Lobby 2), Alexandra Technopark, Singapore 119967 Tel: (65) 6835-3011/Fax: (65) 6835-2711 OMRON (CHINA) CO., LTD. Room 2211, Bank of China Tower, 200 Yin Cheng Zhong Road, PuDong New Area, Shanghai, 200120, China Tel: (86) 21-5037-2222/Fax: (86) 21-5037-2200 OMRON Industrial Automation Global: www.ia.omron.com © OMRON Corporation 2008 All Rights Reserved. In the interest of product improvement, specifications are subject to change without notice. Printed in Japan Cat. No. O901-E1-03 0808-I Advanced Power in Three Applications: Motion Control, Measurement Control, and High-speed Response Control FQM (Flexible Quick Motion) ® Flexibility, quickness, and a wide range of advanced motion operations enable the FQM1 to easily handle applications in the following three control areas. 1. Motion control 2. Measurement control Motion Wide Range of Advanced Motions For the Non-stop Control Ideal for Applications Performing Processing without Stopping Machinery Operation Flexible Quick To improve machinery performance, it important to increase productivity by eliminating waste. Here, the FQM1 really performs to enable processing must be achieved without stopping machinery operation. 3. High-speed response control Multiple axes can be controlled as required by the application. No stopping Simultaneously control up to 8 axes for high-speed response control and up to 16 axes for PTP control. Position of the FQM1 among OMRON Products Cut Motion control Function Block and Structured Text Programming FQM1 Series I/O Control Module Convey together Grasp Expansion Possible Using CJ-series Units No stopping No stopp 90mm Without stopping machinery operation . . . High cost performance achieved in a compact size Process Measure Motion control cycle No stopping 0.5ms ing Wind 2ms Measurement control 80mm No stopping High-speed response control 4ms No stopping Motion Control Unit CJ1W-MCH@@ FQM1 Position Control Unit CJ1W-NCF@@ 8ms 4 axes Compatible with NEW Servo and CJ-series Analog Units (Unit version Ver.3.3 or higher) The FQM1 has become compatible with NEW AC Servo Motors/Drivers OMNUC G-series and SMARTSTEP 2-series, in addition to the conventional OMNUC W-series. Also, new analog units are included in CJ-series Units to be used for FQM1 expansion. ■Compatible with NEW AC Servo Motors/Drivers OMNUC G-series ■Compatible with Various CJ-series Analog Units Recipe Function 1 ● ●Memory card for the SPU unit Key Ladder Programming, etc. DM Name Width Height Color Key1 Product 1 100 52 Red 54 Green (Note: The recipe function can be used only in the “data collection mode”.) Key3 Product 3 200 62 Blue * Create numeric values and character string data to be written to the CM memory area in recipe data (CSV file) and stored beforehand in a SYSMAC SPU Unit memory card. ●Recipe file 2 Write the recipe data for the designated key to the CM. ● No ladder program is required to develop recipe data. ● The recipe function can save the CM memory because recipe data is saved in the memory card of a SYSMAC SPU Unit, which eliminates the need to save it in the CM data memory. ● Recipe data can be written upon request from the CM or via external devices including a PC. ● Numeric values and character string data can be changed even when a SYSMAC SPU Unit is in operation. ● Up 2 The recipe function is used to write numeric values including operation parameters and/or character string data at one time to the CM (Controller Module) memory area. The recipe write function makes tooling change of the device easy. Key2 Product 2 150 Recipe Data In addition to conventional high-speed type Analog Input Units (CJ1W-ADG41), Analog Input Units (8/4 points), Analog output Units (8/4/2 points), and Analog I/O Units (AD 4/DA 2 points) can be used. Number of axes Set the key using the ladder program and turn the write request bit to ON. SPU unit ● 32 axes Using SYSMAC SPU Units makes time reduction for tooling change for each operation possible. Replacing memory cards also allows for easy change of operations and/or conditions. During an inspection process, not only conditional changes but also inspection results can be saved securely. CM FQM1 corresponds with the absolute value encoder interface of the special and high performance OMNUC G-series. 16 axes Connecting the FQM1 with SYSMAC SPU Units enables simplification of the changes in various control and/or operation conditions as well as high speed collection of large capacity data. OMNUC G-series R88D-GT/R88M-G ● The 8 axes to 65 (including the one basic collection pattern and data collection patterns from 1 to 64) data patterns can be collected in the data collection mode. Various data collection is possible if combining events. ● The setting information of SYSMAC SPU Units can be exported as an Excel file. The file can be used as a sheet to define and manage information on a device. 3 A Variety of Applications Accomplished with Motion, Measurement, and High-speed Response High-level Wide-ranging Motion Achieved from F (Flexibility) and Q (Quickness). ●From High-speed PTP Control to Synchronous, Torque, and Tension Control Motion Control Applications Grasp Cut The FQM1 Achieves High-precision Trailing Using High-speed Control Cycles without without stopping. stopping. High-precision trailing with little fluctuation is possible due to the high-speed responsiveness of the FQM1. An instruction for line segment approximation can be used during operation to change the pattern of the curve. Convey together without stopping. Application Examples Non-stop processing, such as materials transfer, filling, and cutting For example, marks on objects to be cut that are continually fed along a production line are detected and cutting is performed continually without stopping the line. The encoder on a measuring roll detects the feed amount supplied by a feed roll, and a cutter cuts with speed-synced trailing along the mark detected by a mark sensor. The workpiece is cut after synchronization. The origin is returned to after cutting is completed and the process is repeated. FQM1 FQM1-MMP22 ● Functions used: Electronic cam (operated by executing the PULSE OUTPUT instruction to synchronize trailing of the slave axis based on the speed of the conveyor of the master axis) ● Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) Pulse/analog I/O feedback gives the FQM1 power in high-speed I/O applications. [Detailed View of Workpieces] Electronic gear Virtual axis Workpiece Pulse output Pulse input Cutter Pulse output Servomotor Mark sensor General-purpose input Pulse I/O Electronic cams Feed roll Measuring roll Film Mark Lateral movement Traveling cutter Rotary encoder Servomotor Travel Traveling cutter: Cut Feed roll: Feeds the objects to be cut Synchronized (outside the control range) Measuring roll: Detects the traveling amount (The carriage of the cutter is synchronized with the object being cut.) of the object to be cut Tension Analog I/O Torque/position control Analog sampling Position ●Wide-ranging FQM1 Applications In addition to motion control, the FQM1 handles the following control areas through its ability to perform high-speed I/O processing through feedback from analog or pulse input data. Actual applications have already been implemented. Control category The high-speed cycle and high level of processing functions enable synchronous control of electronic cams using either a cam table method or a data processing method. In particular, when the data processing method is used, it is possible to realize a high-speed control cycle during processing, enabling the cam to be changed during operation. When using the cam table method, tables can be linked and used even while switching cam tables, enabling high-resolution curves. Packaging machines Flying cutters Traveling cutters Electronic cams Processing line and lens processing Tension control Winding and feeding Draw control Paper feeding Torque control Injection molding Torque limit Molding and pressing Tracking control CP control Processing and coating Traverse shaft Winding Analog systems High-speed analog sampling Sheet thickness inspection and quality management High-speed PID control Distance constant control High-speed counters Measurement (high-speed) and F/V conversion Synchronous startup Conveyers Interrupt feeding Labeler High-speed PTP control Conveyers Pulse systems High-speed response control ● ● Functions used: Electronic cam (operated by executing the PULSE OUTPUT instruction on the target position multiplied by the curve table formed by executing an instruction for line segment approximation for the position of the slave axis or by using data processing) ● Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) plus FQM1-IC101 (I/O Control Module) plus CJ1W-SRM21 (CompoBus/S Master Unit) Analog output terminal Analog output Pulse output Pulse input Pulse input Feed conveyor Previous stage conveyor speed Line flow Sheet Lower cutter Inverter [Operation Pattern (Cutter Speed)] Acceleration (short) Upper roller cutter Measuring roll [Side View] Cutter motor Deceleration (long) Sync speed Synchronized Speed Upper cutter Upper blade I/O control High-speed counters 4 ● For example, a sheet is fed continuously on a production line and cut to the specified dimension without stopping the line. The encoder on the measuring roll measures the length of the feed amount, which serves as the basis of the operation of the cutter. Cutting time (the blade intersection time) is synchronized to the line speed, and the cutter is accelerated or decelerated in the remaining time to cut to the preset dimension. CompoBus/S Torque control Measurement control ● FQM1 FQM1-MMP22 Line control Motion control Application Operating the rotary cutter of a packaging machine or a food processing machine Examples Matching the timing between lines Printing CompoBus/S I/O Control Module Master Unit Application example Rotary cutters Synchronous control Cut The high-speed cycle and processing method of the FQM1 enable flexible cam patterns. without stopping. Conveyers Line speed Lower cutter Upper cutter Lower blade Line flow 5 Applications FQM1 High-speed Control Cycles and High Resolution Enable Free Speed Control Process The FQM1 High-speed Control Cycle Enables High-precision Processing Process without stopping. The FQM1 high-speed control cycle enables various speed controls required in production equipment such as molding machines (injection speed, mold clamping/mold opening, screw turning speed, etc.) to be programmed in detail. In particular, highprecision control is achieved by incorporating feedback using analog input, servo drive SPEED commands, and analog output. Position Control Applying synchronous control of the electronic cam, the FQM1 high-speed control cycle can be used to achieve minute tracking control during processing. The ability to execute position commands in a highspeed control cycle of 1 to 2 ms enables improved manufacturing accuracy even for complicated processes, such as elliptical tracking. Tracking control, such as linear interpolation, circular interpolation, and elliptical interpolation, can be performed by changing the target position. without stopping. I/O Control Module Application Examples ● ● Speed control for injection molding machine Torque control for extruding and pressing For example, the amount of material pushed into the molding machine and the pressure are controlled. Position control (the output amount equals the number of rotations) and torque control (the pressing pressure equals the pressure) are performed during operation. Unit with MECHATROLINK-II FQM1 FQM1-MMA22 ● Functions used: Switching from position control (SPEED command) to pressure control (SPEED command and torque limit) to Position Control SPEED command) ● Configuration example: FQM1-CM002 plus FQM1-MMA22 (with analog I/O) plus FQM1-IC101 (I/O Control Module) plus CJ1W-NCF71 (Position Control Unit with MECHATROLINK-II) without stopping. Application Examples Gluing, welding, or grinding a design to a unique shape For example, taking the master axis as the base axis, two real axes are synchronized to the base axis, and then a tracking pattern is formed with an instruction for line segment approximation to set the target position. ● Functions used: Synchronous control of the electronic cam, linking of the line segment pattern using an instruction for line segment approximation ● Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) Servomotor The welding point is moved in a relatively normal manner, as shown below. Y axis Servomotor Analog output (TORQUE command) MECHATROLINK-II Pulse input (ABS encoder signal) Analog output (SPEED command) Analog input W-series Servo X axis Workpiece Mold open/close motor Molding machine Workpiece Press pressure detection Material hopper Welding rod movement W-series Servo Extruder (1) Mold clamping Laser welder Pulse output Welding Drive motor Mold clamping Extrusion Pressing (maintaining pressure) Withdrawing (backward Removing pressure) from mold θ axis [Operation pattern] Speed (2) Extrusion (4) Withdrawing (3) Pressing FQM1 FQM1-MMP22 Extruder drive Pulse output Servomotor The FQM1 High-speed Feedback Loop Enables Stable Control High-speed analog I/O and a high-speed control cycle enable stable line control. A high-speed feedback loop for controlling the motor speed can be set up with the analog input data from the dancer roller or the tension detector. Also, the internal program can be flexibly combined for compensation processing. Convey together without stopping. Application Examples Winding, feeding control For example, the tautness can be controlled by adjusting the speed of the feeding axis and the winding axis while detecting the position of the dancer roller using an analog input. ● Functions used: Analog I/O, PI with ladder program, ratio calculations ● Configuration example: FQM1-CM002 plus FQM1-MMA22 (with analog I/O) plus FQM1-MMA22 (with analog I/O) Wind High-quality Winding Control with the FQM1's High-speed Control Cycle without stopping. without stopping. High-speed pulse I/O and a high-speed control cycle are used to achieve high-quality winding control. An accurate winding pitch is achieved by controlling the relation between the spindle and the traverse amount using an electronic cam system and tracking the transverse motion to the gradually changing rotational amount of the spindle. Application Examples Wire/Thread Winding Control For example, the transverse motion is controlled using an electronic cam system in response to spindle commands or rotation feedback. ● Functions used: Synchronous control of the electronic cam, switching of the linear pattern using an instruction for linear approximation ● Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) FQM1 FQM1-MMP22 Heating sheet Continuous feeding Intermittent feeding Intermittent feed by inverter Pulse output Continuous feeding Servo 2 tension control Servo 1 tension control Analog output Dancer roller 1 Analog input Position fluctuation Encoder Servo 3 tension control Dancer roller 2 Analog output Bobbin Spindle Analog input Pulse input Pulse input Analog output To stretch the material, servo 1 is operated slower than servo 2. Fine control is performed with an electronic gear. Pulse output Servomotor The speed of servo 2 is determined based on the command speed of servo 3 and the displacement amount of dancer roller 1. FQM1 FQM1-MMA22 FQM1-MMA22 The speed of servo 3 is determined based on the pulse count from the encoder and the displacement amount of dancer roller 2. Traverse shaft Servomotor Supply line 6 7 Applications The High-speed Control Cycle and Processing Power of the FQM1 Expand the Range of Synchronous Control. Process without stopping. A high-speed control cycle and high-performance processing power enable synchronous control of the electronic cam, thereby enabling processing without stopping the line. Application Examples Label printing For example, printing can be performed on items flowing along the line without stopping by rotating the printing drum synchronized with the line speed. ● Functions used: Synchronous control of the electronic cam, high-speed processing ● Configuration Printing motor Use the FQM1 Synchronized Data Function to Enable Synchronized Compensation Control With the FQM1, the data held by the Motion Control Modules can be shared by using a sync bus. Analog data shared in this way can be used as compensation for position control. without stopping. Application • Process by maintaining a uniform distance from products that warp during processing Examples • Feed control for parallel conveyors FQM1 FQM1-MMP22 FQM1-MMA22 example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) Convey together For example, while the base hoist axis synchronized to the table position is controlled with pulse input data by the FQM1-MMP22, analog input data, such as that from a displacement sensor, can be obtained via a sync bus from the FQM1-MMA22 and used to compensate the hoist axis control. ● Functions Pressing motor used: Sync data function ● Configuration example: FQM1-CM002 plus FQM1-MMA22 (with analog I/O) plus FQM1-MMP22 (with pulse I/O) Analog input Workpiece Servomotor Print cylinder Label Printing operation The analog data from the displacement sensor is shared by all axes, enabling position compensation. Analog data from the displacement sensor is shared by all axes and used for position compensation. Displacement sensor (analog output) Servomotor Print drum Workpiece High-precision measurement sensor Mark sensor Print drum Line encoder Input Hoist Pulse input Uniform height control Pulse output Servomotor nt me Object being measured FQM1 FQM1-MMP22 ove lm era Lat Servomotor Travel Measurement Control Applications High-speed Analog Sampling Synced on an FQM1 Pulse Input The FQM1-MMA22 has a high-speed sampling and storage function for analog input data that is synced with input pulses (i.e., the position of the target object). This achieves sampling performance beyond that achieved with conventional controllers, and also supports sampling in sync with an external signal, whereas only sampling over specified times was possible until now. Application Examples • Quality analysis by detecting warping or other conditions of minutely processed products • Condition data collection during processes For example, by collecting multipoint displacement data over the course of changes in the position of the target object from one position to another, the warping or other conditions of minutely processed products can be detected and quality analyzed. ● Functions FQM1 FQM1-MMA22 Measure without stopping. used: High-speed analog sampling ● Configuration High-speed Response Control Applications Flexible Speed Control with Freely Controlled Pulse Outputs With the renewed FQM1, the freedom in speed control has been greatly increased by using pulse outputs. In the operation of infinite-axis feeding, the rotation speed can be changed by changing the frequency of the pulse output as desired based on the time axis. Application Examples Speed Control for Infinite-axis Feeding For example, the ideal rotational operation can be performed for the speed of a rotating body by changing the speed or acceleration/deceleration as desired over time. ● Functions used: ACC instruction (ACCELERATION CONTROL) ● Configuration Liquid resist example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) example: FQM1-CM002 plus FQM1-MMA22 (with analog I/O) Motion Control Module with Analog I/O High-speed counters Analog input sampling start point High-speed movement Displacement Pulse input (position) sensor Displacement amount Encoder Origin Origin Origin Linear counter Analog input sampling 8 Target value 00000500Hex Silicon wafer Sampling starts 4 to 20 mA, –10 to 10 V Sampling data for the position of the sampling start point and the position displacements Unified 00000500Hex Ring counter Sampling data storage address D00200 D00201 D00202 FQM1 FQM1-MMP22 Speed D00299 ACC ACC ACC instruction instruction instruction With the high-speed analog sampling function of the FQM1-MMA22 (maximum cycle speed of 100 µs), sampling can be synchronized with the position. Therefore, positions showing error values can be identified, and by repeatedly performing measurements, accuracy is improved compared with conventional sampling based on the time axis. Pulse output Time The pulse output frequency (speed) and the acceleration/deceleration rate can be changed using user-set timing. Servomotor 9 Applications For the Optimal Control Customers Demand for Their Machines Pulse Output Control with the FMQ1's High-speed Input Response Sensor inputs can be detected with high precision by using the FQM1's dependable interrupt input response and the high-speed input latching function for pulse inputs. This improves precision when switching or stopping machine operation and performing processing from sensor inputs. Application Examples Labeler For example, the stop function can be performed with high-precision stop positioning at a position a constant distance forward after the sensor input has entered. Flexible System Configuration Using Modular Configuration ● Functions used: Interrupt input function, pulse latch function ● Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) Intermittent feeding Label Printer The FQM1 consists of a Power Supply Module, a Coordinator Module, Motion Control Modules, and an End Module. Motion Control Modules are available with pulse I/O or analog I/O, and up to four Motion Control Modules of either type can be connected. (See note.) Continuous feeding Print feed drive Cutting position Label feed drive Cut position detection Flexible Each Motion Control Module controls two axes. Therefore, when four Modules are connected, motion control can be performed for up to eight axes. Also, CJ-series Units can be mounted if an I/O Control Module is used, enabling a flexible system configuration to meet the needs of the application. Servomotor Servomotor Cut Speed Interrupt feeding Encoder Interrupt feeding Feed cycle Encoder Dancer roller Section not to be printed (distance set from PT) Power Supply Module Coordinator Module FQM1-series End Module Maximum of four Motion Control Modules CJ-series End Cover CJ1W-TER01 Sensor Time Servo driver W Servo driver Cutter Cycle time Pulse input Pulse input Speed pattern calculation V Mark sensor detection Pulse output or Pulse output SPEED command V t Note: When using only Motion Control Modules with analog I/O, a maximum of only three Motion Control Modules can be connected. FQM1 FQM1-MMP22 The pulse input and high-precision output functions of the FQM1 provide support to perform processing at a specific distance after detection for when processing cannot be performed based on time after an ON/OFF sensor detects an object or when precision is insufficient. Some of the PLC SYSMAC CJ-series Units can be used by mounting an I/O Control Module for the FQM1 to the FQM1. CJ-series Units can be connected on the right end of the FQM1 or using the CJ-series I/O Interface Unit with up to one Expansion Rack. Example 1: Expansion with CJ-series Basic I/O Units • Cutting printing materials Application Examples • Nozzle exposure on items flowing at high-speed I/O Control Module FQM1-IC101 I/O Control Module FQM1-IC101 For example, the output can be controlled with high-precision time control after the target number of pulses has been counted after the sensor has been input when processing with high-precision is required at a specified distance advanced (with timing generated from a number of pulses) after the sensor input has been received. ● Functions used: Pulse input-target value match interrupt function, one-shot pulse output function (See note.) ● Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) CJ-series Expansion Rack Note: Also applicable as a 1-µs high-precision timer. CJ-series Basic I/O or other Units (See note 1.) Cutter, nozzle, camera shutter, etc. Example 3: I/O Expansion and Reduced Wiring with CompoBus/S I/O Control Module FQM1-IC101 Sensor CompoBus/S Master Unit CJ1W-SRM21 CJ-series I/O Interface Unit CJ1W-II101 CJ-series Basic I/O or other Units (See note 1.) Example 4: Expansion with Multi-axis Position Control Units I/O Control Module FQM1-IC101 FQM1 FQM1-MMP22 Pulse input from encoder Fixed pulse counter CompoBus/S Target number of pulses Encoder Time Servomotor Sensor Servo driver I/O Control Module FQM1-IC101 I/O and Other Functions Expandable with CJ-series Units Timing Control with the FQM1's Pulse Inputs 10 CJ-series Units One-shot output t High-precision time control Synchronized/High-speed Response Control MECHATROLINK-II Multi-axis Position Control Unit CJ1W-NCF71 MECHATROLINK-II Servo Driver Motor Support FQM1 operation with Position Control Units for simplified PTP control of peripheral devices. Multi-axis PTP Control Note 1: The CJ-series Units can be connected as long as the current consumption does not exceed the supply capacity. 11 For the Optimal Control Customers Demand for Their Machines Flexible Synchronize Up to Eight Axes Each Module Controls I/O Directly With the FQM1, each Motion Control Module can control two axes. If you mount four Modules, synchronous control can be performed for up to eight axes. ● Up to Eight Axes Can Be Synchronized (Processing Cycles of All Modules Are Synchronized) Processing Module Distribution, Direct Control Synchronized The FQM1 distributes control to each Module, and each Module controls I/O directly. The Motion Control Modules and Coordinator Module independently execute their own ladder programming, enabling independent, high-speed processing of analog and or pulse I/O controls. Detailed Programming of Motion Control With the FQM1, each Module contains a user ladder program, enabling programming detailed operations that conventionally could not be implemented by the comparatively conservative processing of specialized motion languages. ● Processing Processing ● Generating Ideal Motor Acceleration/Deceleration Patterns Speed Ideal Motor Control Patterns Support for Highly Flexible Programming, such as Control Mode Switching, Operating Condition Changes during Operation, etc. Processing Synchronized Data Synchronized Data Synchronized Data Synchronized Data Synchronized Data Synchronized Data Synchronized Data Synchronized Data Fixed cycle times (unit: ms) Control mode switching according to conditions Synchronous Control of Multiple Axes Processing Operating conditions can be changed during operation. Processing Improved processing precision I/O processing I/O processing Precise speed control Time Time axis generation ● Compatible with Absolute Encoders Operation Switching, such as from Position Control to Speed Control or from Torque Control to Position Control A Servo Driver with an absolute encoder can be connected to the FQM1. ● Servo Drivers with Absolute Encoders Can Be Used. Motion Control Module Sync Data Shared between Modules With the FQM1, each Module can broadcast any two types of data as shared data. Data, such as present values of high-speed counters, analog input values, and virtual axes, can be shared between Modules, enabling a wide variety of synchronized control. ● Pulse and Analog I/O Values Can Be Synchronized and Shared Processing Present value of Processing Processing Shared high-speed counter Present value of high-speed counter Present value of high-speed counter Shared Analog input value Analog input value Analog input value Shared Virtual axis Virtual axis Virtual axis Processing Present value of high-speed counter A Wide Range of Synchronous Control Processing Analog input value Position control ● Switching Ideal Flexible Electronic Cam Operation Input axis (real or virtual axis) Processing Speed control/ torque control Position control Switching High-speed cycle High-speed Analog I/O • Absolute rotational speed present value • Absolute present value Pulse output or analog output The pattern can be changed during operation. Operation axis Absolute encoder signal data Ideal, precision operation according to conditions. Operation axis ×2 G-series Servo Input axis (real or virtual axis) High-speed cycle and high-speed analog I/O make higher precision control, and enable speed/torque limit switching. Improved processing precision Servomotor with absolute encoder Virtual axis ● Tracking Pattern Generation Virtual axis (basic axis) Note: The following types of information can be shared between Modules: Ladder processing results, high-speed counter present values, pulse output present values, analog input values, analog output values, and built-in input values. Axis A Axis B Virtual axis (basic axis) Virtual axis (basic axis) Axis B Improved processing precision Axis A 12 User-specified tracking control is also possible 13 Program Development Environment For the Optimal Response Demanded from Your Machines Quick Application program development is as easy for the FQM1 as for a PLC. Parallel Distributed Processing System Stable Motion Control Cycles for 2 to 8 Axes With the FQM1, the Coordinator Module and each Motion Control Module have its own application program (ladder diagram). The Coordinator Module processes communications services with peripherals, such as computers and PTs. This enables each Motion Control Module to concentrate on its processing exclusively, as a closed unit, resulting in high-speed motion control cycles of 0.5 to 2 ms (overhead time in cycle time is 0.19 ms min.). Also, even if the number of control axes increases, control is distributed and executed at each Module so that the same stable motion control cycles can be achieved as for only a few control axes. Input Interrupt Interrupt Response: approx. 70 µs (Not including hardware response time) External interrupt FQM1 internalprocessing Reduced Tact time Connect the CX-Programmer Support Software to the Coordinator Module to create and monitor programs for all Modules. While monitoring the ladder programs in Motion Control Modules, it is possible to input operation conditions for monitoring the I/O of the Coordinator Module, and to debug programs. ● Set the Module Operations on the System Setup Window System Setup, such as the FQM1 synchronous/asynchronous mode setting, to determine the FQM1 operation modes are required along with creating application programs and can be selected in special windows. Acceleration/deceleration pulse output startup CX-Programmer 156 µs response performance This results in, for example, an interval of 156 µs between an external input and pulse distribution startup when pulses are output for a PTP operation in response to an input interrupt (using the PLS2 instruction). Coordinator Module Cycle Master ● Motion control cycle Coordinator Module ● Motion Control Module Sync bus High-speed Analog I/O FQM1 • Analog input conversion: 40 µs • Analog output conversion: 40 µs High-speed analog input Program High-speed conversion 40 µs Linear sensor Detection of warpage, sagging, floating, etc. High-speed analog measurement in Event bus the FQM1 Product quality judgment information collection Program Program ● Capturing High-speed Counter Present Value with Hardware Latch • Latch input response: 30 µs • Reading captured present value of high-speed counter: Control cycle Pulse/analog I/O Control Cycles Synced between Axes FQM1 has a sync bus running between the Modules so that control can be carried out in the same control cycle (Coordinator Module cycle, or specified cycle time between 0.5 and 10.0 ms) while data, e.g., for virtual axes and real axes, is shared among all Motion Control Modules. By making the control cycle of the Coordinator Module constant, it also becomes possible to make the control cycles of the Motion Control Modules constant. Mark sensor, etc. Present value of high-speed counter Capturing present value of high-speed counter Example: Position information when mark passes Processing Processing Control cycle (can be synchronized and made constant) High-precision compensation ST Language ● FQM1 Manage the FQM1 Module Configuration on a Directory Tree on the Support Software. Improved processing precision 30 µs ● Processing Ladder Programming Encoder Control cycles can be synchronized and made constant. Processing Ladder programs for the Coordinator Module and all Motion Control Modules can be created, transferred, and monitored. External latch: Hardware latch ● Function Block (Ladder Programming and ST Language) Support Further Improve Development Efficiency and Maintenance. Coordinator Module Higher-Frequency Pulse I/O To support applications demanding high precision, the FQM1 has increased the frequencies for pulse I/O. Motion Control Module • Pulse input: 500 kHz (phase difference with multiple of 4: 2 MHz) • Pulse output: Maximum output frequency of 1 MHz ● Calculation processing can be written with Structured Text Efficiency of development and maintenance is increased for motion control applications with a lot of calculation processing. High-speed Pulse Inputs High-speed Processing Performance High-speed Cyclic Processing Engine Directly Controls Built-in Pulse/Analog I/O Each FQM1 Motion Control Module has built-in I/O. Therefore each Motion Control Module can perform I/O processing directly as a self-contained unit. Also, the I/O interfaces are designed specifically for speed to enable the following high-speed I/O. Counting speed: 2 MHz (phase difference with multiple of 4) FQM1 built-in high-speed counter measurement Micro-level high precision positioning Improved processing precision High-speed Pulse Outputs Note: Use CX-Programmer version 6.11 or higher with the FQM1. Frequency: 20 Hz to 1 MHz Micro-level high precision positioning FQM1 Pulse Outputs Improved processing precision High-speed Analog Outputs ● High-speed Pulse Startup High-speed conversion: 40µs High-speed Pulse Startup at 25 µs Minimum Examples: Electronic cam pulse output: 32 µs Trapezoidal PTP pulse output: 54 µs Pulse startup Electronic cam pulse output startup Highly accurate positioning Pulse startup 32 µs 14 FQM1 Internal High-speed Analog Output Servomotor High-precision line control High quality (no stretching or wrinkles) Improved processing precision 15 Connecting Peripherals Connecting Peripherals Serial communications systems can be constructed with the host PLC. Construct Touch Panel (PT) Systems and DeviceNet Systems. ● Host Links with CS/CJ-series PLCs ● Serial PLC Links with CJ1M PLCs ● NS-series PTs supported. ● DeviceNet supported. ■ Serial Communications with the Host PLC FQM1 data can be read and written using communications instructions from the host PLC. ■ Equipped with Host Link Functions as Standard Feature: Coordinator Module By mounting a Serial Communications Unit (of Unit version 1.2 or later) to a CS/CJ-series PLC, accessed data can be read and written for the FQM1 using the SEND/RECV network communications instructions with the CS/CJ-series PLC as the Host Link master and the FQM1 as the Host Link slave (using the RS-232C port on the Coordinator Module). CS/CJ-series PLC Host Link master SEND/ RECV instructions Serial Communications Unit Serial communications serial gateway (conversion from FINS to Host Link FINS) FQM1 Seamless Data Exchange with Host Controllers ■ Serial Communications with NS-series PTs ■ DeviceNet communications with the host controller Easy Servo Parameter Setup/Monitoring from NS-series PTs Data can be exchanged with the host controller using DeviceNet without special programming. ■ Serial PLC Links Supported ■ Serial Gateway Function (Built-in RS-422A for Connecting to Servo) ■ Add a DeviceNet Slave Function (Data Sharing with the OMRON CJ1M PLC) Exchange of control data with the machine's main controller (PLC) can be performed without any special programming. With the CJ1M CPU Unit as master and the FQM1 as slave, data can be exchanged between the two without special programming. Connect the FQM1 Coordinator Module to the RS-232C port. Servo parameters and other data can be read or written from an NS-series PT or computer (application running on the CX-Server) via the FQM1 Coordinator Module for servo drivers connected by RS-422A. This makes it easy to enter servo driver parameter settings at system startup, and to monitor operation. Remote I/O communications will be possible between the host controller (master) and FQM1 (slave) if the FQM1 is expanded using an I/O Control Module and the slave function of a CJ-series DeviceNet Unit. Note 1: The master link method and complete link method for Serial PLC Links are supported. Note 2: When connecting 1:N (where N = 8 units max.) via RS-422A/485, use an RS-422A converter (CJ1W-CIF11). The maximum size of each CJ1M/FQM1 transmission is ten words. Transmissions smaller than ten words (unified CJ1M/FQM1 size) can also be sent (set as the number of link words). ● RS-422A-compatible Servo Drivers OMRON W-series or SMARTSTEP ● System Configuration System Configuration Remote I/O communications NS-series PT • CJ1M: FQM1 = 1:1 Connection CJ1M CPU Unit (master) Smart Active Parts Host Link slave NT Link Coordinator Module Protocol change Coordinator Module RS-232C port DeviceNet network Example: Accessing a Servo Driver (W-series or SMARTSTEP) Using Smart Active Parts on an NS-series PT Connected Using an NT Link FQM1 (slave) ● RS-232C Coordinator Module Host controller (master) I/O Control Module FQM1 Data-sharing FQM1 (slave) CJ-series DeviceNet Unit (slave function only) RS-422A • CJ1M: FQM1 = 1:N (8 Max.) Connection Servo parameters, etc. CJ1M CPU Unit (master) CJ1W-CIF11 (RS-422A/485 to RS-232C conversion): Connection to an RS-232C port Servo Relay Unit RS-422A Servo Relay Unit RS-422A RS-422A/485 Data-sharing FQM1 (slave) Coordinator Module FQM1 (slave) FQM1 (slave) Servo (W-series or SMARTSTEP) Servo (W-series or SMARTSTEP) CJ1W-CIF11 (RS-422A/485 to RS-232C conversion): Connection to an RS-232C port Note: The Servo Relay Unit has a built-in RS-422A connector for connecting to the FQM1. Up to Eight Units Reference information: In the complete link method, the CJ1M CPU Unit will be the master and data transfer will be possible among the FQM1 slaves. 16 17 Expansion Possible Using CJ-series Units CJ-series Units for FQM1 Expansion Expansion Is Performed though an I/O Control Module (for Bus Conversion and I/O Expansion) ● CJ-series Basic I/O Units ● Special Units Including Analog Units, DeviceNet Units, Position Control Units and High-speed Data Collection Units ● CJ-series Expansion Rack(The above Units can be mounted; one Rack only.) I/O Control Module Basic I/O Units ● Input Units 16-point DC Input Units CJ1W-ID201/211 32-point DC Input Units CJ1W-ID231 32-point DC Input Units CJ1W-ID232 64-point DC Input Units CJ1W-ID261 64-point DC Input Units CJ1W-ID262 8-point/64-point AC Input Units CJ1W-IA111/201 8-point Transistor Output Units CJ1W-OD20@ 16-point Transistor Output Units CJ1W-OD211/212 32-point Transistor Output Units CJ1W-OD231 32-point Transistor Output Units CJ1W-OD232/233 64-point Transistor Output Units CJ1W-OD261 64-point Transistor Output Units CJ1W-OD262/263 8-point (Independent) Relay Contact Output Unit CJ1W-OC201 16-point Relay Contact Output Unit CJ1W-OC211 8-point Triac Output Unit CJ1W-OA201 32-point DC Input/Transistor Output Units CJ1W-MD232/233 64-point DC Input/Transistor Output Units CJ1W-MD261 64-point DC Input/Transistor Output Units CJ1W-MD263 64-point TTL I/O Unit CJ1W-MD563 64-point B7A Interface Units CJ1W-B7A@@ ● Output Units I/O Control Module FQM1-IC101 Coordinator Module Motion Control Module Power Supply Unit End Cover CJ1W-TER01 FQM1-IC101 FQM1 Rack End Cover CJ1W-TER01 Maximum combined total of ten Motion Control Modules and CJ-series Units (Provided with I/O Control Module) ● I/O Units CJ-series Units Note: Expandable within the power consumption limit. Power Supply Unit I/O Connecting Cables I/O Connecting Cables 32-point DC Input/Transistor Output Units CJ1W-MD231 CJ-series Expansion Rack (one Rack only) CS1W-CN@@3 (30cm, 70cm, 2m, 3m, 5m, 10m, 12m) Special I/O Units CompoBus/S Master Unit CJ1W-SRM21 Position Control Unit CJ1W-NC@@3 ID Sensor Unit CJ1W-V600C11/ V600C12 Up to ten Units CJ-series Units I/O Interface Unit CJ1W-II101 Power Supply Unit Analog Input Unit CJ1W-AD081-V1 CJ1W-AD041-V1 (8-point/4-point) I/O Interface Unit Analog Output Unit CJ1W-DA08V/08C CJ1W-DA041/021 (8-point/4-point/2-point) Analog I/O Unit CJ1W-MAD42 (AD 4-point/DA 2-point) CPU Bus Units NCF71 MLK 789 56 T NC UNI UNIT No. E IN JAPA N 2 34 MAD on ON Corp orati OMR CJ1W-II101 MLK 18 CF71 W-N CJ1 RUN ERC ERH ERM ABC DEF1 CJ1W-PA205R CJ1W-PA205C CJ1W-PA202 CJ1W-PD025 CJ1W-PD022 Position Control Unit CJ1W-NC@71 (with MECHATROLINK-II) DeviceNet Unit CJ1W-DRM21 High-speed Data Collection Unit CJ1W-SPU01-V2 Analog Input Unit (High-speed type) CJ1W-ADG41 19 Flexible Motion Controllers FQM1 Series Advanced Power in Three Applications: Motion Control, Measurement Control, and High-speed Response Control FQM (Flexible Quick Motion)® • Flexibility, quickness, and a wide range of advanced motion operations enable the FQM1 to easily handle applications in the following three control areas. 1. Motion control 2. Measurement control 3. High-speed response control • Expansion Possible Using CJ-series Units Therefore, the FQM1 supports I/O expansion, communications slaves, multiaxis control, and data storage. • Function blocks and structured text (ST) programming are supported. • Ideal for Applications Performing Processing without Stopping Machinery Operation. System Configuration (11) CX-Programmer PT (Monitor parameter setting) or Host controller (10) RS-232C connection, or RS-422A/485 connection via CJ1W-CIF11 CS1W-CN226/626 Connecting Cable for peripheral port Peripheral port (4) Power Supply Unit 40-pin connector (24 general-purpose I/O + RS-422A) 26-pin connector (20 general-purpose I/O) (3) I/O Control Module 40-pin connector (special I/O) (1) Coordinator Module (13) CJ-series Units (9) FQM1-series End Module (2) Motion Control Modules (4 max.) (12) CJ-series End Cover FQM1 Rack or XW2Z-@@@K Connecting Cable for ConnectorTerminal Block Conversion Unit (6)-1 RS-232C port (6) Connecting Cable for Servo Relay Unit (between FQM1 and Servo Relay Unit) (6)-2 (8) (6)-1 (6)-2 (8) (6)-1 (6)-2 (6)-1 (6)-2 (8) Note: A maximum total of 10 Motion Control Modules and CJ-series Units can be connected in one FQM1 Rack as long as the current consumption limit for output capacity of the Power Supply Unit is not exceeded. (5) Servo Relay Unit Connector-Terminal Block Conversion Unit (e.g., XW2D-40G6) (7) (7) User-provided cable (See note.) (7) (7) (7) (7) (15) I/O Connecting Cable (7) (7) (14) I/O Interface Unit (7) Connecting Cable for Servo Relay Unit (between Servo Relay Unit and Servo Driver) (16) Power Supply Unit (13) CJ-series Units CJ-series Expansion Rack Servo Driver (G-series or SMARTSTEP 2) Note: By connecting the Coordinator Module and Servo Driver using an RS-422A, servo parameters can be set and monitored from the PT and commands can be sent and received from ladder programming for the Coordinator Module. 1 (10 max.) Note that the current consumption limit for the output capacity of the Power Supply Unit must not be exceeded. FQM1 Series Ordering Information Basic Sets Name Specifications Model Standards FQM1 Pulse Set A basic set for pulse outputs and 2 axes (3) CJ1W-PA202 + (1) FQM1-CM002 + (2) FQM1-MMP22 + (9) FQM1-TER01 FQM1S-MC233 (See note 1.) CE, UL approval pending (See note 2.) FQM1 Analog Set A basic set for analog outputs and 2 axes (3) CJ1W-PA205R + (1) FQM1-CM002 + (2) FQM1-MMA22 + (9) FQM1-TER01 FQM1S-MC224 (See note 1.) CE, UL approval pending (See note 2.) Note: 1. The I/O Control Module (FQM1-IC101) is not included. 2. UL-approved products are scheduled for shipment in March 2006. Basic Modules No. in diagram (1) (2) (3) (4) Name Coordinator Module Motion Control Modules I/O Control Module Power Supply Unit Current consumption (A) Specifications Model Standards − FQM1-CM002 (See note 1.) CE, UL approval pending (See note 2.) 0.824 − FQM1-MMP22 CE, UL approval pending (See note 2.) Program capacity: 10 Ksteps, DM Area capacity: 32 Kwords, Built-in I/O (12 inputs and 8 outputs), 2 pulse inputs, 1 analog input, 2 analog outputs 0.772 0.095 FQM1-MMA22 CE, UL approval pending (See note 2.) Used when CJ-series Units are connected to the FQM1. A CJ-series Expansion Rack can be connected at the same time. 0.02 − FQM1-IC101 (See note 1.) UL approval pending (See note 4.), CE 5V 24 V Program capacity: 10 Ksteps, DM Area capacity: 32 Kwords, Built-in I/O (16 inputs and 8 outputs), I/O Area for CJ-series Basic I/O Unit: 320 bits, Serial PLC Link Area: 1,440 bits, DeviceNet Area: 9,600 bits, Built-in peripheral port, RS-232C port, and RS-422 port 0.37 Program capacity: 10 Ksteps, DM Area capacity: 32 Kwords, Built-in I/O: 12 inputs and 8 outputs), two pulse inputs, two pulse outputs 100 to 240 VAC, output capacity: 2.8 A at 5 VDC, 0.4 A at 24 VDC, total power consumption: 14 W CJ1W-PA202 100 to 240 VAC (with RUN output), output capacity: 5 A at 5 VDC, 0.8 A at 24 VDC, total power consumption: 25 W CJ1W-PA205R 100 to 240 VAC, replacement time notification function, no RUN output, Output capacity: 5 A at 5 VDC, 0.8 A at 24 VDC, total power consumption: 25 W CJ1W-PA205C UC1, CE, N, L Note: 1. A FQM1-TER01 End Module is included. 2. UL-approved products are scheduled for shipment in March 2006. Servo Relay Unit and Cables Servo Relay Unit No. in diagram Name (5) Servo Relay Unit Compatible Units Compatible Drivers Number of axes Model FQM1 OMNUC G-series/SMARTSTEP 2 For two axes XW2B-80J7-12A FQM1/CS1W-HCP OMNUC W-series/SMARTSTEP Junior/A-series For two axes XW2B-80J7-1A Standards − Connecting Cable on Position Control Unit for Servo Relay Unit No. in diagram Name Compatible Drivers General-purpose I/O (26-pin connector) (6)-1 OMNUC G/W-series R88D-GT/WT Special I/O (40-pin connector) (6)-2 Connecting Cable on Position Control Unit (6)-1 (6)-2 Specifications OMNUC G/W-series, SMARTSTEP 2, SMARTSTEP Junior/A-series General-purpose I/O (26-pin connector) R88D-GT/WT, R7D-BP/ZP/AP Special I/O (40-pin connector) Cable length Model 0.5m XW2Z-050J-A28 1m XW2Z-100J-A28 2m XW2Z-200J-A28 0.5m XW2Z-050J-A31 1m XW2Z-100J-A31 2m XW2Z-200J-A31 0.5m XW2Z-050J-A28 1m XW2Z-100J-A28 2m XW2Z-200J-A28 0.5m XW2Z-050J-A30 1m XW2Z-100J-A30 2m XW2Z-200J-A30 Standards − 2 FQM1 Series Connecting Cable on Servo Driver for Servo Relay Unit No. in diagram Name Compatible Units Compatible Drivers OMNUC G-series For R88D-GT Motion Control Module FQM1-MMA22 OMNUC W-series SMARTSTEP 2 (7) For R88D-WT For R7D-BP Connecting Cable on Servo Driver OMNUC G-series SMARTSTEP Junior For R88D-GT For R7D-ZP Motion Control Module FQM1-MMP22 SMARTSTEP A-series OMNUC W-series For R7D-AP For R88D-WT Cable length 1m Model Standards XW2Z-100J-B27 2m XW2Z-200J-B27 1m XW2Z-100J-B13 2m XW2Z-200J-B13 1m XW2Z-100J-B21 2m XW2Z-200J-B21 1m XW2Z-100J-B22 2m XW2Z-200J-B22 1m XW2Z-100J-B30 2m XW2Z-200J-B30 1m XW2Z-100J-B26 2m XW2Z-200J-B26 1m XW2Z-100J-B20 2m XW2Z-200J-B20 1m XW2Z-100J-B10 2m XW2Z-200J-B10 1m XW2Z-100J-B9 2m XW2Z-200J-B9 1m XW2Z-100J-B23 2m XW2Z-200J-B23 − RS-422A Communications Cable between Servo Relay Units No. in diagram Name Specifications (8) RS-422A Communications Cable between Servo Relay Units − Cable length Model 1m XW2Z-100J-C1 2m XW2Z-200J-C1 Standards − Connecting Cable with NS-series PTs No. in diagram Name − Connecting Cable with NS-series PTs Specifications Connection Format Model Cable length Connecting Cable between NS-series PT and RS-232C port on Coordinator Module 2m XW2Z-200T 5m XW2Z-500T Connecting Cable between NS-series PT and peripheral port on Coordinator Module 2m XW2Z-200T-2 5m XW2Z-500T-2 Standards − Others No. in diagram (9) (10) 3 Name Specifications Model Standards End Module Connected to the right end of the FQM1 Rack. Provided with the FQM1 Sets and with the FQM1-CM002. Track length: 0.5 m, Height: 7.3 mm PFP-50N − DIN Track Track length: 1 m, Height: 7.3 mm PFP-100N − Track length: 1 m, Height: 16 mm PFP-100N2 − End Plate Placed on both ends of the Controller on the DIN Track to hold the Controller in place. Two End Places are provided with the FQM1 Sets and with the FQM1-CM002. PFP-M − RS-422A Adapter Converts RS-232C to RS-422A/485. CJ1W-CIF11 FQM1-TER01 UC1, CE UC, CE, N FQM1 Series Support Software No. in diagram Name CX-One FA Integrated Tool Package Ver. 3.@ (11) Specifications The CX-One is a package that integrates the Support Software for OMRON PLCs and components. CX-One runs on the following OS. Windows 2000 (Service Pack 3a or higher), XP, or Vista CX-One Ver.3.@ includes CX-Programmer Ver.8.@. For details, refer to the CX-One catalog (Cat. No. R134). Number of licenses Media CD 1 license (See note 1.) Model Standards CXONE-AL01C-V3 − DVD CXONE-AL01D-V3 (See note 2.) CX-Programmer can still be ordered individually in the following model numbers. CXProgrammer Ver.8.@ PLC programming software OS: Windows 2000 (Service Pack 3a or higher), XP, or Vista 1 license CD WS02-CXPC1-V8 − 3 licenses CD WS02-CXPC1-V8L03 − 10 licenses CD WS02-CXPC1-V8L10 − Note: 1. Site licenses are available for the CX-One (3, 10, 30, or 50 licenses). 2. When purchasing the DVD format, verify the computer model and DVD drive specifications before purchasing. Compatible CJ-series Units No. in diagram (12) Name CJ-series End Cover Specifications Input Units AC Input Units 5V Mounted on the right end when CJ-series Units are used for expansion. Terminal block, 12 to 24 VDC, 10 mA, 8 inputs DC Input Units Current consumption (A) − 0.09 Output Units Transistor Output Units Triac Output Unit − Model Standards CJ1W-TER01 UC1, CE, N, L CJ1W-ID201 UC, CE, N, L Terminal block, 24 VDC, 7 mA, 16 inputs 0.08 − CJ1W-ID211 Fujitsu connector, 24 VDC, 4.1 mA, 32 inputs 0.09 − CJ1W-ID231 (See note 1.) MIL connector, 24 VDC, 4.1 mA, 32 inputs 0.09 − CJ1W-ID232 (See note 1.) Fujitsu connector, 24 VDC, 4.1 mA, 64 inputs 0.09 − CJ1W-ID261 (See note 1.) MIL connector, 24 VDC, 4.1 mA, 64 inputs 0.09 − CJ1W-ID262 (See note 1.) Terminal block, 100 to 120 VAC, 7 mA (100 V, 50 Hz), 16 inputs 0.09 − CJ1W-IA111 Terminal block, 200 to 240 VAC, 10 mA (200 V, 50 Hz), 8 inputs 0.08 − CJ1W-IA201 Terminal block, 250 VAC/24 VDC max., 2 A, 8 outputs, independent contacts 0.09 0.048 (0.006 × number of points ON) CJ1W-OC201 Terminal block, 250 VAC/24 VDC max., 2 A, 16 outputs, independent contacts 0.11 0.06 (0.006 × number of points ON) CJ1W-OC211 Terminal block, 12 to 24 VDC, 2 A, 8 sinking outputs 0.09 − CJ1W-OD201 Terminal block, 24 VDC, 2 A, 8 sourcing outputs, load shortcircuit protection, wiring disconnect detection, and alarm function 0.11 − CJ1W-OD202 Terminal block, 12 to 24 VDC, 0.5 A, 8 sinking outputs 0.10 − CJ1W-OD203 Terminal block, 24 VDC, 0.5 A, 8 sourcing outputs, load shortcircuit protection, and alarm function 0.10 − CJ1W-OD204 Terminal block, 12 to 24 VDC, 0.5 A, 16 sinking outputs 0.10 − CJ1W-OD211 Terminal block, 24 VDC, 0.5 A, 16 sourcing outputs, load shortcircuit protection, and alarm function 0.10 − CJ1W-OD212 Fujitsu connector, 12 to 24 VDC, 0.5 A, 32 sinking outputs 0.14 − CJ1W-OD231 (See note 1.) MIL connector, 12 to 24 VDC, 0.5 A, 32 sourcing outputs, load short-circuit protection, and alarm function 0.15 − CJ1W-OD232 (See note 1.) MIL connector, 12 to 24 VDC, 0.5 A, 32 sinking outputs 0.14 − CJ1W-OD233 (See note 1.) Fujitsu connector, 12 to 24 VDC, 0.3 A, 64 sinking outputs 0.17 − CJ1W-OD261 (See note 1.) MIL connector, 12 to 24 VDC, 0.3 A, 64 sourcing outputs 0.17 − CJ1W-OD262 (See note 1.) MIL connector, 12 to 24 VDC, 0.3 A, 64 sinking outputs 0.17 − CJ1W-OD263 (See note 1.) Terminal block, 250 VAC, 0.6 A, 8 outputs 0.22 − CJ1W-OA201 Relay Contact Output Units (13) 24 V UC1, CE, N, L UC1, CE, N, L 4 FQM1 Series No. in diagram Name Current consumption (A) Specifications 24 VDC, 7 mA, 16 inputs 12 to 12 VDC, 0.5 A, 16 sinking outputs I/O Units DC Input/ Transistor Output Units 24 VDC, 4.1 mA, 16 inputs 12 to 24 VDC, 0.5 A, 16 sinking outputs 24 VDC, 4.1 mA, 32 inputs 12 to 24 VDC, 0.3 A, 32 sinking outputs 24 VDC, 4.1 mA, 32 inputs Fujitsu connector 0.13 − CJ1W-MD231 (See note 2.) UC1, N, CE MIL connector 0.13 − CJ1W-MD232 (See note 2.) UC1, N, L, CE MIL connector 0.13 − CJ1W-MD233 (See note 2.) Fujitsu connector 0.14 − CJ1W-MD261 (See note 1.) MIL connector 0.14 − CJ1W-MD263 (See note 1.) MIL connector 0.19 − CJ1W-MD563 (See note 1.) 64 inputs 0.07 − CJ1W-B7A14 64 outputs 0.07 − CJ1W-B7A04 32 inputs/32 outputs 0.07 − CJ1W-B7A22 CompoBus/S Master Units Communications functions: Remote I/O communications Maximum number of I/O points: 256 (128 inputs/128 outputs) or 128 (64 inputs/64 outputs) 0.15 − CJ1W-SRM21 ID Sensor Unit Data transfer speed: 160 bytes/scan (between CPU Unit and ID Sensor Unit) 0.26 0.12 CJ1W-V600C11 0.32 0.24 CJ1W-V600C12 Position Control Unit Pulse train open collector/ Line driver output type 12 to 24 VDC, 0.3 A, 32 sinking outputs TTL I/O Unit B7A Interface Unit 5 VDC, 3.5 mA, 32 inputs 5 VDC, 3.5 mA, 32 inputs CJ-series Special I/O Units Analog Output Units 5 UC1, CE UC1, CE, N, L UC, CE CJ1W-NC113/133 − CJ1W-NC213/233 0.36 − CJ1W-NC413/433 Number of inputs: 8 Signal range: 1 or 5 V; 0 to 5 V, 0 to 10 V, ±10 V, 4 to 20 mA Resolution: 1/8000 (available to set to 1/4000) (see note 1.) Conversion speed: 250 μs/point max. (available to set to 1 ms/point) (see note 1.) Accuracy (ambient temperature: 25°C): Voltage: ±0.2% of F.S. Current: ±0.4% of F.S. (see note 2.) 0.42 − CJ1W-AD081-V1 Number of inputs: 4 Signal range: 1 or 5 V; 0 to 5 V, 0 to 10 V, ±10 V, 4 to 20 mA Resolution: 1/8000 (available to set to 1/4000) (see note 1.) Conversion speed: 250 μs/point max. (available to set to 1 ms/point) (see note 1.) Accuracy (ambient temperature: 25°C): Voltage: ±0.2% of F.S. Current: ±0.4% of F.S. (see note 2.) 0.42 Number of outputs: 8 Signal range: 1 or 5 V; 0 to 5 V, 0 to 10 V, −10 to 10 V Resolution: 1/4000 (available to set to 1/8000) Conversion speed: 1 ms/point (available to set to 250 μs/point max.) Accuracy (ambient temperature: 25°C): ±0.3% of F.S. External connection: Removable terminal block External power supply: 24 VDC, 140 mA max. 0.14 0.14 CJ1W-DA08V (See note 3.) UC1, N, L, CE Number of outputs: 8 Signal range: 4 to 20 mA Resolution: 1/4000 (available to set to 1/8000) Conversion speed: 1 ms/point (available to set to 250 μs/point max.) Accuracy (ambient temperature: 25°C): ±0.3% of F.S. External connection: Removable terminal block External power supply: 24 VDC +10% −15% , 170 mA max. 0.14 0.17 CJ1W-DA08C (See note 3.) UC1, N, CE Number of outputs: 4 Signal range: 1 or 5 V; 0 to 5 V, 0 to 10 V, −10 to 10 V, 4 to 20 mA Resolution: 1/4000 Conversion speed: 1 ms max./point Accuracy (ambient temperature: 25°C): Voltage output: ±0.3% of F.S. Current output: ±0.5% of F.S. External connection: Removable terminal block External power supply: 24 VDC +10% −15% , 200 mA max. 0.12 0.2 CJ1W-DA041 (See note 3.) Number of outputs: 2 Signal range: 1 or 5 V; 0 to 5 V, 0 to 10 V, −10 to 10 V, 4 to 20 mA Resolution: 1/4000 Conversion speed: 1 ms max./point Accuracy (ambient temperature: 25°C): Voltage output: ±0.3% of F.S. Current output: ±0.5% of F.S. External connection: Removable terminal block External power supply: 24 VDC +10% −15% , 140 mA max. 0.12 2 axes 4 axes Analog Input Unit UC1, CE, N − 1 axis (13) Standards 24 V 24 VDC, 7 mA, 16 inputs 24 VDC, 0.5 A, 16 sourcing outputs, load short-circuit protection, and alarm function Model 5V 0.25 UC1, CE UC1, N, L, CE − CJ1W-AD041-V1 UC1, N, L, CE 0.14 CJ1W-DA021 (See note 3.) FQM1 Series No. in diagram CJ-series Special I/O Units Name CJ-series CPU Bus Units (13) Analog I/O Units (15) (16) Number of inputs: 4 Signal range: 1 or 5 V; 0 to 5 V, 0 to 10 V, −10 to 10 V, 4 to 20 mA Resolution: 1/4000 (available to set to 1/8000) Conversion speed: 1 ms/point (available to set to 500 μs/point max.) Accuracy (ambient temperature: 25°C): Voltage: ±0.2% of F.S. Current: ±0.2% of F.S. Number of outputs: 2 Signal range: 1 or 5 V; 0 to 5 V, 0 to 10 V, −10 to 10 V, 4 to 20 mA Resolution: 1/4000 (available to set to 1/8000) Conversion speed: 1 ms/point (available to set to 500 μs/point max.) Accuracy (ambient temperature: 25°C): Voltage: ±0.3% of F.S. Current: ±0.3% of F.S. Model Standards − CJ1W-MAD42 UC1, N, L, CE 5V 24 V 0.58 Analog Input Unit (Highspeed type) Number of inputs: 4 Signal range (Resolution): ±10 V (Resolution 1/60000) 0 to 5 V, 0 to 10 V (Resolution 1/30000) 1 to 5 V, 4 to 20 mA (Resolution 1/24000) Conversion speed: 80 μs/2 points, 160 μs/4 points Accuracy (ambient temperature: 25°C): ±0.05% of F.S. 0.65 − CJ1W-ADG41 UC1, CE (See note 4.) DeviceNet Unit Slave functions only, 32,000 points max. Communications type: Remote I/O communications slave (with fixed or user-set allocation) 0.29 − CJ1W-DRM21 UC1, CE, N, L 0.36 − CJ1W-NCF71 UC1, CE PC card slot: CF card Type I/II × 1 slot Mount OMRON memory card HMC-EF@@@ to use Ethernet (LAN) port: 1 port (10/100BASE-TX) Automatically collects the specified data through the CJ bus at intervals of a few ms, or write the event 0.56 − CJ1W-SPU01-V2 UC1, CE One unit required on the CJ-series Expansion Rack to connect CJ-series Expansion Rack. 0.13 − CJ1W-II101 UC1, CE, N, L Issues the control commands using the MECHATROLINK-II Position Control synchronous communications Unit with 16 axes max. MECHATROLINK-II Direct operation with ladder program communications Control mode: Position control/Speed control/Torque control High-speed Data Collection Unit (14) Current consumption (A) Specifications CJ-series I/O Interface Unit CJ-series I/O Connecting Cables CJ-series Power Supply Units Connects I/O Control Module on FQM1 Rack to I/O Interface Unit on CJ-series Expansion Rack Cable length: 0.3m CS1W-CN313 Cable length: 0.7m CS1W-CN713 Cable length: 2m Cable length: 3m CS1W-CN223 − CS1W-CN323 Cable length: 5m CS1W-CN523 Cable length: 10m CS1W-CN133 Cable length: 12m CS1W-CN133-B2 100 to 240 VAC, output capacity: 2.8 A at 5 VDC, 0.4 A at 24 VDC Total power consumption: 14 W CJ1W-PA202 100 to 240 VAC (with RUN output), output capacity: 5 A at 5 VDC, 0.8 A at 24 VDC Total power consumption: 25 W CJ1W-PA205R 100 to 240 VAC, replacement time notification function, no RUN output, output capacity: 5 A at 5 VDC, 0.8 A at 24 VDC Total power consumption: 25 W − N, L, CE UC1, N, L, CE CJ1W-PA205C 24 VDC, output capacity: 5 A at 5 VDC, 0.8 A at 24 VDC Total power consumption: 25 W CJ1W-PD025 24 VDC, output capacity: 2 A at 5 VDC, 0.4 A at 24 VDC Total power consumption: 19.6 W CJ1W-PD022 UC1, CE Note: 1. Connectors are not included with the Unit. Either separately purchase an applicable 40-pole connector, or use an OMRON Connector Terminal Block Conversion Unit (XW2@ series) or I/O Relay Terminal (G7@ series). 2. Connectors are not included with the Unit. Either separately purchase an applicable 20- or 24-pole connector, or use an OMRON Connector Terminal Block Conversion Unit (XW2@ series) or I/O Relay Terminal (G7@ series). 3. Externally supplied power, not internally consumed current. 4. Approved products are scheduled for shipment in August 2007. International Standards • The standards indicated in the "Standards" column are those current for UL, CSA, cULus, NK, and Lloyd standards and EC Directives as of the end of February 2008. The standards are abbreviated as follows: U: UL, U1: UL (Class I Division 2 Products for Hazardous Locations), C: CSA, US: cULus, UC1: cULus (Class I Division 2 Products for Hazardous Locations), CU: cUL, N: NK, L: Lloyd, and CE: EC Directives. • Ask your OMRON representatives for the conditions under which the standards were met. 6 FQM1 Series Specifications General Specifications Item Specifications Insulation resistance 20 MΩ min. between AC external terminals and GR terminal at 500 VDC, see note 1.) Dielectric strength 2,300 VAC, 50/60 Hz between AC external terminals and GR terminal for 1 min, leakage current: 10 mA max. (See notes 1 and 3.) 720 VAC, 50/60 Hz between DC external terminals and GR terminal for 1 min, leakage current: 10 mA max. (See note 1.) Noise immunity Conforms to IEC61000-4-4, 2 kV (power line) Vibration resistance Conforms to JIS C0040 Amplitude: 0.075 mm (10 to 57 Hz), Acceleration: 9.8 m/s2 (57 to 150 Hz) for 80 min in X, Y, and Z directions (10 sweeps of 8 min = 80 min total) Shock resistance Conforms to JIS C0041 147 m/s2 3 times each in X, Y, and Z directions Ambient operating temperature 0 to 55°C Ambient operating humidity 10% to 90% (with no condensation) Atmosphere No corrosive gases Ambient storage temperature −20 to 75°C Ground Less than 100 Ω Structure For installation in a control panel Dimensions (mm) 49 × 90 × 80 mm (W × H × D) excluding cable Weight 5 kg max. per Module Safety standards EC, C-Tick, UL approval pending (See note 4.) Note: 1. Disconnect the LG terminal on the Power Supply Unit from the GR terminal before performing insulation resistance or dielectric testing. Internal components may be destroyed if testing is performed with the LR and GR terminals connected. 2. Values for AC power are at room temperature and a cold start. Values for DC power are for a cold start. A thermistor is used in the inrush current control circuit of the AC power supply to control current at low temperatures. The inrush current may exceed the value given above (by up to twice the given value) when starting at high temperatures or if a hot start is performed immediately after the current is turned OFF for a short period of time because the thermistor element will not be sufficiently cooled. When selecting a fuse or breaker for the external circuit, consider the fusing/detection characteristics and provide a sufficient margin in performance. A capacitor-charged delay circuit is used for the inrush current control circuit in the DC power supply. If hot starts are performed after turning OFF the power supply for only short periods of time, the inrush current may exceed the value given above (by up to twice the given value) because the capacitor will not be discharged. 3. Do not apply voltages exceeding 600 V when performing dielectric testing for the analog I/O terminals. Internal elements may deteriorate. 4. UL-approved products are scheduled for shipment in March 2006. 7 FQM1 Series Performance Specifications Item Coordinator Module Motion Control Module Control method Stored program method Stored program method I/O control method Cyclic scan method Cyclic scan method Programming language Ladder diagram method Ladder diagram method Instruction length 1 to 7 steps/instruction 1 to 7 steps/instruction Number of instructions Approx. 300 Approx. 300 Basic instructions 0.1 μs min. 0.1 μs min. Special instructions 0.3 μs min. 0.3 μs min. Executing speed FQM1-MMP22 Synchronous mode: 250 μs Asynchronous mode: 190 μs Synchronous mode: 390 μs (when 1 Motion Control Module is connected) Asynchronous mode: 180 μs FQM1-MMA22 Synchronous mode: 340 μs Asynchronous mode: 280 μs Analog outputs disabled and immediate analog inputs: 190 μs Analog input END: 230 μs Ladder 10 Ksteps 10 Ksteps Comment storage Yes Yes Number of tasks Cyclic tasks: 1, Interrupt tasks: 50 Cyclic tasks: 1, Interrupt tasks: 50 Subroutines 256 256 JMP instruction 256 256 Number of basic I/O points 24 20 per Module Built-in Input Bits 16 bits (1 word): CIO 2960.00 to CIO 2960.15 12 bits (1 word): CIO 2960.00 to CIO 2960.11 Built-in Output Bits 8 bits (1 word): CIO 2961.00 to CIO 2961.07 8 bits (1 word): CIO 2961.00 to CIO 2961.07 I/O bits 320 bits (20 words): CIO 0000 to CIO 0019 None CPU Bus Unit Area 6,400 bits (400 words): CIO 1500 to CIO 1899 None Special I/O Unit Area 13,760 bits (860 words): CIO 2100 to CIO 2959 None Cyclic Refresh Bit Area 640 bits (40 words): CIO 4000 to CIO 4039 Refresh with Motion Module # 1: CIO 4000 to CIO 4009 Refresh with Motion Module # 1: CIO 4010 to CIO 4019 Refresh with Motion Module # 1: CIO 4020 to CIO 4029 Refresh with Motion Module # 1: CIO 4030 to CIO 4039 160 bits (10 words): CIO 4000 to CIO 4009 Input refresh from Coordinator Module to Motion Control Module: CIO 4000 to CIO 4004 Output refresh from Motion Control Module to Coordinator Module: CIO 4005 to CIO 4009 Sync Data Link Bit Area 320 bits (20 words): CIO 1200 to CIO 1219 Transmission refresh from Coordinator Module: CIO 1200 to CIO 1203 Transmission refresh from Motion Module # 1: CIO 1204 to CIO 1207 Transmission refresh from Motion Module # 2: CIO 1208 to CIO 1211 Transmission refresh from Motion Module # 3: CIO 1212 to CIO 1215 Transmission refresh from Motion Module # 4: CIO 1216 to CIO 1219 320 bits (20 words): CIO 1200 to CIO 1219 Transmission refresh from Coordinator Module: CIO 1200 to CIO 1203 Transmission refresh from Motion Module # 1: CIO 1204 to CIO 1207 Transmission refresh from Motion Module # 2: CIO 1208 to CIO 1211 Transmission refresh from Motion Module # 3: CIO 1212 to CIO 1215 Transmission refresh from Motion Module # 4: CIO 1216 to CIO 1219 Serial PLC Link Bit Area (complete link method) 1,440 bits (90 words) CIO 3100 to CIO 3189 CIO 3100 to CIO 3189: CJ1M to FQM1 CIO 3100 to CIO 3189: FQM1 to CJ1M and sources other than FQM1 (10 words each according to unit number) None Serial PLC Link Bit Area (master link method) 320 bits (20 words): CIO 3100 to CIO 3119 CIO 3100 to CIO 3109: CJ1M to FQM1 CIO 3110 to CIO 3119: FQM1 to CJ1M Connectable to the host PLC (CJ1M) as a Serial PLC Link slave. None DeviceNet Link Bit Area 9,600 bits (600 words): CIO 3200 to CIO 3799 None 49,792 bits: CIO 0020 to CIO 1199, CIO 1220 to CIO 1499, CIO 1900 to CIO 2099, CIO 2962 to CIO 3099, CIO 3190 to CIO 3199, CIO 3800 to CIO 3999, CIO 4040 to CIO 4999, CIO 6000 to CIO 6143 81,792 bits: CIO 0000 to CIO 1199, CIO 1220 to CIO 2959, CIO 2962 to CIO 3999, CIO 4010 to CIO 4999, CIO 6000 to CIO 6143 4,096 bits: W000 to W255 4,096 bits: W000 to W255 Common processing time (overhead) CIO Area Program capacity CIO Area Internal Auxiliary Area Work Area 8 FQM1 Series Specifications Item Auxiliary Area READ/WRITE Error log Coordinator Module Motion Control Module Read-only: 7,168 bits (A000 to A447) Read/Write: 8,192 bits (A448 to A959) Read-only: 7,168 bits (A000 to A447) Read/Write: 8,192 bits (A448 to A959) 100 words: A100 to A199 (20 records) 100 words: A100 to A199 (20 records) TR Area 16 bits: TR0 to TR15 16 bits: TR0 to TR15 Timer Area 256 timers: T0000 to T0255 (1-ms timers, 10-ms timers, 100ms timers) 256 timers: T0000 to T0255 (1-ms timers, 10-ms timers, 100ms timers) Counter Area 256 counters: C0000 to C0255 (decrementing counters, reversible counters) Note: Not retained on power interruption. 256 counters: C0000 to C0255 (decrementing counters, reversible counters) Note: Not retained on power interruption. Read/Write (not retained) 20,000 words: D00000 to D19999 (Not retained on power interruption.) 30,000 words: D00000 to D29999 (Not retained on power interruption.) (See note 1.) Read/Write (retained) 12,768 words: D20000 to D32767 (Saved in flash memory. Not saved when written by ladder program, however, saved in flash memory if written by Programming Device such as the CX-Programmer.) 2,768 words: D30000 to D32767 (backed up by super capacitor) System Setup Area (shared by Coordinator Module, Motion Control Modules, and peripheral services), Peripheral Service Settings System Setup Area (shared by Coordinator Module and Motion Control Modules), Motion Parameter Settings CIO Area 16,000 bits (1,000 words): CIO 5000 to CIO 5999 16,000 bits (1,000 words): CIO 5000 to CIO 5999 Timer Area 100 bits: T0206 to T0255 100 bits: T0206 to T0255 Counter Area 100 bits: C0206 to C0255 100 bits: C0206 to C0255 Index Registers IR0 to IR15 (IR0 and IR1 used with the JSB instruction) Note: IR16 to IR 63 for FB/ST (used by the system) IR0 to IR15 (IR0 and IR1 used with the JSB instruction) Note: IR16 to IR 63 for FB/ST (used by the system) Data Registers DR0 to DR15 Note: IR16 to IR 63 for FB/ST (used by the system) DR0 to DR15 Note: IR16 to IR 63 for FB/ST (used by the system) Input interrupts None 4 inputs (with countdown mode) Timer interrupts 1 (scheduled or one-shot interrupts) 1 (scheduled or one-shot interrupts) Super capacitor Super capacitor DM Area System Setup Function block address allocation area Interrupts Power OFF backup function (momentary power interruptions) Super capacitor Error log Memory backup backup Flash memory User programs, System Setup, part of DM Error log, a portion of DM (for momentary interruptions) User programs, System Setup Trace Memory 4,000 words 4,000 words Peripheral services Peripheral port (CX-Programmer connection only), RS-232C port (Host Link, no-protocol, NT Link, Serial PLC Link (slave)), RS-422A (servo driver connection) services Event requests from the Coordinator Module Self-diagnosis CPU error (WDT), memory error CPU error (WDT), memory error Program check functions Checked using Programming Device Checked using Programming Device Super capacitor life Approx. 100 hours (ambient temperature: 25°C, see note 2.) Approx. 100 hours (ambient temperature: 25°C, see note 2.) Clock None None Power interruption detection time AC: 10 to 25 ms (not fixed) − Power interruption detection delay 0 to 10 ms − RUN output Yes (When using CJ1W-PA205R) Peripheral port (toolbus, Host Link) Individual functions Serial communications Coordinator Module built-in RS-232C port (Host Link, no-protocol, NT Link, Serial PC Link (slave)) Coordinator Module built-in RS-422A port (servo driver interface, serial gateway, noprotocol) − High-speed counters Single phase, up-down counting, pulse plus direction input (50 kHz/1 MHz), differential phase inputs (50/500 kHz, with phase difference multiplier of 4: 2 MHz) High-speed pulse outputs CW/CCW (1 MHz: line-driver) one-shot pulse output Analog inputs Conversion speed: 40 μs/point Resolution: −10 to 10 V: 16,000 0 to 10 V: 8,000 0 to 5 V: 4,000 1 to 5 V: 4,000 4 to 20 mA: 4,000 Analog outputs Conversion speed: 40 μs/point Resolution: −10 to 10 V: 10,000 0 to 10 V, 0 to 5 V, or 1 to 5 V: 4,000 Note: 1. Can also be retained in flash memory. A bit can be manipulated to automatically restore the data according to a parameter setting in the System Setup when the power supply is turned ON. 2. Depends on the ambient temperature and number of years in use. 9 FQM1 Series Coordinator Module Motion Control Module Built-in General-purpose I/O Motion Control Module with Pulse I/O (FQM1-MMP22) Output specifications Input voltage 20.4 to 26.4 V Input voltage Normal inputs (16): ON response: 100 μs, OFF response: 1 ms max. 8 inputs/common Outputs 8 Output form NPN transistors Switching capacity 4.5 to 30 VDC, 0.3 A per transistor ON response time 0.1 ms max. OFF response time 1 ms max. Item Functions Input specifications Specifications 16 Motion Control Module Pulse I/O Generalpurpose I/O General-purpose inputs: 12 General-purpose outputs: 8 The following operations are possible. • Speed control (fixed speed, acceleration, and deceleration) • Position control (fixed-speed positioning, trapezoidal positioning, deceleration positioning) • Speed control based on present position (pulse output Pulse outputs target value comparison or range comparison) • Electronic cam operation (positioning according to position of real or virtual axis) • One-shot pulse outputs (turning ON an output for a specified time, minimum unit: 0.01 ms) • Timing using pulse counter (minimum unit: 0.001 ms) Built-in General-purpose I/O Output specifications Input voltage 20.4 to 26.4 V Pulse inputs Interrupt inputs (4) ON response: 30 μs max. OFF response: 0.2 ms max. Normal inputs (8) ON response: 100 μs max. OFF response: 1 ms max. Input voltage Outputs 8 Output form NPN transistors Switching capacity 4.5 to 30 VDC, 0.3 A per transistor Output response ON response: 0.1 ms max. OFF response: 1 ms max. Motion Control Module with Analog I/O (FQM1-MMA22) Item Description General-purpose I/O Input specifications Specifications 12 • High-speed counters: Single phase, up-down counting, pulse plus direction input (50 kHz/1 MHz), differential phase inputs (50/500 kHz, with multiplier of 4: 2 MHz) • Starting/stopping high-speed counters with Counter Start Bit • Measuring change in high-speed counter present value • Measuring high-speed counter frequency Pulse inputs Pulse inputs: 2 (for servo with absolute encoder) Analog I/O • Analog inputs: 1 (−10 to 10 V, 0 to 10 V, 0 to 5 V, 1 to 5 V, and 4 to 20 mA), Conversion speed: 40 μs/point • Analog outputs: 2 (−10 to 10 V, 0 to 10 V, 0 to 5 V, and 1 to 5 V), Conversion speed: 40 μs/point Generalpurpose I/O General-purpose inputs: 12 General-purpose outputs: 8 Functions Item Inputs Description Pulse inputs: 2 (for servo with absolute encoder) Pulse outputs: 2 One-shot pulse outputs: 2 I/O Item Inputs Analog outputs • Slope function • Output hold function • Offset gain adjustment Analog inputs • Offset gain adjustment • High-speed analog sampling 10 FQM1 Series List of Support Functions Depending on the Unit Version Types of the Unit Version Name Model Unit Ver. O: Supported, −: Not supported Module type Model Descriptions Coordinator Module FQM1-CM002 Unit Ver. 3.2 or version higher Coordinator Module FQM1-CM002 Motion Control Module FQM1-MMP22 FQM1-MMA22 Unit Ver. 3.3 Unit Ver. 3.2 Unit Ver. 3.1 Unit Ver. 3.0 FQM1-MMP22/MMA22 Ver. 3.3 or higher Ver. 3.2 or higher Ver. 3.3 or higher Compatible with OMUNC G-series Servo ABS − − − O Addition of compatible CJ-series Units • Analog input • Analog I/O • Analog output − O − − Addition of compatible CJ-series Units CJ1W-NC@@3/ CJ1W-V600C1@ O O − − Addition of expanded cyclic refresh area O O − − Expansion with AXIS instruction function O O O O Expansion with PULS instruction (electronic cam mode) function − − O *1 O *1 Compatible with 1 Hz pulse output − − O *1 O *1 Interrupt task startup when a counter is reset − − O O Compatible with highspeed analog sampling multiple settings − − O *2 O *2 Relations between the Unit Version and Support Software Functions to be used *1 *1. Only available with FQM1-MMP22. *2. Only available with FQM1-MMA22. 11 Motion Control Module Unit Ver. 3.3 Unit Ver. 3.2 Unit Ver. 3.1 Unit Ver. 3.0 Support Software required CX-Programmer Ver. 3.3 Ver. 4.0 Ver. 5.0/ Ver. 7.0 Ver. 6.0 or higher Functions Unit enhanced Ver. 3.3 in Unit Ver. 3.3 to be used × × × O *2 not to be used O O O O Functions Unit enhanced Ver. 3.2 in Unit Ver. 3.2 to be used × × O O not to be used O O O O *1. When the functions enhanced in version upgrade are not used, the CX-Programmer version does not need to be upgraded. *2. To perform the OMUNC G-series Servo ABS settings from the system setup menu, use the CX-Programmer Ver. 7.1 or higher. FQM1 Series Dimensions (Unit: mm) Coordinator Module Power Supply Units FQM1-CM002 CJ1W-PA202 PA202 CM002 RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL POWER ON 1 1 2 FLEXIBLE MOTION CONTROLLER OFF 2 L1 AC100 -240V INPUT L2/N 90 90 CN1 PORT NC RS422 NC 39 40 49 45 80 65 81.6 Motion Control Modules Power Supply Units FQM1-MMP22/MMA22 CJ1W-PA205R PA205R MMP22 RDY RUN ERR IN 0 1 2 3 4 5 6 7 8 9 10 11 90 26 A1 B1 A2 B2 OUT 0 1 2 3 4 5 6 7 1 POWER 2 L1 AC100-240V INPUT L2/N 90 25 CN2 CN1 RUN OUTPUT AC240V DC24V 2 39 1 49 40 80 80 End Module I/O Control Module FQM1-TER01 FQM1-IC101 2.7 65 140 20 2.7 68.15 65 90 90 43.1 2.7 14.7 2.7 8.7 69.65 12 FQM1 Series Assembled Dimensions CM001 PA202 FLEXIBLE MOTION CONTROLLER RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL ON 1 FQM1 Expanded Using CJ-series Units MMP21 RDY RUN ERR 12 POWER OFF IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 2 L1 AC100 -240V INPUT MMA21 A1 B1 A2 B2 0 1 2 3 4 5 6 7 1 RDY RUN ERR IN OUT 0 1 2 3 4 5 6 7 8 9 10 11 2 A1 B1 A2 B2 0 1 2 3 4 5 6 7 1 a 2 49 49 49 20 20 or 31 20 or 31 14.7 L2/N 26 25 26 CN1 PORT 90 25 CN2 27 CN2 CN1 CN1 NC RS422 35.4 NC 39 40 2 1 39 40 2 1 39 40 W 27.6 W = a + 49 + 49 x n + 14.7 a: Width of Power Supply Unit n: Number of Motion Control Modules connected (4 max.) n Modules W 80 m Units W = a + 49 + 49 x n + (20 or 31) x m + 14.7 a: Width of Power Supply Unit n: Number of Motion Control Modules connected (4 max.) m: Number of CJ-series connected The maximum value of m + n is 10, as long as the current consumption limit is not exceeded. Height with Cables Connected Height with Peripheral Port and RS-232C Port Connected OMRON Approx. 115 to 165 Servo Relay Unit XW2B-80J7-1A XW2B-80J7-12A C IN 19 Terminating resistance switch Terminating resistance switch Slide switch Slide switch 4.5 dia. Slide switch 4.5 dia. Slide switch 100 90 100 90 160 160 41.7 15.9 30.7 41.7 30.7 15.9 Related Manuals Man.No. English 13 Japanese Model Manual Title O012 SBCE-338 FQM1-CM002/MMP22/MMA22 FQM1 Series Flexible Motion Controllers User’s Manual O013 SBCE-339 FQM1-CM002/MMP22/MMA22 FQM1 Series Flexible Motion Controllers Command Reference Manual
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