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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