XW2Z-200J-B13

OMRON EUROPE B.V. Wegalaan 67-69, NL-2132 JD Hoofddorp The Netherlands Tel:(31)2356-81-300/ Fax:(31)2356-81-388 Regional Headquarters Control Devices Division H.Q. Shiokoji Horikawa, Shimogyo-ku, Kyoto, 600-8530 Japan Tel: (81)75-344-7109 Fax: (81)75-344-7149 OMRON Corporation 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 ASIA PACIFIC PTE. LTD. 83 Clemenceau Avenue, #11-01, UE Square, Singapore 239920 Tel:(65)6835-3011/Fax: (65)6835-2711 OMRON ELECTRONICS LLC 1 East Commerce Drive, Schaumburg, IL 60173 U.S.A. Tel:(1)847-843-7900/Fax: (1)847-843-8568 Note: Do not use this document to operate the Unit. Note: Specifications subject to change without notice. Authorized Distributor: Printed on 100% Recycled Paper Cat. No. O901-E1-02 Printed in Japan 0206-1M Series A New Concept in Motion Controllers for Ideal Machine Operation Flexible Motion Controllers New Product News 2 Motion Control 2 Measurement Control 3 High-speed Response Control Flexible Measurement Control Function Block and Structured Text Programming CJ-series Units can be added. Wide Range of Advanced Motions Motion QUICK High-speed Response Control Motion Control I/O Control Module The all new FQM1-CM002/MMA22/MMP22 (FQM1-series unit version 3.0) can be expanded using CJ-series Units. In addition, function block and structured text programming are supported. 1 pi n g Process Grasp No stopping Wind Without stopping machinery operation . . . Cut Measure Move together No stopping No stopping 8 ms 4 ms 2 ms 0.5 ms CJ1W-NCF Position Control Unit CJ1W-MCH Motion Control Unit 4 axes 8 axes 16 axes 32 axes Number of axes FQM1 Motion Control Cycle FQM1 Series 80 mm High cost performance achieved in a compact size Position of the FQM1 among OMRON Products 90 mm Simultaneously control up to 8 axes for high-speed response control and up to 16 axes for PTP control. Multiple axes can be controlled as required by the application. N o s to p No stopping No stopping 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. Ideal for Applications Performing Processing without Stopping Machinery Operation The FQM1 now supports I/O expansion, communications slaves, multiaxis control, data storage, and function block /structured text programming. Flexibility, quickness, and a wide range of advanced motion operations enable the FQM1 to easily handle applications in the following three control areas. For the Non-stop Control The All New FQM (Flexible Quick Motion)® Advanced Power in Three Applications: M otion Control, Measurement Control, and High-speed Response Control 3 4 T T U O IN Electronic gear Position Analog sampling Analog I/O Tension Torque/position control High-speed response control Measurement control Motion control I/O control Pulse systems Analog systems Tracking control Torque control Line control Synchronous control Control Category Application example Conveyers Labelers Interrupt feeding High-speed counters Conveyors Conveyers Measurement (high-speed) and F/V conversion Synchronous startup High-speed PTP control Distance constant control High-speed counters Sheet thickness inspection and quality management High-speed analog sampling High-speed PID control Winding Processing and coating CP control Traverse control Molding and pressing Injection molding Torque limit Paper feeding Winding and feeding Tension control Torque control Processing line and lens processing Electronic cams Draw control Traveling cutters Packaging machines Flying cutters Rotary cutters 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. Wide-ranging FQM1 Applications O U IN Electronic cam Pulse I/O Virtual axis Pulse/analog I/O feedback gives the FQM1 power in high-speed I/O applications. From High-speed PTP Control to Synchronous, Torque, and Tension Control High-level Wide-ranging Motion Achieved from F (Flexibility) and Q (Quickness). A Variety of Applications Accomplished with Motion, Measurement, and High-speed Response Rotary encoder Measuring roll Lateral movement General-purpose input Pulse output Pulse output Speed Acceleration (short) Sync speed Line flow Feed conveyor Line flow Deceleration (long) [Operation Pattern (Cutter Speed)] Inverter Previous stage conveyor speed Pulse input Analog output I/O Control Module Scanning Traveling cutter Servomotor Mark sensor Servomotor Film Workpiece Mark Cutter [Detailed View of Workpieces] 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 output Pulse input Line speed Sync Cutter motor Lower cutter Upper blade Lower cutter Upper roller cutter Sheet Lower blade Synchronization section Upper cutter [Side View] 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 Measuring roll • Operating the rotary cutter of a packaging machine or a food processing machine • Matching the timing between lines • Printing Cut without stopping. 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. Application Examples CompoBus/S Master Unit 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 highCompoBus/S resolution curves. FQM1 FQM1-MMP22 Convey together without stopping. Non-stop processing, such as materials transfer, filling, and cutting Grasp Grasp without stopping. 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. Application Examples Cut without stopping. Traveling cutter: Cuts Feed roll: Feeds the objects to be cut (outside the control range) Synchronization Measuring roll: Detects the traveling amount of the (The carriage of the cutter is synchronized with the object being cut.) object to be cut Feed roll Pulse input The high-speed cycle and processing method of the FQM1 enable flexible cam patterns. FQM1 FQM1-MMP22 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. The FQM1 Achieves High-precision Trailing Using High-speed Control Cycles Motion Control Applications 5 6 Extrusion Pressing Extruder Press pressure detection • Speed control for injection molding machine • Torque control for extruding and pressing 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) Withdrawal Speed Extruder drive To stretch the material, servo 1 is operated slower than servo 2. Fine control is performed with an electronic gear. Analog output Servo 1 tension control Continuous feed The speed of servo 2 is determined based on the command speed of servo 3 and the displacement amount of dancer roller 1. Analog output Servo 2 tension control Heating sheet Analog input Dancer roller 1 Continuous feed Winding, feeding control Analog output Servo 3 tension control Position fluctuation 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. Dancer roller 2 Pulse input Intermittent feed by inverter Encoder Analog input Intermittent feed 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) 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. Application Examples Convey together without stopping. Pressing Withdrawing (maintaining (backward Removing Mold from mold pressure) clamping Extrusion pressure) Drive motor W-series Servo [Operation pattern] Material hopper Analog output (SPEED command) Pulse input (ABS encoder signal) Analog output (TORQUE command) 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. Process without stopping. 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. Application Examples The FQM1 High-speed Feedback Loop Enables Stable Control Mold clamping Molding machine Analog input MECHATROLINK-II Mold open/close motor W-series Servo FQM1 FQM1-MMA22 with MECHATROLINK-II I/O Control Module communications 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 Position Control Unit SPEED commands, and analog output. FQM1 High-speed Control Cycles and High Resolution Enable Free Speed Control Applications Servomotor Application Examples Pulse output FQM1 FQM1-MMP22 Laser welder Y axis X axis Servomotor Servomotor Supply line Spindle Traverse shaft Bobbin FQM1 FQM1-MMP22 Application Examples Wire/Thread Winding Control Pulse input Pulse output Servomotor Pulse output 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) For example, the transverse motion is controlled using an electronic cam system in response to spindle commands or rotation feedback. Servomotor 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. Wind without stopping. Pulse output 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) Welding axis Gluing, welding, or grinding a design to a unique shape Process without stopping. 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. High-quality Winding Control with the FQM1's High-speed Control Cycle Welding rod movement Workpiece Workpiece The welding point is moved in a relatively normal manner, as shown below. 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. The FQM1 High-speed Control Cycle Enables High-precision Processing 7 8 Pulse input Input Label printing Print cylinder Servomotor Pressing motor Analog input sampling Origin High-speed movement Origin Origin Analog input sampling start point 4 to 20 mA, –10 to 10 V Sampling data for the position of the sampling start point and the position displacements Ring counter Linear counter Encoder Displacement position Pulse input (position) Displacement sensor FQM1 FQM1-MMA22 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. 00000500Hex Target 00000500Hex value D00299 Sampling data storage address D00200 D00201 D00202 Sampling starts Unified 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. High-speed counter 0 Motion Control Module with Analog I/O Functions used: High-speed analog sampling Configuration example: FQM1-CM002 plus FQM1-MMA22 (with analog I/O) 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. Application Examples Measure without stopping. Print drum • Quality analysis by detecting warping or other conditions of minutely processed products • Condition data collection during processes High-speed Analog Sampling Synced on an FQM1 Pulse Input Workpiece Printing operation Functions used: Synchronous control of the electronic cam, high-speed processing Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) FQM1 FQM1-MMP22 Line encoder Application Examples Process without stopping. For example, printing can be performed on items flowing along the line without stopping by rotating the printing drum synchronized with the line speed. Pulse output Print drum Mark sensor Measurement Control Applications Label Workpiece Printing motor A high-speed control cycle and high-performance processing power enable synchronous control of the electronic cam, thereby enabling processing without stopping the line. The High-speed Control Cycle and Processing Power of the FQM1 Expand the Range of Synchronous Control. Applications Displacement sensor (analog output) Travel Servomotor em ov lm ra te La Servomotor Servomotor Silicon wafer Liquid resist Time The pulse output frequency (speed) and the acceleration/deceleration rate can be changed using user-set timing. ACC ACC ACC instruction instruction instruction Speed Functions used: ACC instruction (ACCELERATION CONTROL) Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) Pulse output FQM1 FQM1-MMP22 Application Examples 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. Speed Control for Infinite-axis Feeding Servomotor t en Analog data from the displacement sensor is shared by all axes and used for position compensation. Functions used: Sync data function Configuration example: FQM1-CM002 plus FQM1-MMA22 (with analog I/O) plus FQM1-MMP22 (with pulse I/O) 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. • Process by maintaining a uniform distance from products that warp during processing • Feed control for parallel conveyors Convey together without stopping. 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. Application Examples High-speed Response Control Applications Object being measured Uniform height control High-precision measurement sensor The analog data from the displacement sensor is shared by all axes, enabling position compensation. Analog input FQM1 FQM1-MMP22 FQM1-MMA22 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. Use the FQM1 Synchronized Data Function to Enable Synchronized Compensation Control Hoist 9 10 Cut Interrupt feeding Time Mark sensor detection Cycle time Feed cycle Interrupt feeding Cutter Sensor V Servomotor Encoder Sensor Cutter, nozzle, camera shutter, etc. Pulse input V Encoder Pulse output Servo driver Label Section not to be printed (distance set from PT) Cutting position FQM1 FQM1-MMP22 Fixed pulse counter Time Target number of pulses t One-shot output High-precision time control Sensor Pulse output from encoder Note: Also applicable as a 1-μs high-precision timer. 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) 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. • Cutting printing materials • Nozzle exposure on items flowing at high-speed FQM1 FQM1-MMP22 t SPEED command Pulse input W Dancer roller Servomotor Printer Continuous feeding Application Examples Encoder Servo driver 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. Labeler Functions used: Interrupt input function, pulse latch function Configuration example: FQM1-CM002 plus FQM1-MMP22 (with pulse I/O) Print feed drive Speed pattern calculation Pulse output Servo driver Servomotor Label feed drive Timing Control with the FQM1's Pulse Inputs Speed Cut position detection Application Examples 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. Intermittent feeding 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. Pulse Output Control with the FMQ1's High-speed Input Response Applications Coordinator Module Maximum of four Motion Control Modules CJ1W-SRM21 CompoBus/S Master Unit CJ-series Basic I/O or other Units (See note 1.) FQM1-IC101 I/O Control Module Support FQM1 operation with Position Control Units for simplified PTP control of peripheral devices. Synchronized/High-speed Response Control FQM1-IC101 I/O Control Module Multi-axis PTP Control Servo drives Motors MECHATROLINK-II CJ1W-NCF71 MECHATROLINK-II Multi-axis Position Control Unit Example 4: Expansion with Multi-axis Position Control Units CJ1W-II101 CJ-series I/O Interface Unit CJ-series Expansion Rack Example 2: Expansion with CJ-series Expansion Rack of the FQM1 or using the CJ-series I/O Interface Unit with up to one Expansion Rack. FQM1-IC101 I/O Control Module CJ-series CJ1W-TER01 Unit CJ-series End Cover Note 2: MECHATROLINK is a registered trademark of Yaskawa Electric Corporation. Note 1: The follow CJ-series Units can be connected as long as the current consumption does not exceed the supply capacity. • CJ-series Basic I/O Units • CompoBus/S Master Units • DeviceNet Units • Position Control Units (NCF Units) with MECHATROLINK-II (See note 2.) • SYSMAC SPU High-speed Data Collection Unit CompoBus/S FQM1-IC101 I/O Control Module Example 3: I/O Expansion and Reduced Wiring with CompoBus/S CJ-series Basic I/O or other Units (See note 1.) FQM1-IC101 I/O Control Module Example 1: Expansion with CJ-series Basic I/O Units 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 I/O and Other Functions Expandable with CJ-series Units or FQM1-series End Module 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. Note: When using only Motion Control Modules with analog I/O, a maximum of only three Motion Control Modules can be connected. Power Supply Module 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.) Each Motion Control Module controls two axes. Therefore, when four Flexible System Configuration Using Modular Configuration Flexible For the Optimal Control Customers Demand for Their Machines 11 12 Each Module Controls I/O Directly Analog input value Virtual axis Analog input value Virtual axis Analog input value Virtual axis Shared Shared Shared Virtual axis Analog input value High-speed counter present value Processing A Wide Range of Synchronous Control 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. High-speed counter present value High-speed counter present value High-speed counter present value Processing Processing Processing Pulse and Analog I/O Values Can Be Synchronized and Shared 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. Sync Data Shared between Modules Module Distribution, Direct Control 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. Synchronize Up to Eight Axes Processing Synchronized Data Synchronized Data Processing Synchronized Data Synchronized Data Processing Synchronized Data Synchronized Data Synchronous Control of Multiple Axes Pulse output or analog output Servomotor with absolute encoder Two W-series Servos Absolute encoder signal data •Absolute rotational speed present value •Absolute present value Processing Motion Control Module Servo Drivers with Absolute Encoders Can Be Used. A Servo Driver with an absolute encoder can be connected to the FQM1. Compatible with Absolute Encoders Synchronized Data Synchronized Data Processing Up to Eight Axes Can Be Synchronized (Processing Cycles of All Modules Are Synchronized) 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. Synchronized Flexible Detailed Programming of Motion Control I/O processing I/O processing Axis A Axis A Improved processing precision Virtual axis (basic axis) Ideal, precision operation according to conditions. The pattern can be changed during operation. Improved accuracy in manufacturing processes Operating conditions can be changed during operation. User-specified tracking control is also possible. Axis B Virtual axis (basic axis) Axis B Virtual axis (basic axis) Tracking Pattern Generation Input axis (real or virtual) Operation axis Operation axis Input axis (real or virtual) Ideal Flexible Electronic Cam Operation Processing Processing Control mode switching according to conditions Support for Highly Flexible Programming, such as Control Mode Switching, Operating Condition Changes during Operation, etc. 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. Time axis generation Time Precise speed control Ideal Motor Control Patterns High-speed cycle Position control Position control Improved accuracy in manufacturing processes High-speed cycle and high-speed analog I/O make higher precision control, and enable speed/torque limit switching. High-speed analog I/O Speed control/ torque control Operation Switching, such as from Position Control to Speed Control or from Torque Control to Position Control Fixed cycle times (unit: ms) Speed Generating Ideal Motor Acceleration/Deceleration Patterns Switching For the Optimal Control Customers Demand for Their Machines Switching 13 14 Event bus Sync bus Motion Control Module Motion control cycle Coordinator Module Processing Processing Processing Control cycles (can be synchronized and made constant) Electronic cam pulse output startup Highly accurate Pulse startup: positioning 32 μs Pulse startup Improved processing precision Examples: Electronic cam pulse output: 32 μs Trapezoidal PTP pulse output: 54 μs High-speed Pulse Startup at 25 μs Minimum High-speed Pulse Startup 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. High-speed Processing Performance Processing Control cycles can be synchronized and made constant. Control Cycles Synced between Axes The 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. Pulse/analog I/O Cycle Master 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. Parallel Distributed Processing System Quick Reduced Tact time High-speed conversion: 40 μs Detection of High-speed analog warpage, measurement in sagging, the FQM1 floating, etc. Product quality judgment information collection 30 μs Example: Position information when mark passes High-precision compensation Improved processing precision Capturing present value of high-speed counter Present value of high-speed counter FQM1 Internal High-speed Analog Output Micro-level high precision positioning Servomotor High-precision line control High-speed conversion: 40 μs Micro-level high precision positioning Frequency: 20 Hz to 1 MHz High-speed Analog Outputs FQM1 Pulse Outputs High-speed Pulse Outputs FQM1 built-in high-speed counter measurement High quality (no stretching or wrinkles) Improved processing precision Improved processing precision Counting speed: 2 MHz (phase difference with multiple of 4) High-speed Pulse Inputs •Pulse input: 500 kHz (phase difference with multiple of 4: 2 MHz) •Pulse output: Maximum output frequency of 1 MHz Higher-Frequency Pulse I/O To support applications demanding high precision, the FQM1 has increased the frequencies for pulse I/O. Encoder Mark sensor, etc. External latch: Hardware latch •Latch input response: 30 μs •Reading captured present value of high-speed counter: Control cycle Capturing High-speed Counter Present Value with Hardware Latch Linear sensor High-speed analog input •Analog input conversion: 40 μs •Analog output conversion: 40 μs High-speed Analog I/O 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). 156 μs response performance Acceleration/deceleration pulse output startup FQM1 internal processing Input Interrupt Interrupt Response: approx. 70 μs (Not including hardware response time) External interrupt For the Optimal Response Demanded from Your Machines Program Program FQM1 Note: Use CX-Programmer version 6.11 or higher with the FQM1. Motion Control Module Coordinator Module Manage the FQM1 Module Configuration on a Directory Tree on the Support Software. Ladder programs for the Coordinator Module and all Motion Control Modules can be created, transferred, and monitored. Program Coordinator Module CX-Programmer 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. ST Language Efficiency of development and maintenance is increased for motion control applications with a lot of calculation processing. Calculation processing can be written with Structured Text Ladder Programming Function Block (Ladder Programming and ST Language) Support Further Improve Development Efficiency and Maintenance. 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. Set the Module Operations on the System Setup Window Application program development is as easy for the FQM1 as for a PLC. Program Development Environment 15 16 SEND/ RECV instructions Coordinator Module FQM1 Host Link slave Serial communications serial gateway (conversion from FINS to Host Link FINS) Serial Communications Unit Host Link master RS-232C port CS/CJ-series PLC 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). Serial PLC Links Supported Equipped with Host Link Functions as Standard Feature: Coordinator Module Coordinator Module FQM1 (slave) FQM1 (slave) 8 Units max. CJ1W-CIF11 (RS-422A/485 to RS-232C conversion): connecting to an RS-232C port Coordinator Module RS-422A/485 CJ1W-CIF11 (RS-422A/485 to RS-232C conversion): Connection to an RS-232C port 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. FQM1 (slave) Data sharing CJ1M CPU Unit (master) •CJ1M:FQM1 = 1:N (8 Max.) Connection Data-sharing FQM1 (slave) RS-232C CJ1M CPU Unit (master) System Configuration •CJ1M:FQM1 = 1:1 Connection 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). Note 1: The master link method and complete link method for Serial PLC Links are supported. 2: When connecting 1:N (where N = 8 units max.) via RS-422A/485, use an RS-422A converter (CJ1W-CIF11). 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. (Data Sharing with the OMRON CJ1M PLC) Seamless Data Exchange with Host Controllers FQM1 data can be read and written using communications instructions from the host PLC. Serial Communications with the Host PLC Protocol change Servo (W-series or SMARTSTEP) RS-422A Servo Relay Unit FQM1 Servo Relay Unit Servo (W-series or SMARTSTEP) RS-422A RS-422A Servo parameters, etc. Coordinator Module Note: The Servo Relay Unit has a built-in RS-422A connector for connecting to the FQM1. NT Link Smart Active Parts NS-series PT Example: Accessing a Servo Driver (W-series or SMARTSTEP) Using Smart Active Parts on an NS-series PT Connected Using an NT Link System Configuration OMRON W-series or SMARTSTEP RS-422A-compatible Servo Drivers 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. (Built-in RS-422A for Connecting to Servo) Serial Gateway Function Easy Servo Parameter Setup/Monitoring from NS-series PTs Serial Communications with NS-series PTs NS-series PTs supported. DeviceNet supported. FQM1 (slave) I/O Control Module Remote I/O communications 17 CJ-series DeviceNet Unit (slave function only) DeviceNet network Host controller (master) 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. Add a DeviceNet Slave Function Data can be exchanged with the host controller using DeviceNet without special programming. DeviceNet communications with the host controller Construct Touch Panel (PT) Systems and DeviceNet Systems. Serial communications systems can be constructed with the host PC. Host Links with CS/CJ-series PLCs Serial PLC Links with CJ1M PLCs Connecting Peripherals Connecting Peripherals 18 CJ1W-PA205R CJ1W-PA205C CJ1W-PA202 CJ1W-PD025 CJ1W-PD022 Motion Control Module CJ1W-II101 I/O Interface Unit CJ1W-II101 I/O Interface Unit Up to ten Units I/O Connecting Cable End Cover FQM1-IC101 (Provided with I/O Control Module) CJ1W-TER01 CJ-series Units CS1W-CN 3 (30 or 70 cm; 2, 3, 5, 10, or 12 m) I/O Connecting Cables Note: Expandable within the power consumption limit. CJ-series Units CJ1W-TER01 End Cover FQM1-IC101 I/O Control Module Maximum combined total of ten Motion Control Modules and CJ-series Units Power Supply Unit Power Supply Units CJ-series Expansion Rack (one Rack only) FQM1 Rack Power Supply Unit Coordinator Module I/O Control Module CJ-series Basic I/O Units CompoBus/S Master Units, DeviceNet Units, Position Control Units, High-speed Data Collection Units CJ-series Expansion Rack (The above Units can be mounted; one Rack only.) Expansion Is Performed though an I/O Control Module (for Bus Conversion and I/O Expansion) MLK NCF71 8A9B MLK UNIT No. RUN ERC ERH ERM UNIT IN JAPAN 71 MADE -NCF CJ1W ration N Corpo OMRO NC CPU Bus Units 32-point DC Input/Transistor Output Units CJ1W-MD232/233 Position Control Unit CJ1W-NCF71 (with MECHATROLINK-II) CompoBus/S Master Unit CJ1W-SRM21 Special I/O Units 32-point DC Input/Transistor Output Unit CJ1W-MD231 I/O Units DeviceNet Unit CJ1W-DRM21 64-point DC Input/Transistor Output Unit CJ1W-MD261 16-point 8-point Relay Contact Output Unit Triac Output Unit CJ1W-OC211 CJ1W-OA201 8-point (Independent) Relay Contact Output Unit CJ1W-OC201 32-point Transistor Output Unit CJ1W-OD231 32-point DC Input Unit CJ1W-ID232 16-point Transistor Output Units CJ1W-OD211/212 32-point DC Input Unit CJ1W-ID231 8-point Transistor Output Units CJ1W-OD20 Output Units 16-point DC Input Units CJ1W-ID201/211 Input Units Basic I/O Units 64-point TTL I/O Unit CJ1W-MD563 64-point Transistor Output Unit CJ1W-OD261 64-point DC Input Unit CJ1W-ID262 High-speed Data Collection Unit CJ1W-SPU01 64-point DC Input/Transistor Output Unit CJ1W-MD263 32-point Transistor Output Units CJ1W-OD232/233 64-point DC Input Unit CJ1W-ID261 CJ-series Units for FQM1 Expansion 67 Expansion Possible Using CJ-series Units DE F 1 23 45 C 64-point B7A Interface Units CJ1W-B7A 64-point Transistor Output Units CJ1W-OD262/263 8 or 16-point AC Input Units CJ1W-IA111/201 19 20 1 to 7 steps/instruction Approx. 300 1 to 7 steps/instruction Approx. 300 Instruction length Number of instructions None None None 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 8 bits (1 word): CIO 2961.00 to CIO 2961.07 320 bits (20 words): CIO 0000 to CIO 0019 6,400 bits (400 words): CIO 1500 to CIO 1899 13,760 bits (860 words): CIO 2100 to CIO 2959 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 Built-in Output Bits I/O bits CPU Bus Unit Area Special I/O Unit Area Cyclic Refresh Bit Area Internal Auxiliary Area Work Area 4,096 bits: W000 to W255 4,096 bits: W000 to W255 CIO Area DeviceNet Link Bit Area None Serial PLC Link Bit Area (master link method) 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 None 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. Serial PLC Link Bit Area (complete link method) 9,600 bits (600 words): CIO 3200 to CIO 3799 None 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) Sync Data Link Bit Area 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 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 8 bits (1 word): CIO 2961.00 to CIO 2961.07 20 per Module 12 bits (1 word): CIO 2960.00 to CIO 2960.11 16 bits (1 word): CIO 2960.00 to CIO 2960.15 Number of basic I/O points 24 256 256 JMP instruction Built-in Input Bits 256 256 Subroutines Yes Cyclic tasks: 1, Interrupt tasks: 50 Yes Comment storage 10 Ksteps Cyclic tasks: 1, Interrupt tasks: 50 10 Ksteps Ladder Synchronous mode: 340 μs Asynchronous mode: 280 μs Analog outputs disabled and immediate analog inputs: 190 μs Analog input END: 230 μs Synchronous mode: 250 μs Asynchronous mode: 190 μs Number of tasks Program capacity FQM1-MMA22 FQM1-MMP22 0.3 μs min. Synchronous mode: 390 μs (when 1 Motion Control Module is connected) Asynchronous mode: 180 μs 0.1 μs min. 0.1 μs min. 0.3 μs min. Basic instructions Special instructions Common processing time (overhead) Executing speed Ladder diagram method Ladder diagram method Programming language Cyclic scan method Cyclic scan method I/O control method Stored program method Motion Control Module Stored program method Coordinator Module Specifications Control method Item General Specifications Performance and Specifications CIO Area Timer interrupts Input interrupts Counter Area Timer Area CIO Area Read/Write (retained) 1 (scheduled or one-shot interrupts) Error log, a portion of DM (for momentary interruptions) Approx. 100 hours (ambient temperature: 25°C, see note 2.) None None AC: 10 to 25 ms (not fixed) 0 to 10 ms Clock Power interruption detection time Power interruption detection delay 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. Yes (When using CJ1W-PA205R) Checked using Programming Device Approx. 100 hours (ambient temperature: 25°C, see note 2.) Super capacitor life RUN output CPU error (WDT), memory error Checked using Programming Device Program check functions Event requests from the Coordinator Module CPU error (WDT), memory error Self-diagnosis 4,000 words User programs, System Setup 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 User programs, System Setup, part of DM Super capacitor 1 (scheduled or one-shot interrupts) 4,000 words Error log Super capacitor Flash memory Peripheral services Trace Memory Memory backup DR0 to DR15 Note: IR16 to IR 63 for FB/ST (used by the system) 4 inputs (with countdown mode) DR0 to DR15 Note: IR16 to IR 63 for FB/ST (used by the system) None IR0 to IR15 (IR0 and IR1 used with the JSB instruction) Note: IR16 to IR 63 for FB/ST (used by the system) 100 bits: C0206 to C0255 100 bits: T0206 to T0255 16,000 bits (1,000 words): CIO 5000 to CIO 5999 System Setup Area (shared by Coordinator Module and Motion Control Modules), Motion Parameter Settings 2,768 words: D30000 to D32767 (backed up by super capacitor) IR0 to IR15 (IR0 and IR1 used with the JSB instruction) Note: IR16 to IR 63 for FB/ST (used by the system) 100 bits: C0206 to C0255 100 bits: T0206 to T0255 16,000 bits (1,000 words): CIO 5000 to CIO 5999 System Setup Area (shared by Coordinator Module, Motion Control Modules, and peripheral services), Peripheral Service Settings 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.) Super capacitor backup Power OFF backup function (momentary power interruptions) Interrupts Data Registers Index Registers Function block address allocation area System Setup DM Area 256 counters: C0000 to C0255 (decrementing counters, reversible counters) *Not retained on power interruption. 256 counters: C0000 to C0255 (decrementing counters, reversible counters) *Not retained on power interruption. Counter Area 30,000 words: D00000 to D29999 (Not retained on power interruption.) (See note 1.) 256 timers: T0000 to T0255 (1-ms timers, 10-ms timers, 100-ms timers) Timer Area 20,000 words: D00000 to D19999 (Not retained on power interruption.) 16 bits: TR0 to TR15 256 timers: T0000 to T0255 (1-ms timers, 10-ms timers, 100-ms timers) 16 bits: TR0 to TR15 Read/Write (not retained) 100 words: A100 to A199 (20 records) 100 words: A100 to A199 (20 records) Error log Motion Control Module Read-only: 7,168 bits (A000 to A447) Read/Write: 8,192 bits (A448 to A959) Specifications TR Area Auxiliary Area Read-only: 7,168 bits (A000 to A447) Read/Write: 8,192 bits (A448 to A959) Coordinator Module READ/WRITE Item Performance Specifications 21 22 4.5 to 30 VDC, 0.3 A per transistor 0.1 ms max. 1 ms max. Output form Switching capacity ON response time OFF response time Output specifications Input specifications 8 NPN transistors 4.5 to 30 VDC, 0.3 A per transistor ON response: 0.1 ms max. OFF response: 1 ms max. Switching capacity Output response ON response: 100 μs max. OFF response: 1 ms max. Output form Normal inputs (8) ON response: 30 μs max. OFF response: 0.2 ms max. Outputs Input voltage 20.4 to 26.4 V Input voltage Interrupt inputs (4) 12 Inputs Item Built-in General-purpose I/O Specifications 8 NPN transistors Outputs Normal inputs (16): ON response: 100 μs, OFF response: 1 ms max. 8 inputs/common Input voltage 16 20.4 to 26.4 V Input voltage Inputs Motion Control Module Output specifications Input specifications Item Specifications 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 Analog inputs Analog outputs 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 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) • 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 Generalpurpose I/O Pulse outputs Pulse inputs Pulse inputs: 2 (for servo with absolute encoder) • 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 General-purpose inputs: 12 General-purpose outputs: 8 • Slope function • Output hold function • Offset gain adjustment • Offset gain adjustment • High-speed analog sampling Analog I/O Generalpurpose I/O Analog outputs Analog inputs Description Pulse inputs Item Motion Control Module with Analog I/O (FQM1-MMA22) Pulse inputs: 2 (for servo with absolute encoder) Pulse outputs: 2 One-shot pulse outputs: 2 Description Pulse I/O Item Motion Control Module with Pulse I/O (FQM1-MMP22) 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 Built-in General-purpose I/O Coordinator Module built-in RS-422A port (servo driver interface, serial gateway, no-protocol) CW/CCW (1 MHz: line-driver) one-shot pulse output 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) Motion Control Module High-speed pulse outputs High-speed counters Specifications Motion Control Module Serial communications Coordinator Module built-in RS-232C port (Host Link, no-protocol, NT Link, Serial PC Link (slave)) Peripheral port (toolbus, Host Link) Coordinator Module Coordinator Module Individual functions Item Functions General-purpose I/O Functions 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) Vibration resistance 49 x 90 x 80 mm (W x H x D) excluding cable 5 kg max. per Module EC, C-Tick, UL approval pending (See note 4.) Dimensions (mm) Weight Safety standards 8 Axes 6 Axes 4 Axes 2 Axes No. of axes 0 2 0 3 4 0 1 3 2 0 4 1 3 0 2 2 1 1 0 3 2 2 1 0 1 1 1 0 No. of FQM1-MMA22 Modules No. of FQM1-MMP22 Modules FQM1 without Expansion Using CJ-series Units Not possible. CJ1W-PA205R CJ1W-PA202 CJ1W-PA205R Power Supply Units Combinations of Power Supply Unit and Models 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. Note 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. Note 3: Do not apply voltages exceeding 600 V when performing dielectric testing for the analog I/O terminals. Internal elements may deteriorate. Note 4: UL-approved products are scheduled for shipment in March 2006. For installation in a control panel Less than 100 –20 to 75°C No corrosive gases Structure Ground Ambient storage temperature Atmosphere 10% to 90% (with no condensation) 0 to 55°C Ambient operating temperature Ambient operating humidity Conforms to JIS C0041 147 m/s 3 times each in X, Y, and Z directions Shock resistance 2 Conforms to IEC61000-4-4, 2 kV (power line) 720 VAC, 50/60 Hz between DC external terminals and GR terminal for 1 min, leakage current: 10 mA max. (See note 1.) 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.) 20 M min. between AC external terminals and GR terminal at 500 VDC, see note 1.) Specifications Noise immunity Dielectric strength Insulation resistance Item General Specifications 50 VA max. 0 to 55°C Ambient operating temperature cULus, EC directives 80 x 90 x 65 mm (W x H x D) excluding cable Safety standards 5 kg max. per Module Dimensions (mm) 45 x 90 x 65 mm (W x H x D) excluding cable For installation in a control panel Less than 100 –20 to 75°C No corrosive gases Weight Structure Ground Ambient storage temperature Atmosphere 0% to 90% (with no condensation) Conforms to JIS C0041 147 m/s2 3 times each in X, Y, and Z directions Shock resistance Ambient operating humidity 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) Conforms to IEC61000-4-4, 2 kV (power line) 1,000 VAC, 50/60 Hz between DC external terminals and GR terminal for 1 min, leakage current: 10 mA max. (See note 1.) 2,300 VAC, 50/60 Hz between AC external terminals and GR terminal for 1 min, leakage current: 10 mA max. (See note 1.) Vibration resistance Noise immunity Dielectric strength 20 M min. between AC external terminals and GR terminal at 500 VDC (See note 1.) Insulation resistance None 14 W total max. 0.4 A at 24 VDC 2.8 A at 5 VDC (including power supplied to Modules) 100 to 120 VAC Input: 20 A max. for 8 ms max. (for cold start at room temperature) 200 to 240 VAC Input: 40 A max. for 8 ms max. (for cold start at room temperature) Contact structure: STSP-NO Switching capacity: 2 A at 250 VAC (resistive load) 0.5 A at 120 VAC (inductive load) 2 A at 24 VDC (resistive load) 4 A at 24 VDC (inductive load) None 25 W total max. 0.8 A at 24 VDC 5.0 A at 5 VDC (including power supplied to Modules) 100 to 120 VAC Input: 15 A max. for 8 ms max. (for cold start at room temperature) 200 to 240 VAC Input: 30 A max. for 8 ms max. (for cold start at room temperature) 100 VA max. CJ1W-PA202 RUN output Power output terminals Power supply capacity Inrush current (See note 2.) Power consumption 85 to 264 VAC, 47 to 63 Hz Allowable power supply voltage and frequency ranges Specifications 100 to 240 VAC (wide range), 50/60 Hz CJ1W-PA205R Power supply voltage Power Supply Unit model Item Power Supply Unit Specifications Performance and Specifications 23 24 PORT 49 ON 39 1 40 RS422 CN1 2 OFF CM002 2 26 1 2.7 90 2.7 0 1 2 3 4 5 6 7 OUT 49 CN1 25 1 39 14.7 End Module FQM1-TER01 90 0 1 2 3 4 5 6 7 8 9 10 11 IN RDY RUN ERR 40 CN2 2 A1 B1 A2 B2 MMP22 Motion Control Modules FQM1-MMP22/MMA22 90 RDY RUN ERR PRPHL COMM1 COMM2 PERIPHERAL FLEXIBLE MOTION CONTROLLER 1 2 80 80 L1 NC NC L2/N AC100 -240V INPUT 45 POWER 90 80 RUN OUTPUT AC240V DC24V L1 AC100-240V INPUT L2/N 2.7 90 2.7 43.1 8.7 20 I/O Control Module FQM1-IC101 POWER PA205R CJ1W-PA205R Power Supply Units 90 PA202 CJ1W-PA202 Power Supply Units 81.6 140 65 65 69.65 65 68.15 L1 POWER RDY RUN ERR PRPHL COMM1 COMM2 PORT PERIPHERAL FLEXIBLE MOTION CONTROLLER 39 1 ON 40 RS422 CN1 2 OFF CM001 W 2 26 0 1 2 3 4 5 6 7 8 9 10 11 IN 1 CN1 25 0 1 2 3 4 5 6 7 OUT RDY RUN ERR 39 1 40 CN2 2 26 2 0 1 2 3 4 5 6 7 8 9 10 11 25 CN1 1 0 1 2 3 4 5 6 7 OUT 1 39 40 CN2 2 A1 B1 A2 B2 IN MMA21 A1 B1 A2 B2 RDY RUN ERR MMP21 90 49 Servo Relay Unit XW2B-80J7-1A Height with Cables Connected Approx. 115 to 165 49 n Modules W 49 20 41.7 15.9 100 90 160 Slide switch 14.7 80 27 27.6 35.4 30.7 4.5 dia. Slide switch Terminating resistance switch The maximum value of m + n is 10, as long as the current consumption limit is not exceeded. 20 or 31 m Units 20 or 31 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 a FQM1 Expanded Using CJ-series Units Height with Peripheral Port and RS-232C Port Connected W = a + 49 + 49 x n + 14.7 a: Width of Power Supply Unit n: Number of Motion Control Modules connected (4 max.) NC NC L2/N AC100 -240V INPUT PA202 Assembled Dimensions 12 Coordinator Module FQM1-CM002 Unit: mm OMRON Dimensions INC 19 25 26 or FQM1 Rack No. in diagram Power Supply Unit Modules Motion Control Module Coordinator Name Basic Modules FQM1 Analog Set FQM1 Pulse Set Name Basic Sets 5V Model -2 or -3 -1 FQM1S-MC224 (See note 1.) FQM1S-MC233 (See note 1.) -1 CE, UL approval pending (See note 2.) CE, UL approval pending (See note 2.) Standards -2 or -3 CJ1W-PA205R CJ1W-PA205C 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 UC1, CE, N, L CE, UL approval pending (See note 2.) CE, UL approval pending (See note 2.) CE, UL approval pending (See note 2.) Standards Note 1: A FQM1-TER01 End Module is included. 2: UL-approved products are scheduled for shipment in March 2006. CJ1W-PA202 FQM1-MMA22 FQM1-MMP22 FQM1-CM002 (See note 1.) 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 0.095 24 V Model 100 to 240 VAC, output capacity: 2.8 A at 5 VDC, 0.4 A at 24 VDC, total power consumption: 14 W 0.772 0.824 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 -2 or -3 FQM1-series End Module Note 1: The I/O Control Module (FQM1-IC101) is not included. 2: UL-approved products are scheduled for shipment in March 2006. -1 Current consumption (A) FQM1-TER01 Program capacity: 10 Ksteps, DM Area capacity: 32 Kwords, Built-in I/O: 12 inputs and 8 outputs), two pulse inputs, two pulse outputs FQM1-MMA22 + 0.37 Specifications FQM1-CM002 + -2 or -3 FQM1-TER01 -1 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 CJ1W-PA205R + A basic set for analog outputs and 2 axes A basic set for pulse outputs and 2 axes CJ1W-PA202 + FQM1-CM002 + FQM1-MMP22 + Specifications Servo Driver (W Series or SMARTSTEP) Connecting Cable for Servo Relay Unit (between Servo Relay Unit and Servo Driver) User-provided cable (See note.) Servo Relay Unit Connecting Cable for Servo Relay Unit (between FQM1 and Servo Relay Unit) RS-232C port Motion Control Modules (4 max.) 40-pin connector (special I/O) 40-pin connector (24 general-purpose I/O + RS-422A) 26-pin connector (20 general-purpose I/O) Host controller Coordinator Module 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. Connector-Terminal Block Conversion Unit (e.g., XW2D-40G6) XW2ZK Connecting Cable for Connector-Terminal Block Conversion Unit CS1W-CN226/626 Connecting Cable for peripheral port CX-Programmer Peripheral port Power Supply Unit RS-232C connection, or RS-422A/485 connection via CJ1W-CIF11 PT (Monitor parameter setting) Ordering Information CJ-series Expansion Rack Power Supply Unit No. in diagram Name 22 FQM1-MMA22 connection For connecting Servo Relay Unit to W-series Servo Driver For connecting Servo Relay Unit to SMARTSTEP For connecting Servo Relay Unit to W-series Servo Driver For connecting 40-pin connector on FQM1-MMA22 to Servo Relay Unit For connecting 40-pin connector on FQM1-MMP22 to Servo Relay Unit For connecting 26-pin connector on FQM1-MM to Servo Relay Unit FQM1-MMP22 connection -3 -2 -1 FQM1-series Servo Relay Unit with 2 axis connections Specifications However, the current consumption limit for the output capacity of the Power Supply Unit must not be exceeded. (10 max.) CJ-series Units RS-422A Communications Cable between Servo Relay Units Connecting Cable for Servo Relay Unit (between Servo Relay Unit and Servo Driver) Connecting Cable for Servo Relay Unit (between FQM1 and Servo Relay Unit) Servo Relay Unit 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. CJ-series End Cover I/O Interface Unit I/O Connecting Cable Servo Relay Unit and Cables or CJ-series Units I/O Control Module XW2Z-050J-A31 Cable length: 0.5 m XW2Z-200J-C1 XW2Z-100J-C1 Cable length: 1 m Cable length: 2 m XW2Z-200J-B13 Cable length: 2 m XW2Z-100J-B13 XW2Z-200J-B10 Cable length: 1 m XW2Z-100J-B10 Cable length: 2 m XW2Z-200J-B9 XW2Z-100J-B9 Cable length: 1 m Cable length: 2 m Cable length: 1 m XW2Z-100J-A31 XW2Z-100J-A30 Cable length: 1 m Cable length: 1 m XW2Z-050J-A30 XW2Z-100J-A28 XW2Z-050J-A28 Cable length: 0.5 m Cable length: 1 m Cable length: 0.5 m Model XW2B-80J7-1A UC1 UC1 UC1 UC1 UC1 UC1 UC1 Standards 27 28 Name CXONE-AL30C-E CXONE-AL50C-E 30 licenses 50 licenses WS02-CXPC1-E03-V6 WS02-CXPC1-E10-V6 10 licenses WS02-CXPC1-E-V6 3 licenses 1 license Model AC Input Units DC Input Units I/O Control Module CJ1W-ID201 CJ1W-ID231 (See note 2.) CJ1W-ID232 (See note 2.) CJ1W-ID261 (See note 2.) CJ1W-ID262 (See note 2.) CJ1W-IA111 CJ1W-IA201 0.09 0.09 0.09 0.09 0.08 Fujitsu connector, 24 VDC, 4.1 mA, 64 inputs MIL connector, 24 VDC, 4.1 mA, 64 inputs Terminal block, 100 to 120 VAC, 7 mA (100 V, 50 Hz), 16 inputs Terminal block, 200 to 240 VAC, 10 mA (200 V, 50 Hz), 8 inputs CJ1W-ID211 0.09 0.08 FQM1-IC101 (See note 1.) MIL connector, 24 VDC, 4.1 mA, 32 inputs 0.09 Terminal block, 12 to 24 VDC, 10 mA, 8 inputs Terminal block, 24 VDC, 7 mA, 16 inputs 24 V Fujitsu connector, 24 VDC, 4.1 mA, 32 inputs 0.02 5V Used when CJ-series Units are connected to the FQM1. A CJ-series Expansion Rack can be connected at the same time. Specifications Converts RS-232C to RS-422A/485. RS-422A Adapter Current consumption (A) PFP-M End Plate FQM1 Expansion Rack Rack Mountable Racks CJ1W-CIF11 PFP-100N2 PFP-100N Track length: 1 m, Height: 7.3 mm FQM1-TER01 PFP-50N Connected to the right end of the FQM1 Rack. Provided with the FQM1 Sets and with the FQM1-CM002. Model Track length: 0.5 m, Height: 7.3 mm Specifications 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. Name Standards UC1, CE, N, L UC, CE, N, L UL approval pending (See note 4.), CE Standards UC, CE, N UC1, CE Standards Site licenses are also available for users that need to use the CX-One on many computers. Ask your OMRON representative for details. Support Software for PLC programming on Windows 98SE, Me, NT 4.0 (Service Pack 6), 2000 (Service Pack 3 or higher), or XP Expansion Using CJ-series Units No. in diagram CXONE-AL10C-E CXONE-AL03C-E 3 licenses 10 licenses CXONE-AL01C-E Model 1 license As previously, the CX-Programmer can also be ordered individually using the following model numbers. The CX-One is an integrated tool package that provides programming and monitoring software for OMRON PLCs and components. The CX-One runs on any of the following operating systems:Windows 98 SE, Me, NT 4.0 (Service Pack 6), 2000 (Service Pack 3 or higher), or XP. CX-One includes CX-Programmer version 6. . Refer to the CX-One Catalog (R134) for details. Specifications Track length: 1 m, Height: 16 mm DIN Track End Module Others No. in diagram CX-Programmer Ver.6.11 or higher FA Integrated Tool Package CX-One version 1.1 Name Support Software No. in diagram Input Units 24 V 0.10 0.14 0.15 0.14 0.17 0.17 0.17 Terminal block, 24 VDC, 0.5 A, 16 sourcing outputs, load short-circuit protection and alarm function Fujitsu connector, 12 to 24 VDC, 0.5 A, 32 sinking outputs MIL connector, 12 to 24 VDC, 0.5 A, 32 sourcing outputs, load short-circuit protection and alarm function MIL connector, 12 to 24 VDC, 0.5 A, 32 sinking outputs Fujitsu connector, 12 to 24 VDC, 0.3 A, 64 sinking outputs MIL connector, 12 to 24 VDC, 0.3 A, 64 sourcing outputs MIL connector, 12 to 24 VDC, 0.3 A, 64 sinking outputs 0.07 0.07 64 outputs 32 inputs/32 outputs 0.19 0.14 0.14 0.13 0.07 MIL connector MIL connector Fujitsu connector MIL connector 0.13 0.13 64 inputs 5 VDC, 3.5 mA, 32 outputs 5 VDC, 3.5 mA, 32 inputs 12 to 24 VDC, 0.3 A, 32 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 12 to 24 VDC, 0.5 A, 16 sinking outputs 24 VDC, 4.1 mA, 16 inputs MIL connector 24 VDC, 0.5 A, 16 sourcing outputs, load short-circuit protection and alarm function 24 VDC, 7 mA, 16 inputs 12 to 24 VDC, 0.5 A, 16 sinking outputs 24 VDC, 7 mA, 16 inputs Fujitsu connector 0.10 Terminal block, 12 to 24 VDC, 0.5 A, 16 sinking outputs 0.22 CJ1W-OD262 (See note 2.) 0.10 Terminal block, 24 VDC, 0.5 A, 8 sourcing outputs, with load short-circuit protection and alarm function Terminal block, 250 VAC, 0.6 A, 8 outputs CJ1W-OD261 (See note 2.) 0.10 Terminal block, 12 to 24 VDC, 0.5 A, 8 sinking outputs CJ1W-B7A22 CJ1W-B7A04 CJ1W-B7A14 CJ1W-MD563 (See note 2.) CJ1W-MD263 (See note 2.) CJ1W-MD261 (See note 2.) CJ1W-MD233 (See note 3.) CJ1W-MD232 (See note 3.) CJ1W-MD231 (See note 3.) CJ1W-OA201 CJ1W-OD263 (See note 2.) CJ1W-OD233 (See note 2.) CJ1W-OD232 (See note 2.) CJ1W-OD231 (See note 2.) CJ1W-OD212 CJ1W-OD211 CJ1W-OD204 CJ1W-OD203 CJ1W-OD202 0.08 0.11 CJ1W-OD201 CJ1W-OC211 Terminal block, 24 VDC, 2 A, 8 sourcing outputs, load short-circuit protection, wiring disconnect detection, and alarm function 0.096 (0.006 x number of points ON) CJ1W-OC201 Model Terminal block, 12 to 24 VDC, 2 A, 8 sinking outputs 0.11 0.048 (0.006 x 0.09 number of points ON) 5V Current consumption (A) Terminal block, 250 VAC, 24 VDC max., 2 A, 16 outputs, independent contacts Terminal block, 250 VAC, 24 VDC max., 2 A, 8 outputs, independent contacts Specifications Mountable Racks FQM1 Expansion Rack Rack Note 1: The CJ-series End Cover (CJ1W-TER01) is included. 2: 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 a G7 -series I/O Block. 3: 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 a G7 -series I/O Block. 4: UL-approved products are scheduled for shipment in March 2006. B7A Interface Unit TTL I/O Unit DC Input/ Transistor Output Units Triac Output Unit Transistor Output Units Relay Output Units Name CJ-series Unit Expansion No. in diagram Output Units I/O Units UC1, CE UC1, CE, N UC1, CE, N, L Standards 29 30 No. in diagram CJ-series I/O Connecting Cables CJ-series I/O Interface Unit CJ-series Power Supply Units CJ1W-PA205C CJ1W-PD025 CJ1W-PD022 CJ1W-II101 100 to 240 VAC, replacement time notification function, no RUN output, Output capacity: 5A at 5 VDC, 0.8 A at 24 VDC, total power consumption: 25 W 24 VDC, output capacity: 5 A at 5 VDC, 0.8 A at 24 VDC, total power consumption: 25 W 24 VDC, output capacity: 2 A at 5 VDC, 0.4 A at 24 VDC, total power consumption: 19.6 W One Unit required on the CJ-series Expansion Rack to connect CJ-series Expansion Rack. Connects I/O Control Module on FQM1 Rack to I/O Interface Unit on CJ-series Expansion Rack CJ1W-PA205R 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 CS1W-CN523 CS1W-CN133 CS1W-CN133-B2 Cable length: 5 m Cable length: 10 m Cable length: 12 m CS1W-CN223 Cable length: 2 m CS1W-CN323 CS1W-CN713 Cable length: 0.7 m Cable length: 3 m CS1W-CN313 Cable length: 0.3 m 0.13 CJ1W-PA202 CJ1W-SPU01 CJ1W-NCF71 CJ1W-DRM21 CJ1W-SRM21 Model CJ1W-TER01 0.56 24 V 100 to 240 VAC, output capacity: 2.8 A at 5 VDC, 0.4 A at 24 VDC, total power consumption: 14 W Automatically collects the specified data through the CJ bus at intervals of a few ms. High-speed Data Collection Unit 0.36 0.29 0.15 5V Current consumption (A) Mounted on the right end when CJ-series Units are used for expansion. Position Control Unit with MECHATROLINK-II communications Position Control Unit with MECHATROLINK-II communications CJ-series End Cover CJ-series CPU Bus Units Provides DeviceNet remote I/O communications (Slave functions only) for 3,200 bits max. (with fixed or user-ser allocation). Communications functions: Remote I/O communications, maximum number of I/O points per master: 128 (64 inputs, 64 outputs) Communications functions: Remote I/O communications, maximum number of I/O points per master: 256 (128 inputs, 128 outputs) Specifications DeviceNet Unit CJ-series CompoBus/S Special I/O Master Units Units Name CJ-series Unit Expansion Mountable Racks FQM1 Expansion Rack Rack L, CE UC1, CE, N, L UC1, CE UC1, CE, N, L UC1, CE, N, L UC1, N, L UC1, N, L UC1, CE, N, L U, CE UC1, CE, UC1, CE, N, L UC1, CE, N, L Standards Read and Understand this Catalog Warranty and Limitations of Liability Disclaimers Performance data given in this catalog is provided as a guide for the user in determining suitability and does not constitute a warranty. It may represent the result of OMRON's test conditions, and the users must correlate it to actual application requirements. Actual performance is subject to the OMRON Warranty and Limitations of Liability. PERFORMANCE DATA Dimensions and weights are nominal and are not to be used for manufacturing purposes, even when tolerances are shown. DIMENSIONS AND WEIGHTS Product specifications and accessories may be changed at any time based on improvements and other reasons. Consult with your OMRON representative at any time to confirm actual specifications of purchased product. CHANGE IN SPECIFICATIONS OMRON shall not be responsible for the user's programming of a programmable product, or any consequence thereof. PROGRAMMABLE PRODUCTS NEVER USE THE PRODUCT FOR AN APPLICATION INVOLVING SERIOUS RISK TO LIFE OR PROPERTY WITHOUT ENSURING THAT THE SYSTEM AS A WHOLE HAS BEEN DESIGNED TO ADDRESS THE RISKS, AND THAT THE OMRON PRODUCT IS PROPERLY RATED AND INSTALLED FOR THE INTENDED USE WITHIN THE OVERALL EQUIPMENT OR SYSTEM. Know and observe all prohibitions of use applicable to this product. Take all necessary steps to determine the suitability of the product for the systems, machines, and equipment with which it will be used. OMRON shall not be responsible for conformity with any standards, codes, or regulations that apply to the combination of the product in the customer's application or use of the product. SUITABILITY FOR USE Application Considerations IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR, OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED, AND MAINTAINED AND NOT SUBJECT TO CONTAMINATION, ABUSE, MISUSE, OR INAPPROPRIATE MODIFICATION OR REPAIR. In no event shall the responsibility of OMRON for any act exceed the individual price of the product on which liability is asserted. OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT, OR CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMMERCIAL LOSS IN ANY WAY CONNECTED WITH THE PRODUCTS, WHETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE, OR STRICT LIABILITY. LIMITATIONS OF LIABILITY OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING NON-INFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS. ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE PRODUCTS WILL SUITABLY MEET THE REQUIREMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL OTHER WARRANTIES, EXPRESS OR IMPLIED. OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a period of one year (or other period if specified) from date of sale by OMRON. WARRANTY Please read and understand this catalog before purchasing the product. Please consult your OMRON representative if you have any questions or comments. 31