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Cat. No. O010-E1-01
FQM1 Series
FQM1-CM001
FQM1-MMP21
FQM1-MMA21
Flexible Motion Controller
OPERATION MANUAL
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FQM1 Series FQM1-CM001 FQM1-MMP21 FQM1-MMA21 Flexible Motion Controller Operation Manual Produced November 2004
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iv
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Notice: OMRON products are manufactured for use according to proper procedures by a qualified operator and only for the purposes described in this manual. The following conventions are used to indicate and classify precautions in this manual. Always heed the information provided with them. Failure to heed pre- cautions can result in injury to people or damage to property. !DANGER Indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. !WARNING I
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vi
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TABLE OF CONTENTS PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiii 1 Intended Audience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv 2 General Precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . xiv 3 Safety Precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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TABLE OF CONTENTS 4-4 Power OFF Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 SECTION 5 Module Functions and Data Exchange . . . . . . . . . . . . . . . . . 103 5-1 Synchronous Operation between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104 5-2 Data Exchange between Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105 5-3 Cyclic Re
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TABLE OF CONTENTS SECTION 10 Inspection and Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . 259 10-1 Inspections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260 Appendices Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263 A I/O Memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299 B Sy
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TABLE OF CONTENTS x
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About this Manual: This manual describes the operation of the Coordinator Module and Motion Control Modules of the FQM1-series Flexible Motion Controller. Please read this manual and all related manuals listed in the table below and be sure you understand information provided before attempting to program or use FQM1-series Flexible Motion Controllers in a control system. Name Cat. No. Contents FQM1 Series O010 This manual provides an overview of and describes FQM1-CM001, FQM1-MMP21, FQM1-MMA2
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xii
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PRECAUTIONS This section provides general precautions for using the FQM1-series Flexible Motion Controller and related devices. The information contained in this section is important for the safe and reliable application of the FQM1-series Flexible Motion Controller. You must read this section and understand the information contained before attempting to set up or operate a control system using the FQM1-series Flexible Motion Controller. 1 Intended Audience . . . . . . . . . . . . . . . . . . .
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Intended Audience 1 1 Intended Audience This manual is intended for the following personnel, who must also have knowledge of electrical systems (an electrical engineer or the equivalent). Personnel in charge of installing FA systems. Personnel in charge of designing FA systems. Personnel in charge of managing FA systems and facilities. 2 General Precautions The user must operate the product according to the performance specifica- tions described in the operation manuals. Before using the p
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Safety Precautions 3 When the 24-VDC output (service power supply to the FQM1) is over- loaded or short-circuited, the voltage may drop and result in the outputs being turned OFF. As a countermeasure for such problems, external safety measures must be provided to ensure safety in the system. !WARNING Fail-safe measures must be taken by the customer to ensure safety in the event of incorrect, missing, or abnormal signals caused by broken signal lines, momentary power interruptions, or other cau
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Safety Precautions 3 Locations subject to static electricity or other forms of noise Locations subject to strong electromagnetic fields Locations subject to possible exposure to radioactivity Locations close to power supplies !Caution The operating environment of the FQM1 System can have a large effect on the longevity and reliability of the system. Improper operating environments can lead to malfunction, failure, and other unforeseeable problems with the FQM1 System. Make sure that the
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Safety Precautions 3 Outputs may remain ON due to a malfunction in the built-in transistor out- puts or other internal circuits. As a countermeasure for such problems, external safety measures must be provided to ensure the safety of the system. Part of the DM Area (data memory) in the Motion Control Module is held using the super capacitor. Corrupted memory may prevent the correct values from being saved, however. Take appropriate measures in the lad- der program whenever the Memory Not Hel
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Safety Precautions 3 Do not apply voltages or connect loads to the built-in outputs in excess of the maximum switching capacity. Excess voltage or loads may result in burning. Disconnect the functional ground terminal when performing withstand voltage tests. Not disconnecting the functional ground terminal may result in burning. Wire correctly and double-check all the wiring or the setting switches before turning ON the power supply. Incorrect wiring may result in burn- ing. Check that t
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Conformance to EC Directives 4 4 Conformance to EC Directives 4-1 Applicable Directives EMC Directives Low Voltage Directive 4-2 Concepts EMC Directives OMRON devices that comply with EC Directives also conform to the related EMC standards so that they can be more easily built into other devices or the overall machine. The actual products have been checked for conformity to EMC standards (see the following note). Whether the products conform to the standards in the system used by the customer
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Conformance to EC Directives 4 4-5 Relay Output Noise Reduction Methods The FQM1-series Flexible Motion Controller conforms to the Common Emis- sion Standards (EN61000-6-4) of the EMC Directives. However, noise gener- ated by relay output switching may not satisfy these Standards. In such a case, a noise filter must be connected to the load side or other appropriate countermeasures must be provided external to the Motion Controller. Countermeasures taken to satisfy the standards vary depending o
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Conformance to EC Directives 4 Circuit Current Characteristic Required element AC DC No Yes The diode connected in parallel with The reversed dielectric strength value Diode method the load changes energy accumulated of the diode must be at least 10 times by the coil into a current, which then as large as the circuit voltage value. flows into the coil so that the current The forward current of the diode must will be converted into Joule heat by the be the same as or larger than the load res
