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FQM1 Series
Flexible Motion Controllers
Advanced Power in Three Applications: Motion Control, Measurement Control, and High-speed Response Control
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last update: December 13, 2013
General Specifications
| Item | Specifications |
|---|---|
| Insulation resistance | 20 MΩ min. between AC external terminals and GR terminal at 500 VDC, *1.) |
| Dielectric strength | 2,300 VAC, 50/60 Hz between AC external terminals and GR terminal for 1 min, leakage
current: 10 mA max. *1 *3 |
| 720 VAC, 50/60 Hz between DC external terminals and GR terminal for 1 min, leakage current:
10 mA max. *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 *4 |
*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.
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.
Performance
| Item | Specifications | ||||
|---|---|---|---|---|---|
| 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 | |||
| Executing
speed |
Basic
instructions |
0.1 μs min. | 0.1 μs min. | ||
| Special
instructions |
0.3 μs min. | 0.3 μs min. | |||
| Common processing time
(overhead) |
Synchronous mode: 390 μs (when 1
Motion Control Module is connected) Asynchronous mode: 180 μs |
FQM1-
MMP22 |
Synchronous mode: 250 μs
Asynchronous mode: 190 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 |
||||
| Program
capacity |
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 | |||
| CIO Area | 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 | |||
| Internal
Auxiliary Area |
CIO 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 |
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 |
||
| Work Area | 4,096 bits: W000 to W255 | 4,096 bits: W000 to W255 | |||
| Auxiliary
Area |
READ/WRITE | 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) |
||
| Error log | 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, 100-ms timers) |
256 timers: T0000 to T0255 (1-ms timers,
10-ms timers, 100-ms 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. |
|||
| DM Area | 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.) *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 | 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 |
|||
| Function
block address allocation area |
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) |
|||
| Interrupts | Input interrupts | None | 4 inputs (with countdown mode) | ||
| Timer
interrupts |
1 (scheduled or one-shot interrupts) | 1 (scheduled or one-shot interrupts) | |||
| Power OFF backup function
(momentary power interruptions) |
Super capacitor | Super capacitor | |||
| Memory
backup |
Super capacitor
backup |
Error log | Error log, a portion of DM (for momentary
interruptions) |
||
| Flash memory | User programs, System Setup, part of
DM |
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, *2.) |
Approx. 100 hours (ambient temperature:
25 °C, *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) | - | |||
| Individual functions | Serial
commu- nications |
Peripheral port (toolbus,
Host Link) 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 |
||||
*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.
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.
Coordinator Module
Built-in General-purpose I/O
| Item | Specifications | |
|---|---|---|
| Input specifications | Inputs | 16 |
| 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 |
|
| Output specifications | 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. | |
Motion Control Module
Built-in General-purpose I/O
| Item | Specifications | ||
|---|---|---|---|
| Input specifications | Inputs | 12 | |
| Input voltage | 20.4 to 26.4 V | ||
| Input voltage | 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. |
||
| Output specifications | 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
Motion Control Module with Pulse I/O (FQM1-MMP22)
| Item | Description | |
|---|---|---|
| I/O | Pulse I/O | Pulse inputs: 2 (for servo with absolute encoder)
Pulse outputs: 2 One-shot pulse outputs: 2 |
| General-purpose I/O | General-purpose inputs: 12
General-purpose outputs: 8 |
|
| Functions | Pulse outputs | 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) |
| Pulse inputs | • 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 |
|
Motion Control Module with Analog I/O (FQM1-MMA22)
| Item | Description | |
|---|---|---|
| General-purpose I/O | 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 |
|
| General-purpose I/O | General-purpose inputs: 12
General-purpose outputs: 8 |
|
| Functions | Analog outputs | • Slope function
• Output hold function • Offset gain adjustment |
| Analog inputs | • Offset gain adjustment
• High-speed analog sampling |
|
List of Support Functions Depending on the Unit Version
O: Supported, −: Not supported
| Module type | Coordinator Module | Motion Control Module | |||
|---|---|---|---|---|---|
| Model | FQM1-CM002 | FQM1-MMP22/MMA22 | |||
| Unit version | Ver. 3.2 or
higher |
Ver. 3.3 or
higher |
Ver. 3.2 or
higher |
Ver. 3.3 or
higher |
|
| Descriptions | |||||
| 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 high-speed analog sampling
multiple settings |
- | - | O *2 | O *2 | |
*1. Only available with FQM1-MMP22.
*2. Only available with FQM1-MMA22.
Types of the Unit Version
| Name | Model | Unit Ver. |
|---|---|---|
| Coordinator Module | FQM1-CM002 | Unit Ver. 3.3
Unit Ver. 3.2 Unit Ver. 3.1 Unit Ver. 3.0 |
| Motion Control Module | FQM1-MMP22
FQM1-MMA22 |
Unit Ver. 3.3
Unit Ver. 3.2 Unit Ver. 3.1 Unit Ver. 3.0 |
Relations between the Unit Version and Support Software
| Functions to be used * 1 | Support Software required CX-Programmer | |||||
|---|---|---|---|---|---|---|
| Ver. 3.3 | Ver. 4.0 | Ver. 5.0/
Ver. 6.0 |
Ver. 7.0 or
higher |
|||
| Unit Ver. 3.3 | Functions enhanced in
Unit Ver. 3.3 |
to be used | × | × | × | O *2 |
| not to be used | O | O | O | O | ||
| Unit Ver. 3.2 | Functions enhanced 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.
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.
last update: December 13, 2013
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