Omron FQM1-MMA22 Motion Module

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