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FQM1 Series

Flexible Motion Controllers

FQM1 Series

Advanced Power in Three Applications: Motion Control, Measurement Control, and High-speed Response Control

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.

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.

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.