Omron FQM1-MMA22 Motion Module
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