FQM1 Series

Flexible Motion Controllers

FQM1 Series

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

* Information in this page is a reference that you created on the basis of information in the product catalog before the end of production, may be different from the current situation, such as goods for / supported standards options / price / features of the product. Before using, please check the compatibility and safety system.

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
Dielectric strength	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
Item		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.
Executing speed	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
Common processing time (overhead)				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
Program capacity	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
Internal Auxiliary Area	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)
Auxiliary Area	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
DM Area	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)
Interrupts	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)
Memory backup	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.
	Input voltage	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
I/O	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)
Functions	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
Functions	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	Ver. 3.2 or higher	Ver. 3.3 or higher	Ver. 3.2 or higher	Ver. 3.3 or higher
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
	*Functions to be used 1**		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
Unit Ver. 3.3	Functions enhanced in Unit Ver. 3.3	not to be used	O	O	O	O
Unit Ver. 3.2	Functions enhanced in Unit Ver. 3.2	to be used	×	×	O	O
Unit Ver. 3.2	Functions enhanced in Unit Ver. 3.2	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.

last update: December 13, 2013

Product Category

Motion / Drives
- Motion Controllers
  - Discontinued
    - FQM1 Series

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