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Motion Control Modules Section 2-4
I/O Specifications
Built-in General-purpose I/O
2-4 Motion Control Modules
Motion Control
Module
FQM1-MMP21 (Pulse I/O)
RUN output 1 (when CJ1W-PA205R used)
Individual func-
tions
Serial communica-
tions
Peripheral port: Peripheral bus (Toolbus), Host Links, NT Links
Built-in RS-232C port on Coordinator Module: Peripheral bus (Toolbus), Host Links,
no-protocol communications, NT Links, and Serial PLC Links (slave).
Built-in RS-422A port on Coordinator Module: Servo Driver interface
Item Specifications
Item Specifications
Inputs Number of inputs 16
Input voltage 20.4 to 26.4 V
Input response Inputs for normal input (16 points):
ON delay time: 100 µs
OFF delay time: 1 ms max.
8 points/common
Outputs Number of outputs 8
Output type NPN transistor
Switching capacity 4.5 to 30 V DC, 0.3 A per output
ON delay time 0.1 ms max.
OFF delay time 1 ms max.
Item Specifications
I/O Pulse I/O Pulse inputs: 2 (compatible with Servo Drivers with absolute encoders)
Pulse outputs: 2
40-pin connector
General-purpose
I/O
General-purpose inputs: 12
General-purpose outputs: 8
26-pin connector
Functions Pulse outputs The following operations are supported:
• Speed control (fixed, acceleration, deceleration)
• Positioning (Fixed-speed positioning; trapezoid, acceleration/deceleration positioning,
and deceleration positioning)
• Speed control according to the present position (pulse output target value comparison or
range comparison)
• Electronic cam operation (Positioning according to the rotation position of the real or vir-
tual axis.)
• One-shot pulse output (Output ON only for specified time. minimum increment: 0.01 ms)
• Time measurement using pulse counter (minimum increment: 0.0001 ms )
Pulse inputs • High-speed counters: Phase, Increment/decrement, Pulse + direction inputs (50 kHz/1
MHz), or phase differential (50 kHz/500 kHz; phase differential × 4, 2 MHz )
• High-speed counter can be started/stopped using counter start bit.
• Changes in high-speed counter present value can be measured.
• High-speed counter frequency can be measured.
Program Program capacity 5 Ksteps