OMRON FQM1‑MMA21 Flexible Motion Control Module for FQM1 Series
The OMRON FQM1‑MMA21 is a dedicated motion control module belonging to the FQM1 (Flexible Motion Controller) series. It provides two axes of high‑speed positioning control, capable of driving servomotors or stepper motors via pulse train outputs. The module integrates seamlessly with the FQM1 CPU unit (e.g., FQM1‑CM02) to create a compact, high‑performance motion control system for applications such as pick‑and‑place machines, XY tables, and packaging equipment.
Axis Specifications
The module controls two independent axes, each with the following outputs: pulse train (line driver or open collector) and direction signal. Maximum output frequency: 500 kpps (line driver) or 200 kpps (open collector). Positioning modes include absolute, relative, and interrupt feeding. The module supports linear interpolation between the two axes, allowing diagonal or arbitrary‑angle moves. Each axis provides encoder feedback inputs (4‑channel differential line receiver, 100 kHz max) for full closed‑loop control. The acceleration/deceleration profile can be trapezoidal or S‑curve, with separate speeds for each phase.
Integrated I/O and Ladder Logic
Unlike pure motion modules, the FQM1‑MMA21 includes 16 digital inputs (24 V DC, optically isolated) and 12 digital outputs (transistor, 0.3 A per point). This allows the motion controller to handle limit switches, home sensors, and actuator commands without external I/O modules. The on‑board PLC engine executes ladder logic at 0.1 µs per step, with up to 10,000 steps of user program. Motion commands (e.g., MOVE, LIN, INTERPOLATE) are embedded as function blocks within the ladder diagram. This tight integration eliminates communication delays between a separate PLC and motion controller.
Memory and Programming
The FQM1‑MMA21 has 8 MB of flash memory for storing motion programs (up to 1000 positioning sequences) and 128 kB of RAM for data. Programming is done using OMRON’s CX‑Motion software (integrated with CX‑One). Motion parameters such as target position, speed, and acceleration are set in special data registers. The module supports up to 200 position data sets. It also provides a real‑time clock for time‑stamped event logging. A built‑in EEPROM stores parameters permanently without a backup battery.
Communication and Synchronisation
The module communicates with the FQM1 CPU via an internal high‑speed bus, achieving cycle times as low as 250 µs. For multi‑axis coordinated systems, two FQM1‑MMA21 modules can be synchronised using the expansion bus, enabling up to 4 axes. The module also has an RS‑232C port (9‑pin D‑sub) for connecting a programming terminal or operator panel. This port supports host link or no‑protocol modes. An optional Ethernet port is available via an adapter.
Electrical and Environmental Data
Power supply: 24 V DC ±10% (external), consumption 0.8 A. The module draws 200 mA from backplane 5 V. Dimensions: 95 mm × 90 mm × 70 mm. Weight 0.25 kg. Operating temperature: 0‑55 °C, humidity: 35‑85% non‑condensing. The enclosure is IP20. The module is compliant with CE and UL 508. It includes a watchdog timer for safety monitoring.
Typical Applications
The FQM1‑MMA21 is used in small precision assembly stations, labelling machines (XY positioning), coil winding machines, and light‑duty pickers. Because it integrates logic and motion in one unit, it reduces overall system cost and complexity compared to using a separate PLC and motion card.
