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7.17.1 Tool Operation

– Home Return

After the power supply of the positioning unit turned on, the zero (home) of the machine position
(coordinate) does not always agree with the zero of the coordinate value in the positioning unit.
Therefore, coordinate the home of the machine position with the home of the positioning unit. This
setting is called Home return.

1. Click [Home Return] in the tool operation dialog. The following dialog is shown.

Axis [Group]

The axis numbers and group names to be monitored.

Synchronous
group

The group name and the master/slave axis type for the synchronous
operation.

Synchronous mode

The operation mode for the synchronous operation.

Synchronous
condition

Indicate the synchronous/asynchronous condition in the synchronous
operation. For the synchronous operation in the operation mode A, clicking
[Synchronous change] changes the condition.

Current value

Indicate the feedback value for every axis after unti conversion.
Clicking [Coordinate origin] displays the dialog for inputting the value, and it
enables to change the value after the home return.

Unit

The unit of position for each axis specified in the parameter settings.

Deviation (Pulse)

Indicate the deviation when activating the moving amount automatic check
function.

Home return mode

Indicate the contents of the home return setting code registered in the
positioning setting data.

Start/Stop

Execute the operation to start/stop the home return.

・

Click [Start] to execute the home return operation. The button name
changes to [Stop].

・

Click [Stop] to execute the deceleration stop operation. The button name
changes to [Start].

State of axis

The operating states of axes or error and warning occurrences.

Error code

The latest error code when an error occurred.

Error clear

Clear the error by clicking this button, when an error occurred.

Warning code

Indicate the latest warning code when a warning occurs.

Warning clear

Clear the warning by clicking this button, when a warning occurred.

Speed rate

The target speed of the home return specified in the parameter settings for
each axis is regarded as 100%, and the operation is executed in the specified
speed rate.
Clicking [Speed rate] shows the dialog for inputting the value..

Note:

If a recoverable error occurred in the positioning unit, click [Error Clear] to clear the error.
If a warning occurred in the positioning unit, click [Warning Clear] to clear the warning.

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Summary of Contents for AFP243710

Page 1: ...WUME FP2POSP 01 2021 10 panasonic net id pidsx global FP2 Positioning Unit Interpolation PROGRAMMABLE CONTROLLER Technical Manual ...

Page 2: ...ion use this product at the values less than the maximum of the characteristics and performance that are assured in these specifications Do not dismantle or remodel the product It could cause excessive exothermic heat or smoke generation Do not touch the terminal while turning on electricity It could lead to an electric shock Use the external devices to function the emergency stop and interlock ci...

Page 3: ...ire Connector 3 3 3 2 Input Output Specifications and Terminal Layout 3 4 3 2 1 Input Output Specifications 3 4 3 3 Supplying Power for Internal Circuit Drive 3 8 3 3 1 Line Driver Output Type 3 8 3 3 2 Transistor Output Type 3 8 3 4 Connection of Pulse Command Output Signal 3 9 3 4 1 Line Driver Output type 3 9 3 4 2 Transistor Output Type 3 9 3 5 Connection of Deviation Counter Clear Output Sign...

Page 4: ...N 5 2 5 2 Pulse Output Mode and Switch Logic Settings 5 3 5 3 Setting the Pulse Input Mode 5 4 5 3 1 Restrictions on Pulse Input Setting 5 5 5 4 Checking the Safety Circuit 5 6 5 4 1 Checking the External Safety Circuit 5 6 5 4 2 Checking the Safety Circuit based on Positioning Unit 5 6 5 5 Operation Check 5 7 5 5 1 Checking the Operation of the Near Home Switch and Home Switch 5 7 5 5 2 Procedure...

Page 5: ...g Positioning Data 7 18 7 11 How to Edit Positioning Data 7 20 7 11 1 Inputting Positioning Data 7 20 7 11 2 Copying Positioining Data 7 21 7 11 3 Selecting All Cells 7 21 7 11 4 Searching Character Strings 7 22 7 11 5 Replacing Character Strings 7 22 7 11 6 Selecting Lines 7 23 7 11 7 Selecting Colums 7 23 7 11 8 Editing Data Items Collectively 7 23 7 12 Customizing Software 7 24 7 13 Checking Se...

Page 6: ... of J Point Control 8 9 8 2 Interpolation Control 8 12 8 2 1 Setting and Operation of Two Axis Linear Interpolation 8 15 8 2 2 Setting and Operation of Two Axis Circular Interpolation 8 17 8 2 3 Setting and Operation of Three Axis Linear Interpolation 8 19 8 2 4 Setting and Operation of Three Axis Linear Interpolation 8 22 8 3 Synchronous Operation 8 25 8 3 1 Overview of Synchronous Operation 8 25...

Page 7: ...ary Functions 13 1 13 1 Dwell Time 13 2 13 2 Software Limit 13 3 13 3 Auxiliary Output Code and Auxiliary Output Contact 13 4 13 4 Home Change 13 5 13 5 Coordinate Origin 13 6 13 6 Pulse Input 13 6 13 6 1 Monitoring Pulse Input Values 13 7 13 6 2 Pulse Input Function 13 7 13 6 3 Function of Feedback Pulse 13 8 13 6 4 Function of High speed Counter 13 11 13 7 Startup Speed 13 12 19 Precautions Duri...

Page 8: ...leshooting 16 1 16 1 Troubleshooting 16 2 16 1 1 If the Motor Does Not Turn or Operate if the LED for pulse output A or B is flashing or lighted 16 2 16 1 2 If the Motor Does Not Turn or Operate if the LED for pulse output A or B is not lighted 16 2 16 1 3 Rotation Movement Direction is Reversed 16 3 22 Specifications 17 1 17 1 Table of Specificationa 17 2 17 1 1 General Specifications 17 2 17 1 2...

Page 9: ... 28 17 6 1 Configuration of Each Axis Setting Area 17 28 17 6 2 Parameter Setting Area 17 29 17 6 3 Positioning Data Setting Areas 17 38 23 Dimensions 18 1 18 1 FP2 Positioning Unit Interpolation Type 18 2 24 Sample Programs 19 1 19 1 Basic Configuration and Contact Allocations of Sample Programs 19 2 19 2 Sample Programs 19 4 19 2 1 When Setting Positioning Data in Extended Area Using Program 19 ...

Page 10: ...s is a method of control which is initiated up to an end point and in this manual is referred to as E point control This method is used for a single speed acceleration deceleration It is also called a trapezoidal control P point control This refers to control which passes through a Pass Point and is called P point control in this manual This method is used when a multi stage speed is to be specifi...

Page 11: ...speed CW CCW Generally these indicate the direction in which the motor is rotating with CW referring to clockwise rotation and CCW to counterclockwise rotation CW CCW output method 2 pulse output method This is a method in which control is carried out using two pulses a forward rotation pulse and a reverse rotation pulse With the FP2 positioning unit this is specified using the control codes of th...

Page 12: ... used in pulse output signal circuits enabling to make connections in accordance with the voltage of the power supply being used by connecting an external resistance This is used when connecting a driver that does not have line driver input such as a stepping motor Automatic operation This is an operation to be automatically executed and means a position control Manual operation This is an operati...

Page 13: ... slows the rotation and brings it to a stop The deceleration time is the deceleration time during the operation Emergengy stop This is a function that interrupts the operation in progress slows the rotation and brings it to a stop Generally a time shorter than a time for a deceleration stop is set The deceleration time can be specified individually Positioning table Table A series of positioning d...

Page 14: ...ication Circular interpolation This is the inerpolation control that controls positions as the locas of the operation of the 2 axis motor with the grouped X axis and Y axis becomes a circular arc Therea re tow setting methods which are a center point specification and pass point specification Spiral interpolation This is the interpolation control that controls positions as the loca of the operatio...

Page 15: ...ut This counts the feedback pulse from the encoder 2 phase input direction distinction input and individual input can be handled 2 phase input method This counts the signal of 2 pulses in the different phase A phase B phase when A phase preceeds B phase the motor is rotated clockwise count increment and when B phase preceeds A phase the motor is rotated counter clockwise count decrement Direction ...

Page 16: ...xiv ...

Page 17: ...Chapter 1 Functions of Unit and Restrictions on Combination ...

Page 18: ...axis and 4 axis types are available Multiple axes up to 4 axes can be controlled with a single unit 2 axis type 4 axis type Transistor output type Open collector and Line driver output type are available The unit has 2 types one is the Line driver output type can handle the high speed control and another is the Transistor output type can handle the driver can be connected with only the open collec...

Page 19: ...interpolation 3 axis linear interpolation and 3 axis spiral interpolation contols can be performed 1 1 1 Unit Types FP2 Positioning Unit Interpolation type Type Function Part number Product number 2 axis transistor output type 2 axis control FP2 PP2T AFP243710 4 axis transistor output type 4 axis control FP2 PP4T AFP243720 2 axis line driver output type 2 axis control FP2 PP2L AFP243711 4 axis lin...

Page 20: ...ideration and a power supply unit with a sufficient capacity should be used FP2 Positioning Unit Interpolation type Type Part number Product number Current consumption from power supply 2 axis type FP2 PP2T AFP243710 300 mA 2 axis type FP2 PP2L AFP243711 300 mA 4 axis type FP2 PP4T AFP243720 300 mA 4 axis type FP2 PP4L AFP243721 300 mA ...

Page 21: ...Chapter 2 Parts and Functions ...

Page 22: ...4T FP2 PP4L only This switches operation display between for axes 1 and 2 and for axes 3 and 4 User interface connector for 1 axis 2 axis This connector is used to connect a motor driver or external interface User interface connector for 3 axis 4 axis for FP2 PP4T FP2 PP4L only This connector is used to connect a motor driver or external interface ...

Page 23: ...tput reverse CL Counter clear signal output display Green Output ON Output OFF D Near home status display Note2 Green ON OFF Z Home input status display Note2 Green ON OFF PA Pulse input A signal display Note3 Green Displays the input status of the pulse inupt A signal PB Pulse input B signal display Note3 Green Displays the input status of the pulse inupt B signal ERR Setting value error display ...

Page 24: ...2 4 ...

Page 25: ...Chapter 3 Wiring ...

Page 26: ...section area Insulation thickness Rated current AWG22 0 3 mm2 1 5 to 1 1 dia 3A AWG24 0 2 mm2 Discrete wire connector attached with a unit Manufacturer Component parts Unit type and required quantit 2 axis type 4 axis type Panasonic Corp Housing 40P 1 pc x 1 1 pc x 2 Semi cover 40P 2 pcs x 1 2 pcs x 2 Contact for AWG22 and AWG24 5pin 8 pcs x 1 8 pcs x 2 1 connector set and 2 connector sets are sup...

Page 27: ...ion saving labor Procedure 1 Bend the contact back from the carrier and set it in the pressure connection tool 2 Insert the wire without removing its insulation until it stops and lightly grip the tool 3 After press fitting the wire insert it into the housing 4 When all wires has been inserted fit the semi cover into place ...

Page 28: ...e same specifications Output terminals Transistor Output type Pin number Circuit Signal name Item Description 1 3 axis 2 4 axis A1 A10 Pulse output A 5V DC output Output Specifications Output format Open collector B1 B10 Pulse output A Open collector Operating voltage range 4 75 V DC to 26 4 V DC A2 A11 Pulse output B 5V DC output Max load current 15 mA B2 B11 Pulse output B Open collector ON Max ...

Page 29: ...te Its ON time can be selected using the Control code of the shared memory from the range of 1 to 100 ms Power supply terminals and Earth terminals common Pin number Circuit Signal name Item Description A19 B19 F E Field Earth Power specifications A20 External power supply input 24 V DC Power supply voltage range 21 4 V DC to 26 4 V DC B20 External power supply input 24 V DC Current consumption 4 ...

Page 30: ...re B3 B12 Home input B4 B13 COM A5 A14 Near home input DOG Input specifications Operating voltage range 21 6V DC to 26 4V DC Min ON voltage current Near home input DOG 19 2V DC 5 0mA Over limit input Limit Over limit input Limit 19 2V DC 2 6mA A6 A15 Over limit input Limit Max OFF voltage current 2V DC 1 5mA B6 B15 Over limit input Limit Input impedance Near home input DOG Approx 3 6k Over limit i...

Page 31: ...3 7 Note Please use under the specifications for pulse input A B signal 2 phases input method Direction distinction input method Individual input method ...

Page 32: ...n supplied to the various internal circuits as a power supply for internal circuit drive of the pulse command output pin 3 3 1 Line Driver Output Type 3 3 2 Transistor Output Type The power supply for the pulser command output circuit can be taken from the 5V DC out put pins pin No A1 A2 A10 and A11 Note When open collector pulse output Transistor output is used the value of 15 mA per signal shoul...

Page 33: ...ct one or the other depending on the interface of the motor driver being used Note We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables to be used 3 4 1 Line Driver Output type 3 4 2 Transistor Output Type Note A value of 15 mA per signal should be used as a guide If exceeds this resistance should be added ...

Page 34: ...f the counter clear input to the servo motor driver An external power supply 5 V DC to 24 V DC must be provided for the connection Note Always use twisted pair cables for wiring The Current which can be conducted as the deviation counter clear output signal is 10 mA max If 10 mA is exceeded resistance should be added ...

Page 35: ...utput or Transistor output of the motor driver or to an external switch and sensor Note We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables used 3 6 1 Connection of Home Input When connecting to motor driver Z phase output 3 6 2 Connection of Home Input When connecting to an external switch sensor ...

Page 36: ...the Near home input Over limit input Over limit input and Positioning control start input Timing input 3 6 4 Connection of Over limit Input Signal Note No B4 and B13 are common for the Near home input Over limit input Over limit input and Positioning control start input Timing input ...

Page 37: ...t terminal is used for Pulser input operation and Feedback pulse count so it is used for either Note We recommend using twisted pair cables for connections or twisting the cables used When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the control code to prevent counting error 3 7 1 Line...

Page 38: ...tput type and the motor driver and between the Line driver output type and the motor driver Signals applicable Transistor output Line driver output Deviation counter clear output Output type Product number Wiring length Transistor output type AFP243710 10 m AFP243720 Line driver output type AFP243711 AFP243721 ...

Page 39: ...Chapter 4 Power On Off and Items to Check ...

Page 40: ...witch Safety circuit based on Positioning unit Install Over limit switches as shown above Connect them to Over limit input and Over limit input of the Positioning unit Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used ...

Page 41: ...limit switches Check to make sure that Over limit switches have been properly installed Checking the procedure settings for turning ON the power supplies Make sure settings have been entered so that power supplies will be turned ON according to the procedure outlined in section 5 3 1 Procedure for Turning ON the Power Checking the CPU mode selection switch Set the CPU in the PROG mode Setting it i...

Page 42: ...eration and sufficient care should be taken that turning ON the power does not initiate unexpected movements or operations 4 3 1 Procedure for Turning ON the Power Procedure 1 Turn ON the power supplies for input and output devices connected to the PLC including the power supply for the line driver output or open collector output 2 Turn ON the power supply for the PLC 3 Turn ON the power supply fo...

Page 43: ...e power supply for the line driver output or open collector output Precautions when rebooting the system The flags of the operation memory are initialized simply by initializing the CPU but the flags of the shared memory for the positioning unit are retained If the positioning unit is operated with data still in the shared memory operation may be carried out based on any set values which have been...

Page 44: ...4 6 ...

Page 45: ...Chapter 5 Preparation For Operation ...

Page 46: ...5 2 5 1 Confirming while the Power is ON Items to check when the power is ON System configuration example Checking should be carried out in the four general stages described below ...

Page 47: ...re required for the establishment of the system Pulse output mode Various input valid logics Parameter setting area 1st axis Bank Offset address Name Descriptions 02H 015H Pulse output control code 2nd axis Bank Offset address Name Descriptions 0CH 015H Pulse output control code Refer to the 1st axis 3rd axis Bank Offset address Name Descriptions 16H 015H Pulse output control code Refer to the 1st...

Page 48: ...the feedback value Moving amount automatic check function The encoder is supported for 2 phase input phase A phase B only High speed counter Set for using as a general purpose counter input It is availablel fro various input modes 2 phase input direction discrimination input individual input The positioning unit stores the input pulse in the monitor area Parameter setting area 1st axis Bank Offset...

Page 49: ...se input allowed not allowed Allowed A A A Not allowed N A N A A Pulse count vaue set clear Clear N A A N A Set N A A A A Available N A Not available When setting the pulse input purpose to Pulser the settings other than the 2 phase input direction discrimination input individual input cannot be specified for the pulse input mode When setting the pulse input purpose to Feedback pulse the settings ...

Page 50: ...circuit of the positioning unit check to see if the Over limit input is being properly taken into the positioning unit Whether or not Over limit input is taken can be confirmed by the input flag In addition the Over limit input valid logics can be changed using the control code in the user program Procedure 2 If necessary input a program to start the JOG operation Then operate the over Over limit ...

Page 51: ...arry out a home return to check if near home input produces deceleration Points to check The input valid logic for the home input and near home input is determined by the control codes of the program Procedure 3 Using repeated JOG operation and home return operation check to make sure the table stops properly at the home position with no offset Points to check There may be times when near home inp...

Page 52: ...e servo on contact Points to check The rotating direction is determined according to the installation of the ball screw or the CW CCW direction setting of the parameter Procedure 3 Confirm whether the moving distance is as designed or not by the position control Set the table 1 of the positioning data using the Cofigurator PM and select the Online Tool operation on the menu of the Configurator PM ...

Page 53: ...5 9 ...

Page 54: ...ning unit Points to check After the parameters and posiioning data was downloaded the display to select whether to write them into the FROM flash memory or not is shown When they are written into the flash memory the parameters and positioning data in the flash memory will be automatically reflected to the shared memory when the power supply of the PLC turns on When they are not written into the f...

Page 55: ...Chapter 6 I O Allocation ...

Page 56: ...its 256 points 128 point input 128 point output are occupied for any axis types Type Number of occupied points allocated using a tool software 2 axis type 4 axis type Input 128 points Output 128 points 128SX 128SY The I O numbers vary depending on the installed position of the positioning unit Reference FP2 FP2SH User s Manual ARCT1F320 ...

Page 57: ... indicate the Tool operation from Configurator PM The start up from I O is not available during the Tool operaiton If it performs a warning will occur X5 X6 X7 All axes Recalculation done If the recalculation request contact Y_7 turns on the positioning data of the shared memory standard area will be restructured This contact will turn on after restructuring completes If the recalculation request ...

Page 58: ...g axis completed After this contact turned on the on state continues until the next control activates X29 2 axis X2A 3 axis X2B 4 axis X2C X2D X2E X2F WX3 X30 1 axis Home The contact to monitor the external home input signal for the corresponding axis X31 2 axis X32 3 axis X33 4 axis X34 X35 X36 X37 X38 1 axis Near home The contact to monitor the external near home input signal for the correspondi...

Page 59: ... X55 Limit X56 4 axis Limit X57 Limit X58 X59 X5A X5B X5C X5D X5E X5F WX6 X60 1 axis Error annunciation Turns on when an error occurs on the corresponding axis The contacts of all axes turn on if an error occurs on all axes The details of the error can be confirmed in the error annunciation area of the shared memory X61 2 axis X62 3 axis X63 4 axis X64 X65 X66 X67 X68 1 axis Warning annunciation T...

Page 60: ...written by ladder programs Y88 Y89 Y8A Y8B Y8C Y8D Y8E Y8F WY9 Y90 1 axis Positioning start up Requests the positioning control for the corresponding axis The starting table is specified in the area for specifying the position control starting table number in the shared memory The operation is the edge type If this contact turns on during the Tool operation by Configurator PM a warning will be out...

Page 61: ...ter cannot be cleared Y111 2 axis Y112 3 axis Y113 4 axis Y114 Y115 Y116 Y117 Y118 1 axis Deceleration stop Requests the deceleration stop for the corresponding axis The deceleration time for the deceleration stop is the deceleration time in the operation The operation is the level type Note The deviation counter cannot be cleared Y119 2 axis Y11A 3 axis Y11B 4 axis Y11C Y11D Y11E Y11F WY12 Y120 1...

Page 62: ...rror clear for the corresponding axis The processing to recover from errors is performed and the error logs are cleared by turning on this signal Note Unrecoverable errors cannot be recovered even if this signal turned on Y141 2 axis Y142 3 axis Y143 4 axis Y144 Y145 Y146 Y147 Y148 1 axis Request warning clear Requests the warning clear for the corresponding axis The warning logs are cleared by tu...

Page 63: ...Chapter 7 Setting Tool Configurator PM ...

Page 64: ...7 2 7 1 Connection With Computer Install the Configurator PM on a computer as well as a programming tool For the FP2 connect to the tool port of the FP2 CPU unit ...

Page 65: ...sitioning unit Verify function Verifies the parameter or positioning data you are editing with the files on the disk or the settings values in the positioning unit You can jump the cursor to the data with differences from the dialog of the result of verification Search and Replace functions The search or replacement for data item each is possible Twenty search strings and twenty replace strings ca...

Page 66: ...ent Applicable OS Windows 7 Windows 8 Windows 8 1 Windows 10 32 bit version 64 bit version Required HDD capacity 30MB or more Application specifications No of characters of data comment 100 bytes table No of histories of search replace strings 20 each ...

Page 67: ...Please be aware that the Configurator PM cannot be installed unless you log in at the Administrator level when booting the system 1 Exit any applications currently running If there are any applications currently running exit them 2 Insert the setup CD Insert the Configurator PM setup CD in the CD drive 3 Please execute the Setup exe in set up CD Please install according to the instruction ...

Page 68: ...onic ID SUNX Control and Setting software in the order And then click Configurator PM The following dialog is shown New Create a new setting data for the positioning unit Open Read the existing setting data Upload from Unit Read the setting data of the positioning unit Exit End this software ...

Page 69: ...ating Files 7 5 1 New Create a new file 1 Select File New in the menu bar or click New file icon in the toolbar The Select axes dialog is shown 2 Select a unit type to be used 3 Check the axes to use and click OK ...

Page 70: ...e box to perform the synchronous operation Synchronous mode It is used to set the synchronous operation mode Select either Mode A or B Master axis It is used to set the master axis for performing the synchronous operation Slave axis It is used to set the slave axis for performing the synchronous operation The slave axis can be specified for an independent axis only Difference value It is used to s...

Page 71: ... groups A to D at the bottom of the window to determine the axes of the interpolation groups 6 To perform the synchronous operation check the synchronous operation and specify each setting Clicking OK determines the interpolation group 7 The data setting screen is shown which enables the setting ...

Page 72: ...aved Double click the sub folder names until the sub folder where the file is saved is open 4 Click the file name The following contents are recorded in the positioning setting file npm that can be used in this software Axis information Parameter settings Data settings Data comments 5 Click Open Key Point Click the file name indicated at the bottom of the File menu to open the file that was previo...

Page 73: ...fer depending on the case of overwrite save and the one saves as a new file Saving a file by overwriting an existing file Select File Save in the menu bar or click the Save icon in the toolbar Saving a file by naming a new name Select File Save As in the menu bar When saving a file by overwriting an existing file the operation completes when the function is selected When saving a file by name a ne...

Page 74: ... comment and click OK Up to 10 one byte characters 5 two byte characters for the creator and 40 one byte characters 20 two byte characters for the comment can be input 7 6 Exiting Configurator PM Select File Exit in the menu bar to quit the Configurator PM If the file is not unsaved a message asking for the save is shown Click Yes to save the file Click No to end the Configurator PM without saving...

Page 75: ...ositioning unit is installed in advance Select Online Select slot in the menu bar The following dialog is shown The positioning unit is installed on the CPU unit with the motherboard The slot number for the unit installed on the right side of the CPU unit is the slot number 0 and then the slot number varies depending on the installed position of the motherboard ...

Page 76: ... rate 1200 to 115200 bps 9600 Data length 7 bits 8 bits Set either 7 bits or 8 bits to send 1 byte 8 bits Stop bit 1 bit 2 bits 1 bit Parity None Odd Even Odd Timeout Set the communication timeout time with PLC 0 to 60 seconds 5 seconds Automatic communication settings When the communication condition is different from the PLC check the items to search the matched conditions If all items are not c...

Page 77: ...e pulse number per rotation Pulse output mode The output method for the pulse Pulse Sign method CW CCW method Pulse output rotation direction The rotation direction for the pulse output CW direction is CW CCW direction is CCW Limit switch Enable disable the limit switch Limit valid logic The logic of the limit switch in direction Limit valid logic The logic of the limit switch in direction Home va...

Page 78: ...return Home return Creep speed The speed to search the home position after the proximity input Home return Coordinate origin The current value after the completion of the home return JOG operation Acceleration Deceleration pattern settings The acceleration deceleration pattern mode in the JOG operation JOG operation Acceleration time The acceleration time in the JOG operation JOG operation Deceler...

Page 79: ...his function 3 Click OK to determine the settings Click OK to determine the edited settings Click Cancel to cancel the edited settings 7 9 Changing Axis Information Change the used axes or the groups for the setting data being edited Select Set axis Change axis in the menu bar The following dialog is shown Unit type Select either one of the following unit type according to the model to be used Pos...

Page 80: ...nd point at the end of the pass point control J point Execute the speed control Specify the end point at the end of the J point control Interpolation operation Select the operation of interpolation X axis control method Select either increment or absolute coordinate X axis movement amount Input the movement amount of X axis The movement amount depends on the unit system specified in the parameter ...

Page 81: ...ate Acceleration time ms Set the acceleration time It is set in the ms unit Deceleration time ms Set the deceleration time It is set in the ms unit Interpolation speed Set the interpolation speed Dwell time ms Set the time from when the positioning command in the end point control completes till when the completion flag Y contact turns on For the continuance point control it is the wait time betwe...

Page 82: ...oll the screen using the scroll bar until you can see the cell Input the data item Pressing any character input key or double clicking the mouse on the cell you want to input data enables to input the data as below However in the column with the combo box as below the data item can be set only by inputting the initial character on the keyboard For example input C directly in the column of the patt...

Page 83: ...tes of the pasted area If values are contained in the contents of the clipboard the values can be pasted up to the maximum digit number of the data item Key Point If the pasted area is different from the data in the clipboard paste as shown below 7 11 3 Selecting All Cells All cells can be selected before the operations such as copy or paste are done It is convenient to copy all the settings of th...

Page 84: ...ing item 3 Click Next Key Point Press Esc to end the search Press Replace to change the replacement screen 7 11 5 Replacing Character Strings 1 Select Replace Find in the menu bar The following diaglo is shown 2 Input the character string to search in the Character string to find box 3 Input the character string after the replacement in the Character string after replacement 4 Select the target li...

Page 85: ...ta editing screen to select all the cells in one column Drag the header holding down the left click on the mouse to select multiple columns 7 11 8 Editing Data Items Collectively Select a series of the data item in the same column and change them all at once 1 Select the part to change with the mouse or the up and down arrows on the keyboard 2 Input the data item For example press A on the keyboar...

Page 86: ...bar is indicated with the check and it is not indicated without the check Showing Hiding Status Bar Set to show or hide the status bar Select View Status Bar and check or uncheck in the menu The status bar is indicated with the check and it is not indicated without the check Showing Hiding Parameter Status Bar Set to show or hide the parameter status bar Select View Parameter Status Bar and check ...

Page 87: ...7 25 Setting Font Select Option Font in the menu bar The following dialog is shown ...

Page 88: ...Check Parameters and Data in the menu bar or click the Check Parameter and Data icon in the toolbar Verifying File Contents Verify the file currently being edited and the files on the disk or the information in the unit The following procedure is for the verification with the files on the disk Verify the axis information parameters and positioning data collectively Select Debug Verify File in the ...

Page 89: ...e reading the unit Note The process of reading may take for a few minutes Click Cancel to stop the read 3 When the read completes successfully a message asking if the data comment will be held is indicated Click Yes to leave all the comments set in the data Click No to clear all the comments Note To execute the upload previously determine the target positioning unit by the communication settings a...

Page 90: ...ation Parameter setting data Positioning setting data Select this to download all setting data The range of the positioning data to download can be specified Positioning setting data range All Download all setting data Table number range Download the positioning data in the specified range OK Start downloading with the selected settings Cancel Stop downloading 2 Click OK to start the download to t...

Page 91: ...ting data written in the positioning unit in the FROM Flash Memory within the positioning unit The saved setting data is automatically read when the power supply of the unit turns on Make the connection between a PC and PLC and configure the settings Then select Tool Write to FROM in the menu bar The following dialog is shown Clicking Yes indicates the following dialog and save the setting data in...

Page 92: ...unit Current value after unit conversion The current value of the positioning unit after the unit conversion Pulse input value Monitor the pulse value to be input Deviation Monitor the deviation value when activating the automatic difference behavior function State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error cl...

Page 93: ...ting states of axes Home proximity The ON OFF state of the near home switch Home The ON OFF state of the home switch Limit The ON OFF state of the limit switch Limit The ON OFF state of the limit switch Number of writing to FROM The number of writing the setting data to FROM in the positioning unit Firmware version The version of the software firmware for the positioning unit Hardware version The ...

Page 94: ... the positioning unit JOG operation The specified axis can be moved to the specified direction with the specified speed while the operation command is on Teaching Control the axis manually using the same operation as the JOG operation and reflect the resulting positioning address on the data editing screen Note It is not possible to change the mode to the tool operation mode during the ladder oper...

Page 95: ... of position for each axis specified in the parameter settings Deviation Pulse Indicate the deviation when activating the moving amount automatic check function Home return mode Indicate the contents of the home return setting code registered in the positioning setting data Start Stop Execute the operation to start stop the home return Click Start to execute the home return operation The button na...

Page 96: ...le like actual positioning operations Specifying the starting table number enables to check if the positioning interpolation from the starting table operates properly Note For the positioning operation the setting data should be downloaded to the positioning unit in advance The operations after the starting table number vary depending on the Operation patterns 1 Click Positioning in the Tool opera...

Page 97: ...ate of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Speed rate The target speed of the home return ...

Page 98: ...7 36 7 17 3 Tool Operation JOG Operation Each axis can be operated manually using the tool operation 1 Click JOG operation in the tool operation dialog The following dialog is shown ...

Page 99: ... to change the target speed for the JOG operation JOG Click to perform the forward rotation JOG Click to perform the reverse rotation State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warnin...

Page 100: ...eration and register the positioning addresses where the axes stopped as the point data Note To perform the teaching operation the equivalent axes should be in the state that the servo is locked servo ON 1 Click Teaching in the tool operation dialog The following dialog is shown ...

Page 101: ...est error code when an error occurred Error clear Clear the error by clicking this button when an error occurred Warning code Indicate the latest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is ex...

Page 102: ...7 40 ...

Page 103: ...Chapter 8 Automatic Operation Position Control ...

Page 104: ...ontrol and C point control the operation done flag turns on after the last table was executed The J point control to perform a speed control is also available besides the P point C point and E point controls The J point control is performed at the target speed from the beginning of the operation until the J point positioning start contact turns on and once the contact turns on the next position co...

Page 105: ...method I Increment I Increment A Absolute X axis movement amount 10000 pulse Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to 1 073 741 823 m inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 74...

Page 106: ...as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts The number of the startup contact and flag varies depending on the number of axes and the installation position The specified slot number varies depending on the installation position of the unit Operation at limit input Condition ...

Page 107: ... I Increment I Increment A Absolute X axis movement amount 5000 pulses 10000 pulses 3000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to 1 073 741 823 m inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 ...

Page 108: ... The last table should be set to E End point If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts The number of the startup contact and flag varies depending on the number of axes and the installation position The specified slot number varies depending on the instal...

Page 109: ...ncrement I Increment I Increment A Absolute X axis movement amount 5000 pulses 10000 pulses 3000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to 1 073 741 823 m inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degre...

Page 110: ... The last table should be set to E End point If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts The number of the startup contact and flag varies depending on the number of axes and the installation position The specified slot number varies depending on the instal...

Page 111: ...h setting of the table that the J pont control has been specified The J point control code J point acceleration deceleration time and J point target speed will become effective when the speed for the J point control is changed Precautions when performing the J point control In the J point control although the speed can be changed during the operation it cannot be changed when accelerating decelera...

Page 112: ... 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration deceleration pattern L Linear L Linear L Linear L Linear S S shaped acceleration deceleration Acceleration time ms 100 ms 200 ms 30 ms 0 to 10000 ms Deceleration time ms 10 ms 20 ms 150 ms 0 to 10000 ms Target speed 10000 pps 20000 pps 5000 pps Pulse 1 to 32 7...

Page 113: ...amming Once starting the table 1 the operation continues up to the table 3 automatically The last table should be set to E End point If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts The number of the startup contact and flag varies depending on the number of axe...

Page 114: ... linear interpolati on control Composite speed Composite speed of X axis and Y axis Long axis speed Speed of long axis Axis of which moving distance is long 2 axis circular interpolati on control Center point CW direction X axis and Y axis coordinate of center point Center point CCW direcvtion X axis and Y axis coordinate of center point Pass point X axis and Y axis coordinate of pass point on arc...

Page 115: ...8 13 ...

Page 116: ...8 14 When the X axis and Y axis is the moving axes each axis in the above diagram is replaced ...

Page 117: ... direction T Circular Pass point CCW direction U Circular Pass point Control method I Increment I Increment A Absolute X axis movement amount 10000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to 1 073 741 823 m inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 1...

Page 118: ...mming To start the interpolation control turn on the positioning start contact of the axis with the smallest number in the same group The values of the X axis auxiliary point and Y axis auxiliary point are invalide for the linear interpolation When setting the long axis speed the composite speed is faster than the long axis speed If any value such as a movement amount acceleration time deceleratio...

Page 119: ... direction T Circular Pass point CCW direction U Circular Pass point Control method I Increment I Increment A Absolute X axis movement amount 0 pulse Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to 1 073 741 823 m inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 37...

Page 120: ...e pass point each pass point is set as the pass point of X axis and Y axis When the control method is increment both the center point and pass point are the increment coordinatefrom the start point When the start point and the operaton done point is the same it performs one circular operation when using the center point method However when using the pass point method an error occurs In case of the...

Page 121: ... Spiral Center point CW direction Z axis movemet F Spiral Center point CCW direction Z axis movemet L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis movement Control method I Increment I Increment A Absolute X axis movement amount 10000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to...

Page 122: ... when the position control started and it turns off when the operation completed The operation done flag for the axes 1 2 and 3 X20 X21 X22 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts ...

Page 123: ...olation When setting the long axis speed the composite speed is faster than the long axis speed If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts The number of the startup contact and flag varies depending on the number of axes and the installation position The s...

Page 124: ...rection Y axis movemet E Spiral Center point CW direction Z axis movemet F Spiral Center point CCW direction Z axis movemet L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis movement Control method I Increment I Increment A Absolute X axis movement amount 0 pulse Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1...

Page 125: ... when the position control started and it turns off when the operation completed The operation done flag for the axes 1 2 and 3 X20 X21 X22 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts ...

Page 126: ...forms one circular operation when using the center point method However when using the pass point method an error occurs In case of the pass point method when the start point pass point and operation done pont exsit in the same straight line an arc is not comprised and an error occurs When setting the long axis speed the composite speed is faster than the long axis speed If any value such as a mov...

Page 127: ... Differences in the operations of synchronous modes Synchronous mode A Synchronous mode B Synchronous setting A maximum of 2 groups can be set for the synchronous group An individual operation mode can be set for each synchrounous group Enabled disabled of synchronous operation It can be selected either Enabled or Disabled Only Enabled Positioning operation JOG operation Operation stop Pulser oper...

Page 128: ...rent when using the home return Home return when using synchronous mode A In the synchronous mode A the home return is performed for each axis individually Procedure 1 Disable the synchronous operation 2 Execute the home return for the master axis and slave axis individually 3 Enable the synchronous operation after confirming the completion of the home return for the master and slave axes Home ret...

Page 129: ...8 27 Reference Chapter 10 Manual Operation Home Return ...

Page 130: ...t performed Note The difference behavior check function in the synchronous operation is available only when setting the pulse input method for the master and slave axes to the feedback pulse Reference 5 3 Setting the Pulse Ouput Mode 8 3 4 Controlling and Monitoring Synchronous Operation The following area is used to set the synchronous operation to be enabled disabled and check the synchronous st...

Page 131: ... during the synchronous operation JOG operation Acceleration time JOG operation Deceleration time JOG operation Target speed JOG positioning operation setting code JOG positioning operation acceleration time JOG positioning operation deceleration time JOG positioning operation target speed Emergency stop deceleration time ms The operation varies according to the type of stop operations For the det...

Page 132: ...xis movement amount 10000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to 1 073 741 823 m inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration deceleration patte...

Page 133: ...rns off when the operation completed The operation done flag X20 X21 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts In the synchronous operation the request for the operation of the slave axis is ignored ...

Page 134: ...installation position The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation When E point control is executed Forward Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs Reverse Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs Durin...

Page 135: ...tioning unit processes the E pont control as the P point control and completes the operation after repeating the positioning control for 3 times without stopping the operation When setting the dwell time to a number other than 0 for the E point control that is te last of the positioning control the positioning unit processes the E point control as the C point control and execute the positioning co...

Page 136: ...ol method I Increment I Increment I Increment I Increment A Absolute X axis movement amount 5000 pulses 10000 pulses 3000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to 1 073 741 823 m inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 18...

Page 137: ...eration home return and pulser operation starts Sample program Precautions on programming Once starting the table 1 the operation continues up to the table 3 automatically The last table should be set to E End point If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control star...

Page 138: ...rd Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs Reverse Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs During J point control Forward Limit input ON Deceleration stop Error occurs Reverse Limit input ON Deceleration stop Error occurs ...

Page 139: ...Chapter 9 Manual Operation JOG Operation ...

Page 140: ...on Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Target speed 10000 pps Pulse 1 to 32 767 000 pps m 1 to 32 767 000 m s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Operations of each contact The BUSY flag X18 indicating the state that a motor is running turns on when the JOG operation started and it turns off when the ope...

Page 141: ...tallation position of the unit Operation at limit input Condition Direction Limit status Operation When JOG operation is executed Forward Limit input ON Not executable Error occurs Limit input ON Executable Reverse Limit input ON Executable Limit input ON Not executable Error occurs During JOG operation Forward Limit input ON Deceleration stop Error occurs Reverse Limit input ON Deceleration stop ...

Page 142: ... inch s degree 0 001 to 32 767 000 rev s Acceleration time 2 ms 200 ms 0 to 10000 ms Deceleration time 2 ms 150 ms 0 to 10000 ms Target speed 2 20000 pps Pulse 1 to 32 767 000 pps m 1 to 32 767 000 m s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Operations of each contact The BUSY flag X18 indicating the state that a motor is running turns on when the JOG ope...

Page 143: ...trieved when the speed is changed during the JOG operation the acceleration deceleration speed can be changed The number of the startup contact and flag varies depending on the number of axes and the installation position The specified slot number varies depending on the installation position of the unit ...

Page 144: ...9 6 ...

Page 145: ...Chapter 10 Manual Operation Home Return ...

Page 146: ... are available for the positioning unit DOG method 1 Edge detection of near home switch Home switch based on front end Detects the rising edge of the near home switch and the rising edge of the first home switch becomes the starting point DOG method 2 Edge detection of near home switch Detects the rising edge of the near home switch and it becomes the starting point ...

Page 147: ... f the home switch in the home return direction becomes the starting point Limit method 1 Edge detection of limit switch Home switch based on front end Reverses after detecting the rising edge of the limit switch in the opposite direction of the home return After that stops at the rising edge of the first home switch and that point becomes the straight point ...

Page 148: ...ction and stops That point becomes the starting point Home method Edge detection of home switch Moves toward the home return direction from the current value stops after detecting the rising edge of the first home switch Thtat point becomes the starting point Data set method The current value becomes the starting point ...

Page 149: ... Item Setting example Allowable range Return setting code 0 DOG method 1 0 DOG method 1 Return direction 0 Limit direction 0 Limit direction 1 Limit direction Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Target speed 10000 pps Pulse 1 to 32 767 000 pps m 1 to 32 767 000 m s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Return creep speed 10...

Page 150: ...home return and pulser operation starts The timing of that the flag turns on is at the time that the home return operation completed Sample program Precautions on programming The number of the startup contact and flag varies depending on the number of axes and the installation position The specified slot number varies depending on the installation position of the unit Operation at limit input Cond...

Page 151: ...Chapter 11 Manual Operation Pulser Operation ...

Page 152: ...ates keeping the maximum speed once the speed of the pulser input exceeds the specified maximum speed The number of pulses that has been input with the pulser is kept As the pulse that could not be output is kept the pulse may be ouput even without input from the pulser Speed unit is Set unit X1000 s Speed limit cutoff Operates keeping the maximum speed once the speed of the pulser input exceeds t...

Page 153: ...limit keep pulse 2 Speed limit cutoff Pulser operation max speed 500 Pulse 1 to 32 767 000 kpps Operation diagram Operations of each contact The BUSY flag X18 indicating the state that a motor is running turns on when a pulser operation enabled contact turned on and it turns off when the pulser operation enabled contact turned off The operation done flag X20 indicating the state that an operation ...

Page 154: ...allation position The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation When Pulser operation is executed Forward Limit input ON Not executable Error occurs Limit input ON Executable Reverse Limit input ON Executable Limit input ON Not executable Error occurs During Pulser operation Forward Limit inpu...

Page 155: ...Chapter 12 Stop Functions ...

Page 156: ...t deceleraiton time The deceleration stop pause emergency stop and system stop is performed by turning on each request contact in the I O area The stopped state is held while each contact is on until each request signal turns off Any operation cannot be performed in the stopped state Refer to the following table for the stop by turning contacts on It indicates the allocated I O when the positionin...

Page 157: ...celeration stop except during the positioning operation In the repeat operation operates until getting to the E point targeted for repeating and stops Restarts the repeat operation when resetting Deceleration stop request signal from ON to OFF When executing the system stop or emergency stop in paused state the pause will be reset and the operation will not be restarted even if the Deceleration st...

Page 158: ...12 4 ...

Page 159: ...Chapter 13 Supplementary Functions ...

Page 160: ...s on For P point control In the P point control the positioning table operates consecutively therefore the dwell time is ignored For the last table E point as well as the E point control the dwell time is the time taken from the completion of the position command until the operation done flag turns on For C point control The dwell time is the waiting time for executing the next table from the comp...

Page 161: ...e values within the range of the mechanical limits and as below When exceeding the setting range of the software limit upper and lower limit values an error occurs and the deceleration stop is executed It is necessary to clear the erro and move the motor into the range of the softwarelimit using an operation such as JOG operation after the stop Whether the software limit is set to be available or ...

Page 162: ...unt in the automatic operation The rate to turn on the flag in the Delay mode is specified in the auxiliary output delay rate area of the shared memory However if the J point control has been specified for the automatic operation the operation is the same as the one in the With mode Also the ON time of the auxiliary contact flag can be specified in the ms unit Reference 17 6 2 Parameter Setting Ar...

Page 163: ...value of axis 3 0CDH 0CEH Current value update coordinate of axis 4 Stores the coordinate to change the current value of axis 4 0CFH 0D0H Current value update coordinate of axis 5 Stores the coordinate to change the current value of axis 5 0D1H 0D2H Current value update coordinate of axis 6 Stores the coordinate to change the current value of axis 6 0D3H 0D4H Current value update coordinate of axi...

Page 164: ...oning unit is equipped with the pulse input for each axis and various input devices can be connected Input devices are as follows Input device Description Pulser Set for using the manual pulser Using the pulser operation setting code enables to specify which axis ch is used Feeback pulse Set for connecting an encoder to monitor the rotation of a motor When selecting the feedback pulse the position...

Page 165: ...3 6 2 Pulse Input Function A manual pulser can be used by setting the pulse input purpose of the positioning unit to Pulser With the manual pulser pulsers connected to different axes can be used according to the setting Therefore more than one axis can be operated simultaneously with one pulser However a care should be taken to set the axis which the pulser is connected and the axis which the puls...

Page 166: ...put value after correction is calculated with the pulse input value by the following calculating formula and the moving amount automatic check is executed Deviation feedback value Correction numerator Correction denominator x Pulse input 009H Moving amount automatic check correction denominator 00AH Moving amount automatic check operation Set the operation to be performed when the difference betwe...

Page 167: ...inator 00AH Moving amount automatic check operation Refer to the description of 1st axis 018H Moving amount automatic check value Refer to the description of 1st axis 01AH Moving amount automatic check interval Refer to the description of 1st axis Reference 17 6 2 Parameter Setting Area Operation of moving amount automatic check function The moving amount automatic check function activates in the ...

Page 168: ...35H 2nd axis Bank Offset address Name Descriptions 01H 074H Deviation of axis 2 Refer to the description of 1st axis 075H 3rd axis Bank Offset address Name Descriptions 01H 0B4H Deviation of axis 3 Refer to the description of 1st axis 0B5H 4th axis Bank Offset address Name Descriptions 01H 0F4H Deviation of axis 4 Refer to the description of 1st axis 0F5H Reference 17 5 2 Each Axis Information Mon...

Page 169: ...be changed 24BH 24CH Pulse input changed value of axis 3 Set the pulse input value of axis 3 to be changed 24DH 24EH Pulse input changed value of axis 4 Set the pulse input value of axis 4 to be changed 24FH Reference 17 4 11 Pulse Count Control Area 13 6 4 Function of High speed Counter Setting the pulse input purpose to High speed counter enables the pulse input to be used as an external counter...

Page 170: ...lse input value of axis 2 to be changed 24BH 24CH Pulse input changed value of axis 3 Set the pulse input value of axis 3 to be changed 24DH 24EH Pulse input changed value of axis 4 Set the pulse input value of axis 4 to be changed 24FH Reference 17 4 11 Pulse Count Control Area 13 7 Startup Speed The startup speed when starting various operations can be specified The startup speed can be used for...

Page 171: ...Chapter 14 Precautions During Programming ...

Page 172: ...ng unit When parameters and positioning data has been set using the Configurator PM it is selectable whether to store them in the FROM flash memory or not at the time of downloading to the positioning unit 14 1 2 An Operation Started does Not Change to Another Operation Once any start up contact of the automatic operation position control manual operations JOG operation home return pulser operatio...

Page 173: ...e I O area 3 Confirm the recalculation done contact X7 in the I O area is on Confim the completion of the recalculation If the data is not recalculated after rewriting the positioning table by the ladder program note that the operation will be executed with the positioning table before the rewriting The extended area is used when the setting values of the positioning table cannot be determined unt...

Page 174: ...rom RUN Any start up contact of the automatic operation position control manual operations JOG operation home return pulser operation turns on and the operation will continue even if the PLC changes to the PROG mode from the RUN mode after starting the operation ...

Page 175: ...Chapter 15 Errors and Warnings ...

Page 176: ...ere are log areas to store the error warning logs within the positioning unit Error log Max 7 error codes can be stored for each axis axis 1 to 4 Warnings log Max 7 warning codes can be stored for each axis axis 1 to 4 Once an error warning occurs the error warning code will be stored in the log area of the axis that the error occurred When an error warning that is not related to the axes occurs s...

Page 177: ...e cleared by the error clear request flag or warning clear request flag allocated in the I O area Note When an error occurred the axis that the error occurred will not be operated until the execution of the error clear 15 1 4 Errro and Warning Code Format The error and warning codes are 32 bit data and in the format as follows 32 bits double word 16 bits word 16 bits word Not used Error warning co...

Page 178: ...e Recoverable state After an error occurred the operating axes stop After an error occurred the Positioning Unit can recover the error at any timing All error types Unrecoverable state Error when a critical trouble occurred on the Positioning Unit system When an unrecoverable error occurred the power supply of the Positioning Unit should be restored System error Axis operation error Refer to List ...

Page 179: ...N A 1002H Unit error Any error occurred in the internal processing All axes N A 1003H System processing error An error occurred in the system processing due to any reason All axes A Check the settings If the setting values are correct and the error occurred repeatedly please contact us 1010H FROM writing error An error occurred when the positioning settings were written in the positioning unit Ite...

Page 180: ... off the power supply and turn it on again If the error occurred repeatedly please contact us 3032H Axis group operation error The setting of axis group was changed during the operation or when requesting the stop The setting of axis group is out of the range Each axis A Changing the axis group should be performed when the axis stops Also do not make the stop request Check the setting of the axis ...

Page 181: ...dly with the correct setting values please contact us 3044H Synchronous operation not settable In pulser operation The setting of the synchronous opration was changed during the pulser operation Each axis A Changing the setting of the synchronous operation should be performed when the pulser operation enabled signal is off 3045H Synchronous axis difference check error The difference between the mo...

Page 182: ...movement amount is out of the range Each axis A 4010H Software limit setting error The upper or lower limit value of software limit is out of the range Each axis A Check the setting value If the error occurred repeatedly with the correct setting value please contact us 4020H Limit stop deceleration time error The limit stop deceleration time is out of the range Each axis A 4021H Error stop deceler...

Page 183: ...The target speed of the JOG positioning is out of the range Each axis A 4102H Home return target speed error The target speed of the home return is out of the range Each axis A 4105H Home return acceleration time error The acceleration time of the home return is out of the range Each axis A 4106H Home return deceleration time error The deceleration time of the home return is out of the range Each ...

Page 184: ...ge Each axis A 4500H Interpolation type error The setting of the interpolation type is incorrect Each axis A 4504H Circular interpolation not executable The parameter of the circular interpolation such as center point or pass point is incorrect Each axis A 4505H Spiral interpolation not executable The error occurred during the spiral interpolation as the setting value is incorrect Each axis A 4600...

Page 185: ...is Emergency stop request flag each axis System stop request flag all axes B030H J point simultaneous startup warning J point sepped change contact and J point positioning start contact was turned on simultaneously during the JOG positioning J point operation Each axis A When the both contacts have been turned on simultaneously J point positioning start contact has a priority and J point speed cha...

Page 186: ...15 12 ...

Page 187: ...Chapter 16 Troubleshooting ...

Page 188: ...t and the driver has been correctly connected Solution 4 Check to make sure the settings for the pulse output method CW CCW method or Pulse Sign method are appropriate for the driver 16 1 2 If the Motor Does Not Turn or Operate if the LED for pulse output A or B is not lighted Solution Review the program and correct it if necessary Points to check 1 Check to make sure the I O numbers are appropria...

Page 189: ...between the positioning unit and the driver has been correctly connected Point to check Make sure the CW CCW output or the Pulse Sign output has been connected to the pertinent input on the driver side Solution 2 Change the pulse output rotation direction in the parameters for each axis and set the rotation to the reverse direction ...

Page 190: ...16 4 ...

Page 191: ...Chapter 17 Specifications ...

Page 192: ...owever excluding F E terminal Insulation resistance 100MΩ or more measured with 500 V DC testing Between the various pins of the external connector and the ground However excluding F E terminal Vibration resistance 10 to 55 Hz 1 cycle min Double amplitude of 0 75 mm 10 min each in the X Y Z directions Shock resistance Shock of 98 m s 2 4 times in the X Y Z directions Noise immunity 1500 V P P with...

Page 193: ...37 41823 inch inch 0 0001 inch 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Speed command range Pulse 1 to 32 767 000 pps m 1 to 32 767 000 m s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation maximum speed 500 kpps 4 Mpps 500 kpps 4 Mpps Acceleration deceleration Linear acc...

Page 194: ...eceleration time 0 to 10 000 ms can set in 1 ms Error stop Deceleration time 0 to 10 000 ms can set in 1 ms System stop Deceleration time Immediate stop 0 ms all axes stop Other specifications Software limit function Setting range Pulse 1 073 741 823 to 1 073 741 823 pulse m 0 1 m 107 374 182 3 to 107 374 182 3 m m 1 m 1 073 741 823 to 1 073 741 823 m inch 0 00001 inch 10 737 41823 to 10 737 41823...

Page 195: ...o indicate the Tool operation from Configurator PM The start up from I O is not available during the Tool operaiton If it performs a warning will occur X5 X6 X7 All axes Recalculation done If the recalculation request contact Y_7 turns on the positioning data of the shared memory standard area will be restructured This contact will turn on after restructuring completes If the recalculation request...

Page 196: ...g axis completed After this contact turned on the on state continues until the next control activates X29 2 axis X2A 3 axis X2B 4 axis X2C X2D X2E X2F WX3 X30 1 axis Home The contact to monitor the external home input signal for the corresponding axis X31 2 axis X32 3 axis X33 4 axis X34 X35 X36 X37 X38 1 axis Near home The contact to monitor the external near home input signal for the correspondi...

Page 197: ... X55 Limit X56 4 axis Limit X57 Limit X58 X59 X5A X5B X5C X5D X5E X5F WX6 X60 1 axis Error annunciation Turns on when an error occurs on the corresponding axis The contacts of all axes turn on if an error occurs on all axes The details of the error can be confirmed in the error annunciation area of the shared memory X61 2 axis X62 3 axis X63 4 axis X64 X65 X66 X67 X68 1 axis Warning annunciation T...

Page 198: ...ewritten by ladder programs Y88 Y89 Y8A Y8B Y8C Y8D Y8E Y8F WY9 Y90 1 axis Positioning start up Requests the positioning control for the corresponding axis The starting table is specified in the area for specifying the position control starting table number in the shared memory The operation is the edge type If this contact turns on during the Tool operation by Configurator PM a warning will be ou...

Page 199: ...nter cannot be cleared Y111 2 axis Y112 3 axis Y113 4 axis Y114 Y115 Y116 Y117 Y118 1 axis Deceleration stop Requests the deceleration stop for the corresponding axis The deceleration time for the deceleration stop is the deceleration time in the operation The operation is the level type Note The deviation counter cannot be cleared Y119 2 axis Y11A 3 axis Y11B 4 axis Y11C Y11D Y11E Y11F WY12 Y120 ...

Page 200: ...error clear for the corresponding axis The processing to recover from errors is performed and the error logs are cleared by turning on this signal Note Unrecoverable errors cannot be recovered even if this signal turned on Y141 2 axis Y142 3 axis Y143 4 axis Y144 Y145 Y146 Y147 Y148 1 axis Request warning clear Requests the warning clear for the corresponding axis The warning logs are cleared by t...

Page 201: ...Synchronous operation control monitor area System operation setting area Each axis information area Note 01H 1 axis Each axis information monitor area 2 axis Each axis information monitor area 3 axis Each axis information monitor area 4 axis Each axis information monitor area Each axis setting area 02H to 0BH 1 axis Parameter setting area Positioning data setting area Standard for 600 points Exten...

Page 202: ...of Common Area in Shared Memory 17 4 1 Configuration of Common Area The shared memory is composed of banks The common area is allocated in the bank 00H in the shared memory and is used for the common settings of each axis ...

Page 203: ...essary to achieve the following Configurator PM operation by the ladder programs 1 Write 5555H in this area by the ladder program 2 The positioning unit checks 5555H and write 6666H over in the same area 3 Check 6666H by the ladder program and write AAAAH over Time out of 6666H is 30 seconds 4 The positioning unit copies the content of the shared memory into FROM 5 The positioning unit checkes wri...

Page 204: ...r example the axes 1 2 and 3 belong to group A and are 3 axis interpolation set the corresponding 3 bits to 1 in the interpolation axis setting of group A In case of single axis independent setting it does not belong to any group Turn on the corresponding bits of the rest of the independent axis settings Maximum number of interpolation axis per group is 3 The same axis cannot be set in more than o...

Page 205: ... B 0B8H Synchronous group 1 Master axis Turn on the corresponding bits to be the master and slave axes for the synchronous operation Each synchronous axis can be set for one axis only 0B9H Synchronous group 1 Slave axis 0BAH Synchronous group 2 Synchronous mode Set the operation mode of synchronous operation 00H Synchronous mode A 01H Synchronous mode B 0BBH Synchronous group 2 Master axis Turn on...

Page 206: ...nit will be changed to the following current value Afther the change the positioning unit clears the corresponding bits to 0 automatically 0C8H Current value update coordinate of axis 1 Store the coordinate to perform the current value update for axis 1 0C9H 0CAH Current value update coordinate of axis 2 Store the coordinate to perform the current value update for axis 2 0CBH 0CCH Current value up...

Page 207: ...peats the positioning control started for the specified repeat count and then completes the operation The specified repeat count changes to the default on completion of the operation Bank Offset address Name Descriptions Default value Setting range Unit 00H 108H Repeat count for positioning of 1st axis Store the repeat count for the operation starting from the positioning starting table number of ...

Page 208: ... error clear for each axis 129H Number of error occurrences of axis 1 Announces the number of occurrences of errors at axis 1 12AH Error code annunciation buffer 1 of axis 1 Stores the latest error code from the buffer number 1 in order 12BH 12CH Error code annunciation buffer 2 of axis 1 12DH 12EH Error code annunciation buffer 3 of axis 1 12FH 130H Error code annunciation buffer 4 of axis 1 131H...

Page 209: ...e when an error occurred 151H 152H Error code annunciation buffer 5 of axis 3 Announces the code when an error occurred 153H 154H Error code annunciation buffer 6 of axis 3 Announces the code when an error occurred 155H 156H Error code annunciation buffer 7 of axis 3 Announces the code when an error occurred 157H 159H Number of error occurrences of axis 4 Announces the number of occurrences of err...

Page 210: ...clear for each axis 1C1H Number of warning occurrences of axis 1 Announces the number of occurrences of warnings at axis 1 1C2H Warning code annunciation buffer 1 of axis 1 Stores the latest warning code from the buffer number 1 in order 1C3H 1C4H Warning code annunciation buffer 2 of axis 1 1C5H 1C6H Warning code annunciation buffer 3 of axis 1 1C7H 1C8H Warning code annunciation buffer 4 of axis...

Page 211: ...en a warning occurred 1E9H 1EAH Warning code annunciation buffer 5 of axis 3 Announces the code when a warning occurred 1EBH 1ECH Warning code annunciation buffer 6 of axis 3 Announces the code when a warning occurred 1EDH 1EEH Warning code annunciation buffer 7 of axis 3 Announces the code when a warning occurred 1EFH 1F1H No of warning occurrences of axis 4 Announces the number of occurrences of...

Page 212: ...t purpose to High speed counter 241H Pulse count value change request flag When the corresponding bit to each axis changes to 1 from 0 the pulse input will be changed to the pulse count change value that the pulse input count value has been set This flag is an edge trigger Always chang e this flag to 1 from 0 before change 248H Pulse count change value of axis 1 Set the pulse count value to be cha...

Page 213: ... used for the master axis Default 10000 2B9H 2BAH Synchronous group 2 Synchronous operation difference value The difference threshold for the moving amounts of master and slave axes that the synchronous operation is performed in the synchronous group 2 Checks whether the difference between the moving amounts of master and slave axes exeeds the threshold or not This difference value is specified by...

Page 214: ...ration stop and restarts the positioning opration when turning Deceleration stop request signal to OFF from ON Also performs the same operation as the deceleration stop in all states except during the positioning operation When performing the repeat operation stops after reaching E point that is targeted for the repeat operation and restarts the positioning opration when turning Deceleration stop ...

Page 215: ...emory is composed of banks The each axis information area is allocated in the bank 01H in the shared memory Also the information on the axes 1 to 4 is allowcated for each address in this area Note Firstly confirm that the link establishment annunciation flag X0 is on when reading the axis information area using the ladder program ...

Page 216: ...until changing the pulse input purpose or clearing the pulse input pulse 037H 038H Acitve table or execution done table of axis 1 Stores the number of active positioning table or when the operation completed 1 1 to 600 039H Auxiliary output code of axis 1 Stores the auxiliary output code 0 03AH Repeat count setting value of axis 1 Stores the setting value of repeat count for positioning 1 is store...

Page 217: ...of axis 1 0B8H Acitve table or execution done table of axis 3 Refer to the descriptions of axis 1 0B9H Auxiliary output code of axis 3 Refer to the descriptions of axis 1 0BAH Repeat count setting value of axis 3 Refer to the descriptions of axis 1 0BBH Repeat count current value of axis 3 Refer to the descriptions of axis 1 0BCH Current value of axis 3 Refer to the descriptions of axis 1 0BDH 0BE...

Page 218: ...is setting area is allocated in the banks 02H to 29H in the shared memory The each axis setting area is used to store positioning parameters and positioning data and the setting values are allocated to every address from the axes 1 to 4 The positioning setting area of each axis is composed of 600 tables of the standard area and 25 tables of the extended area ...

Page 219: ...t system of movement amounts of the positioning control for each axis The same unit system should be set for all interpolation axes 001H 002H Pulse number per rotation Sets the pulse number per rotation It is necessary for the conversion of the pulse number in the settings of mm inch and degree 003H 004H Movement amount per rotation Sets the movement amount per rotation It is necessary for the con...

Page 220: ...k is executed Deviation feedback value Correction numerator Correction denominator x Pulse input Setting range 1 to 32767 Default 1 009H Moving amount automatic check correction denominator 00AH Moving amount automatic check operaiton Set the operation to be performed when the difference between the command value and feedback value exceeds the moving amount check value 0 Error occurs If the differ...

Page 221: ...alue Setting range Unit 00BH Software limit enabled disabled setting Sets the software limit to be enabled or disabled for each control 00CH Upper limit of software limit Sets the upper limit value of the software limit for absolute coordinates 00DH ...

Page 222: ... ratio of output when using the Delay mode for the auxiliary output The allowable range is 0 to 100 When specifying 50 the auxiliary output is performed if the positioning moving amount exceeds 50 Default 0 014H 015H Pulse output control code Set the pulse output home near home and limit signal 016H Startup speed Set the startup speed when starting each operation The change in startup speed should...

Page 223: ...ue Set the threshold for executing the moving amount automatic check function Setting range 0 to 65536 Default 10000 pulse 019H 01AH Moving amount automatic check interval Set the interval for executing the moving amount automatic check function Setting range 0 to 32767 ms Default 0 ms 01BH 01CH 01DH 01EH 01FH ...

Page 224: ...to the creep speed 023H Home return deceleration time 024H Home return target speed Set the target speed when performing the home return When there is no proximity input after starting the home return accelerates to the target speed 025H 026H Home return creep speed Set the speed to search the home position after the proximity input Set the value lower than the home return target speed 027H 028H D...

Page 225: ...ied operation to the target speed while the starting contact of the JOG operation is on After reaching the target speed operates with the target speed 02DH 02EH 02FH 030H 031H 032H 033H Emergency stop deceleration time When the emergency stop is requested by I O it will be valid and the deceleration operation will complete in this deceleration time 034H 035H Limit stop deceleraiton time When the l...

Page 226: ...ut pulse string in the pulser operation Number of command pulses Pulse strings of input from pulser x Denominator of ratio of pulser operation Numerator of ratio of pulser operation 03BH Pulse operation method Set the single or interpolation operation pattern for the positioning operation 03CH 03DH 03EH 03FH 040H 041H J point control code Set the control code of the J point control 042H J point ac...

Page 227: ...r input is ver the specified maximum speed the operation is performed at the maximum speed Unit Set unit X1000 s Input range 0 to 32767000 pulse s Default 0 If this area has been set to 0 it is the minimum speed in the set unit 049H 04AH Coordinate origin value Stores the coordinate origin value after the home return 04BH 04CH 04DH 04EH 04FH Starting address of each positioning parameter Axis 1 Ax...

Page 228: ... shared memory 2 Turn on the recalculation request contact Y87 in the I O area 3 Confirm the recalculation done contact X7 is on Confim the completion of the recalculation If the data is not recalculated after rewriting the positioning table by the ladder program note that the operation will be executed with the positioning table before the rewriting The extended area is used when the setting valu...

Page 229: ...ng for the axis with the smallest number in an axis group is effective 002H 003H 004H Positioning acceleration time Sets the acceleration and deceleration time for the positioning operation The acceleration time and deceleration time can be set individually In the interpolation operation the setting for the axis with the smallest number in an axis group is effective 005H Positioning deceleration t...

Page 230: ...ral interpolation control 00BH 00CH Dwell time After the completion of the positioning control of this table when the mode is C Continuation point stops the motor operation for the dwell time and starts the operation of the next table when the mode is P Pass point this setting is ignored when the mode is E End point the positioning done contact will turn on after waiting for the dwell time 00DH Au...

Page 231: ...e 25 1E0H Starting address of table 26 1F0H Starting address of table 27 200H Starting address of table 28 210H Starting address of table 29 220H Starting address of table 30 230H Starting address of table 31 240H Starting address of table 32 250H Starting address of table 33 260H Starting address of table 34 270H Starting address of table 35 280H Starting address of table 36 290H Starting address...

Page 232: ...arting address of table 88 1D0H Starting address of table 89 1E0H Starting address of table 90 1F0H Starting address of table 91 200H Starting address of table 92 210H Starting address of table 93 220H Starting address of table 94 230H Starting address of table 95 240H Starting address of table 96 250H Starting address of table 97 260H Starting address of table 98 270H Starting address of table 99...

Page 233: ... 1C0H Starting address of table 152 1D0H Starting address of table 153 1E0H Starting address of table 154 1F0H Starting address of table 155 200H Starting address of table 156 210H Starting address of table 157 220H Starting address of table 158 230H Starting address of table 159 240H Starting address of table 160 250H Starting address of table 161 260H Starting address of table 162 270H Starting ...

Page 234: ... 1C0H Starting address of table 216 1D0H Starting address of table 217 1E0H Starting address of table 218 1F0H Starting address of table 219 200H Starting address of table 220 210H Starting address of table 221 220H Starting address of table 222 230H Starting address of table 223 240H Starting address of table 224 250H Starting address of table 225 260H Starting address of table 226 270H Starting ...

Page 235: ... 1C0H Starting address of table 280 1D0H Starting address of table 281 1E0H Starting address of table 282 1F0H Starting address of table 283 200H Starting address of table 284 210H Starting address of table 285 220H Starting address of table 286 230H Starting address of table 287 240H Starting address of table 288 250H Starting address of table 289 260H Starting address of table 290 270H Starting ...

Page 236: ... 1C0H Starting address of table 344 1D0H Starting address of table 345 1E0H Starting address of table 346 1F0H Starting address of table 347 200H Starting address of table 348 210H Starting address of table 349 220H Starting address of table 350 230H Starting address of table 351 240H Starting address of table 352 250H Starting address of table 353 260H Starting address of table 354 270H Starting ...

Page 237: ... 1C0H Starting address of table 408 1D0H Starting address of table 409 1E0H Starting address of table 410 1F0H Starting address of table 411 200H Starting address of table 412 210H Starting address of table 413 220H Starting address of table 414 230H Starting address of table 415 240H Starting address of table 416 250H Starting address of table 417 260H Starting address of table 418 270H Starting ...

Page 238: ... 1C0H Starting address of table 472 1D0H Starting address of table 473 1E0H Starting address of table 474 1F0H Starting address of table 475 200H Starting address of table 476 210H Starting address of table 477 220H Starting address of table 478 230H Starting address of table 479 240H Starting address of table 480 250H Starting address of table 481 260H Starting address of table 482 270H Starting ...

Page 239: ... 1C0H Starting address of table 536 1D0H Starting address of table 537 1E0H Starting address of table 538 1F0H Starting address of table 539 200H Starting address of table 540 210H Starting address of table 541 220H Starting address of table 542 230H Starting address of table 543 240H Starting address of table 544 250H Starting address of table 545 260H Starting address of table 546 270H Starting ...

Page 240: ...address of table 596 190H Starting address of table 597 1A0H Starting address of table 598 1B0H Starting address of table 599 1C0H Starting address of table 600 1D0H 1E0H 1F0H 200H 210H 220H 230H 240H 250H 260H 270H Starting address of table 10001 280H Starting address of table 10002 290H Starting address of table 10003 2A0H Starting address of table 10004 2B0H Starting address of table 10005 2C0H...

Page 241: ...Chapter 18 Dimensions ...

Page 242: ...18 2 18 1 FP2 Positioning Unit Interpolation Type 2 axis type Unit mm 4 axis type Unit mm ...

Page 243: ...Chapter 19 Sample Programs ...

Page 244: ... sample operation Also the parameters for each axis are specified by Configurator PM and they will be stored in the positioning unit Used contacts and data registers Number Descriptions R2 Request home return R3 Request positioning start R4 Request forward JOG for axis 1 R5 Request reverse JOG for axis 1 R6 Request forward JOG for axis 2 R7 Request reverse JOG for axis 2 R10 Error clear R11 Reques...

Page 245: ... Home return for axis 1 Y99 Home return for axis 2 Y100 Forward JOG for axis 1 Y101 Reverse JOG for axis 1 Y102 Forward JOG for axis 2 Y103 Reverse JOG for axis 2 Y140 Error clear for axis 1 Y141 Error clear for axis 2 Number Descriptions DT0 Starting table number DT101 Number of errors of axis 1 DT102 to DT115 Error contents of axis 1 DT121 Number of errors of axis 2 DT122 to DT135 Error contents...

Page 246: ...y set in the standard area with the Configurator PM 2 When setting the positioning data in the extended area with the program 3 When setting the positioning data in the standard area with the program Sample program The positioning start is the setting that has been already set in the standard area by the Configurator PM ...

Page 247: ...19 5 ...

Page 248: ...ea Using Program Write positioning data in the extended area using the program Recalculating the positioning data is not necessary as the extended area is used Replace the part of the positioning start program in the sample program Positioning start program ...

Page 249: ...a Using Program Write positioning data in the standard area using the program Recalculating the positioning data is necessary after setting the positioining data Replace the part of the positioning start program in the sample program Positioning start program ...

Page 250: ...19 8 ...

Page 251: ...Chapter 20 Driver Wiring ...

Page 252: ...rive disabled input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output type ...

Page 253: ...rive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output type ...

Page 254: ...o alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product ...

Page 255: ... and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product ...

Page 256: ...and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product ...

Page 257: ...l Connection cable used with a positioning unit MINAS A series MINAS S series E series MINAS A series FP2 positioning unit Interpolation type AFP243711 243721 Motor driver I F terminal Ⅱ 1 axis type AFP8503 2 axis type AFP8504 FP2 positioning connection cable 0 5 mm AFP85100 1 mm AFP85101 Dedicated cable for AⅢ series 1 m AFP85131 2 m AFP85132 Dedicated cable for S series 1 m AFP85141 2 m AFP85142...

Page 258: ...20 8 20 1 7 Oriental Motor UPK W Series Numbers in parentheses after the unit side indicate the pin number for the second or fourth axis ...

Page 259: ... ARCT1F448E 3 ARCT1F448E 4 WUME FP2POSP 01 AUG 2008 NOV 2008 JUL 2009 AUG 2011 JUL 2013 Oct 2021 First edition Second edition Change in Corporate name Third edition Fourth edition Change in Corporate name Fixed Errors Fifth edition Change in Corporate name Sixth edition Change of supported OS ...

Page 260: ...ly require the high level of reliability and safety Acceptance inspection In connection with the Products you have purchased from us or with the Products delivered to your premises please perform an acceptance inspection with all due speed and in connection with the handling of our Products both before and during the acceptance inspection please give full consideration to the control and preservat...

Page 261: ......

Page 262: ...anasonic Industrial Devices SUNX Co Ltd 2021 WUME FP2POSP 01 October 2021 Panasonic Industrial Devices SUNX Co Ltd https panasonic net id pidsx global Please visit our website for inquiries and about our sales network ...

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