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Automatic

Operation (Position Control)

8-44

8.8 Sample Programs

8.8.1 Sample Programs (E-point, P-point and C-point Controls)

The operation for starting the positioning operation is mainly divided into five steps on a user
program.

•

Read flags stored in the unit memories (input control area).

•

Control the Servo ON/OFF.

•

Check the condition if the control of each axis can be started.

•

Set positioning table numbers, check the conditions, and start the positioning operation.

•

Write operation results in the unit memories (output control area).

(Note): The sample program on the next page is for activating the positioning operation with the table number 1 of the

axis number 1 for the FP7 MC Unit installed in the slot number 1. To simplify the explanation, the part related to
the positioning operation is extracted.



Contents of sample program

Mark

Description

①

Read flags indicating states from the input control area of the unit memories (UM) to arbitrary areas
(WR).

Read flags such as connection confirmation flag, servo lock flag, busy flag, and error annunciation
flag.

②

Servo ON/OFF control program

③

Check required conditions and replace it with the start enabled flag (R110) in the program.

④

Positioning operation start program

ⓐ

Set the repeat count as necessary.

ⓑ

Specify positioning table numbers.

ⓒ

Start the positioning operation.

⑤

Write flags to the output control area of the unit memoires (UM) from arbitrary area (WR) where the
start conditions are written.

Start the positioning operation.

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Summary of Contents for AFP7MC16EC

Page 1: ......

Page 2: ...ximum 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 circuit Connect the wires or connectors securely The ...

Page 3: ...CPULOG FP7 CPU Unit User s Manual Security Function WUME FP7CPUSEC Instructions for Built in LAN Port FP7 CPU Unit Users Manual LAN Port Communication WUME FP7LAN FP7 CPU Unit User s Manual Ethernet Add ons WUME FP7CPUETEX FP7 CPU Unit User s Manual EtherNet IP communication See our web site FP7 Web Server Function Manual See our web site Instructions for Built in COM Port FP7 series User s Manual...

Page 4: ...utput Unit User s Manual WUME FP7MXY FP7 High speed counter unit FP7 High speed Counter Unit User s Manual WUME FP7HSC FP7 Pulse Output Unit FP7 Pulse Output Unit User s Manual WUME FP7PG FP7 Positioning Unit FP7 Positioning Unit User s Manual WUME FP7POSP FP7 Serial Communication Unit FP7 series User s Manual SCU communication WUME FP7COM PHLS System PHLS System User s Manual WUME PHLS Programmin...

Page 5: ...it input of a high order PLC FP7 MC Unit For using the general purpose inputs of the servo amplifier A6B A5B SI MON3 and SI MON4 as the limit input of a high order PLC FP7 MC Unit parameters of the servo amplifier A6B A5B and FP7 MC need to be changed For details refer to 4 5 Connection of Limit and Near Home Switches Operation when home return operation is performed For the home return methods wh...

Page 6: ...ers allocated to slaves on EtherCAT network The left two terms have the same meaning General purpose monitor input Five inputs of symbols SI MON1 to SI MON5 are allocated on the A6B A5B side General purpose input On the FP7 MC Unit side eight signals of A6B A5B are treated as general purpose input and can be monitored through the unit memory NOT POT HOME SI MON1 to SI MON5 For using it in combinat...

Page 7: ...IN GR7 and FP7 Units 1 5 1 3 System Configuration 1 6 1 3 1 Example of System Configuration 1 6 1 3 2 Type of Software 1 7 1 4 Mechanism of Processing 1 8 1 4 1 Schematic View 1 8 1 4 2 Operation When Power Supply Turns On 1 9 1 4 3 Start Stop by User Programs 1 9 2 Names and Functions of Parts 2 1 2 1 Names and Functions of Parts 2 2 2 1 1 Names and Functions of Parts 2 2 2 1 2 Operation Monitor ...

Page 8: ... 4 4 2 3 Storage of I O map 4 4 4 2 4 Confirmation of I O Allocation 4 4 4 2 5 Confirmation of Slot Numbers 4 5 4 3 Setting of Used Axes 4 6 4 3 1 Registration of Used Axes 4 6 4 4 Setting of Network Configuration 4 10 4 4 1 Registration of Slaves Offline 4 10 4 4 2 Registration of Slaves Online 4 12 4 4 3 Setting of Station Addresses and Axis Numbers 4 14 4 4 4 Download to FP7 MC Unit 4 17 4 4 5 ...

Page 9: ...rameter Settings 5 6 5 2 1 Setting by CMI 5 6 5 2 2 Axis Parameters Basic Setup 5 7 5 2 3 Axis Parameters Options 5 8 5 2 4 Axis Parameters Operation 5 10 5 3 Positioning Table Setting 5 13 5 3 1 Construction of Positioning Tables 5 13 5 3 2 Operation Patterns and Tables 5 16 5 4 Synchronous Parameter and Cam Pattern Settings 5 17 5 4 1 Synchronous Parameter Settings 5 17 5 4 2 Cam Pattern Setting...

Page 10: ...ns and Moving Distance 6 7 6 4 Monitor Function of CMI 6 8 6 4 1 Status Monitor 6 8 6 4 2 Data Monitor 6 10 6 5 Tool Operation Function of CMI 6 12 6 5 1 Tool Operation Function 6 12 6 5 2 Serve ON OFF with Tool Operation Function 6 14 6 5 3 JOG Operation with Tool Operation Function 6 16 6 5 4 Home Return by Tool Operation Function 6 18 6 5 5 Positioning by Tool Operation Function 6 20 6 5 6 Teac...

Page 11: ...ation Control 2 Axis Interpolation 8 12 8 2 2 Setting and Operation of 2 Axis Linear Interpolation 8 14 8 2 3 Setting and Operation of 2 Axis Circular Interpolation 8 16 8 2 4 Type of Interpolation Control 3 axis Interpolation 8 18 8 2 5 Setting and Operation of 3 Axis Linear Interpolation 8 20 8 2 6 Setting and Operation of 3 Axis Spiral Interpolation 8 22 8 3 Repeat Function 8 24 8 3 1 Overview ...

Page 12: ... 8 10 1 Use of Extended Positioning Table 8 56 8 10 2 Sample Program Extended Table 8 61 9 Automatic Operation Synchronous Control 9 1 9 1 Synchronous Control 9 2 9 1 1 Overview of Synchronous Control 9 2 9 2 Settings for Master and Slave Axes 9 4 9 2 1 Selection of Master Axis and Settings 9 4 9 2 2 Selection of Slave Axes and Settings 9 5 9 2 3 Unit Type and Number of Axes 9 5 9 2 4 Setting by C...

Page 13: ...3 Cam Pattern Setting Method 9 30 9 6 4 Editing Cam Patterns by User Programs 9 37 9 6 5 Advance Angle Correction Function 9 53 10 Manual Operation JOG Operation 10 1 10 1 Settings and Operations of JOG Operation 10 2 10 2 Changing Speed During JOG Operation 10 4 10 3 Setting and Operation of JOG Inching Operation 10 8 10 4 Sample Programs 10 10 10 4 1 Sample Program JOG Operation 10 10 10 4 2 Pre...

Page 14: ...ation During Stop 12 9 13 Supplementary Functions 13 1 13 1 Software Limit 13 2 13 2 Current Value Update 13 3 13 3 Home Coordinates 13 5 13 4 Movement Amount Automatic Check 13 7 13 5 Completion Width 13 9 13 6 Monitor Value Judgement 13 10 13 6 1 Torque Judgement 13 11 13 6 2 Actual Speed Judgement 13 13 13 7 Torque Limit 13 16 13 7 1 Restrictions on Torque Limit 13 17 13 8 EtherCAT Communicatio...

Page 15: ...Files 13 46 13 13 3 Handling of SD Memory Card 13 47 13 13 4 How to Set 13 48 13 13 5 How to Execute 13 49 14 CMTimeChart Monitor 14 1 14 1 Overview of Function 14 2 14 2 Registration of Devices 14 4 14 3 Trigger Condition Setting 14 6 14 3 1 Setting Procedure of Trigger Conditions 14 6 14 3 2 Trigger Condition Setting Sampling 14 8 14 3 3 Trigger Condition Setting Trigger Mode Trigger Position 14...

Page 16: ...I 15 2 15 1 3 Clearing Errors Warnings Using User Programs 15 3 15 1 4 Error and Warning Logs 15 4 15 2 Error Recovery Process 15 5 15 2 1 Overview 15 5 15 3 Error Code Table 15 6 15 3 1 AMP Errors From 00FF 0000H 15 6 15 3 2 System Errors From 00F0 1000H 15 13 15 3 3 AMP Communication Errors From 00F0 2000H 15 14 15 3 4 Axis Operation Errors From 00F0 3000H 15 15 15 3 5 Setting Value Errors From ...

Page 17: ...roup Setting Area 16 37 16 5 5 Current Value Update Data Area 16 38 16 5 6 Torque Limit Area 16 40 16 5 7 Actual Speed Monitor Area 16 41 16 5 8 Positioning Control Starting Table Number Setting Area 16 41 16 5 9 Positioning Control Area 16 42 16 5 10 Error Annunciation and Clear Area 16 43 16 5 11 Warning Annunciation and Clear Area 16 45 16 5 12 Synchronous Control Monitor Area 16 47 16 5 13 Sys...

Page 18: ...82 16 9 1 Configuration of Positioning Operation Change Setting Area 16 82 16 9 2 Positioning Speed Movement Amount Change Parameter 16 83 16 10Unit Memories Cam Pattern Editing Area 16 84 16 10 1 Configuration of Cam Pattern Editing Area 16 84 16 10 2 Cam Pattern Setting Area 16 85 16 10 3 Cam Pattern Editing Execution Area 16 92 16 11Unit Memories SDO PDO Communication Area 16 94 16 11 1 Configu...

Page 19: ...1 Unit Functions and Restrictions ...

Page 20: ...after FP7 MC Unit adopts EtherCAT communication and controls servo motors It achieves wiring saving by network connection and high speed control Note EtherCAT is a registered trademark of Beckhoff Automation Gmbh in Germany and a technology protected by a patent Setting using dedicated software Control Motion Integrator Dedicated software Control Motion Integrator sold separately is provided for e...

Page 21: ...oftware PANATERM This software is used for setting parameters and monitoring the states of Servo Amplifier A6B A5B series For the latest information see our web site Note 1 For the latest information on Control FPWIN GR7 and Control Motion integrator see the following web site http industrial panasonic com ac e fasys plc software fpwingr7 index jsp Note 2 For the latest information on PANATERM see...

Page 22: ...te 1 The A6B series and SL VGU1 EC series are available since the FP7 MC Unit Ver 1 2 The Communication Unit for Digital Sensor SC GU3 03 series will be available in the near future Note 2 More than one A6B or A5B should exist on a network Also the mixed connection of A6B and A5B is available Note 3 Hubs for EtherCAT and Ethernet cannot be used Note 4 As for Encoder only the operation of the encod...

Page 23: ... AFP7MC32EC AFP7MC64EC 180 mA or less 1 2 3 Applicable Versions of FPWIN GR7 and FP7 Units For using FP7 MC Unit the following versions of FPWIN GR7 and units are required Item Applicable versions Programming tool software Control FPWIN GR7 Ver 2 12 or later FP7 CPU Unit There is no restriction on the version For using the EC packet monitor function of FP7 MC Unit use FP7 CPU Unit Ethernet functio...

Page 24: ...e available Shielded twisted pair STP cable FP7 MC Unit and Servo Amplifier A6B A5B are connected with a shielded twisted pair STP cable Servo amplifier A6B A5B The units of the number of required axes are connected Over limit switch The over limit switches are connected to the servo amplifier When using the servo amplifier in combination with FP7 MC Unit the over limit switches are connected to t...

Page 25: ...g of positioning tables etc Download destination FP7 MC Unit Connection with the Unit Connect to the USB port of FP7 CPU Unit Control FPWIN GR7 Application This software is used for configuring the whole FP7 system and creating user programs Download destination FP7 CPU Unit Connection with the Unit Connect to the USB port of FP7 CPU Unit PANATERM Application This software is used for setting para...

Page 26: ...sing part I O Y0 System stop X0 Link establishment Input processing User program I O map CPU Config Power on EtherCAT communication Positioning parameters Positioning tables Communication parameters UM FPWIN GR7 CMI PANATERM Update cycle 500μs 4000μs Input control area Output control area Busy Done Error flag Start Stop Servo on off UM Output processing ...

Page 27: ...tch is set to RUN mode FP7 CPU Unit checks that the state of the FP7 system is correct switches the mode to RUN mode and executes user programs 1 4 3 Start Stop by User Programs For FP7 MC Unit main I O signals to execute various controls such as positioning JOG operation home return and stop are allocated to the unit memories UM In the unit memories UM output control area request signals to perfo...

Page 28: ...Unit Functions and Restrictions 1 10 ...

Page 29: ...2 Names and Functions of Parts ...

Page 30: ...ted b COPY switch This is provided for expansion Use the switch at the factory default lower side as it is c Memory selector switch This is provided for expansion Use the switch at the factory default lower side as it is Network connector RJ45 This is the connector for connecting to EtherCAT DIN hook This hook is used to install the unit on a DIN rail Unit connector Connects the internal circuits ...

Page 31: ... EtherCAT communication error EC L A Green OFF LINK is not established Indicates the LINK state of EtherCAT communication Flickering LINK is established Data is sent received ON LINK is established Data is not sent received SD Green ON SD memory card is being accessed OFF Other than the above state CARD Green Reserved for system COPY Green Reserved for system ERR Red ON Unit error occurs Blinking ...

Page 32: ...afe Operational SafeOP Available Available Not available The state that data can be sent received using SDO Mailbox and data can be sent from slaves to master using PDO Operational OP Available Available Available The state that data cannot be sent received using SDO Mailbox and PDO Note S Slave M Master What is ESM EtherCAT State Machine ESM shows the state of the communication determined as the ...

Page 33: ...3 Installation and Wiring ...

Page 34: ...B A5B For the details of the setting methods refer to the manual of the servo amplifier Combination of setting methods Settings of Servo Amplifier A6B A5B Settings of FP7 MC Unit Settings by Panaterm Rotary switches Settings by CMI Pr7 40 Pr7 41 MC common settings dialog box Node address discrimination method Device editor window general tab Node address discrimination method 0 0 00 Follow the set...

Page 35: ...anel and Pr7 40 is used as the station alias 1 The set value in the ESC configuration area SII area is used the station alias Rotary switch setting When the set value for Pr7 41 is 0 it is set using the two rotary switches on the front panel of Servo Amplifier MINAS A6B A5B When using the software CMI set it to 00 Setting value Front panel display Function MSD LSD 0 0 0 The settings on the FP7 MC ...

Page 36: ...dress discrimination method Select a node address discrimination method Setting Function Follow the setting value of Station Address Set by the station address in the General tab in the EtherCAT communication setting by the software CMI Follow the node address discrimination method of each slave Set node addresses by the station alias setting of the servo amplifier ...

Page 37: ...editor opens 2 Set node addresses IDs for each servo amplifier 3 Press the OK button KEY POINTS Node addresses IDs can be set regardless of the connection order When the rotary switches are all 00 they are allocated in the connection order When the same unit number is redundantly specified on the same network an error occurs Set the address for the EtherCAT communication as a node address ID Set n...

Page 38: ...hod follows the setting method of each slave device Setting Function ESC register 0x0012 Set the set values in the SC configuration area SII area as node addresses Explicit Device ID Set the values set by the rotary switches on the front panel and Pr7 40 as node addresses Station alias Higher 8 bits Lower 8 bits Rotary switch setting Setting of Pr7 40 Because the maximum number of slaves for FP7 M...

Page 39: ... 3 Node 4 16n 4 Node 5 16n 5 Node 6 16n 6 Node 7 16n 7 Node 8 16n 8 Node 9 16n 9 Node 10 16n 10 Node 11 16n 11 Node 12 16n 12 Node 13 16n 13 Node 14 16n 14 Node 15 16n 15 Node 16 16n Node 17 32 UM 000FF Node 33 48 UM 00100 Node 49 64 UM 00101 Node 65 80 UM 00102 Node 81 96 UM 00103 Node 97 112 UM 00104 Node 113 128 UM 00105 Node 129 144 UM 00106 Node 145 160 UM 00107 Node 161 176 UM 00108 Node 177...

Page 40: ...Node 10 16n 10 Node 11 16n 11 Node 12 16n 12 Node 13 16n 13 Node 14 16n 14 Node 15 16n 15 Node 16 16n Node 17 32 UM 0010B Node 33 48 UM 0010C Node 49 64 UM 0010D Node 65 80 UM 0010E Node 81 96 UM 0010F Node 97 112 UM 00110 Node 113 128 UM 00111 Node 129 144 UM 00112 Node 145 160 UM 00113 Node 161 176 UM 00114 Node 177 192 UM 00115 Note 1 Sixteen node numbers are allocated to each area 1 word bit n...

Page 41: ...3 Node 4 16n 4 Node 5 16n 5 Node 6 16n 6 Node 7 16n 7 Node 8 16n 8 Node 9 16n 9 Node 10 16n 10 Node 11 16n 11 Node 12 16n 12 Node 13 16n 13 Node 14 16n 14 Node 15 16n 15 Node 16 16n Node 17 32 UM 00123 Node 33 48 UM 00124 Node 49 64 UM 00125 Node 65 80 UM 00126 Node 81 96 UM 00127 Node 97 112 UM 00128 Node 113 128 UM 00129 Node 129 144 UM 0012A Node 145 160 UM 0012B Node 161 176 UM 0012C Node 177 ...

Page 42: ...de 9 16n 9 Node 10 16n 10 Node 11 16n 11 Node 12 16n 12 Node 13 16n 13 Node 14 16n 14 Node 15 16n 15 Node 16 16n Node 17 32 UM 0012F Node 33 48 UM 00130 Node 49 64 UM 00131 Node 65 80 UM 00132 Node 81 96 UM 00133 Node 97 112 UM 00134 Node 113 128 UM 00135 Node 129 144 UM 00136 Node 145 160 UM 00137 Node 161 176 UM 00138 Node 177 192 UM 00139 Note 1 Sixteen node numbers are allocated to each area 1...

Page 43: ...r A6B A5B The distance between each node should be within 100m 3 2 2 Precautions on Wiring Always use shielded twisted pair STP cables that are compatible with category 5e or higher Turn off the power supplies for the system before wiring cables To prevent the cable from coming off securely connect the connector of the cable to the network connector RJ45 connector of the unit Hubs for EtherCAT and...

Page 44: ...EC the following wiring condition is required Always use shielded twisted pair STP cables that are compatible with category 5e or higher Attach ferrite cores at two points on the FP7 MC Unit side and Servo Amplifier A6B A5B side and wire the cable to make a loop Recommended ferrite core Takeuchi Industry Co Ltd SFT 72SN or equivalent AMP FP7 MC 50mm max 50mm max X2A ...

Page 45: ... a near home input SI5 10 External latch input 1 EXT1 A contact It can be only monitored by the unit memories SI6 11 External latch input 2 EXT2 A contact SI7 12 General purpose monitor input 3 SI MON3 A contact It is used as a limit SI8 13 General purpose monitor input 4 SI MON4 A contact It is used as a limit Note 1 The above table shows the allocation before shipment It varies according to the ...

Page 46: ...Installation and Wiring 3 14 REFERENCE For details of parameter settings refer to 4 5 Connection of Limit and Near Home Switches ...

Page 47: ...4 Basic Procedure ...

Page 48: ...Servo Amplifier A6B A5B It is recommended to set 00 CMI Start EtherCAT Configurator and register slaves in accordance with the configuration to be used Set station addresses and axis numbers Download the slave registration information to FP7 MC Unit Turn on and off the powers of Servo Amplifier A6B A5B and FP7 and then turn them on again Confirm the communication state by LEDs or the monitor of CM...

Page 49: ...he condition that FPWIN GR7 has already started PROCEDURE 1 Select Options FP7 Configuration I O map in the menu bar The I O map dialog box is displayed 2 Double click a desired slot The unit selection dialog box is displayed 3 Select Motion control for Unit type and select the unit name used and press the OK button The selected unit is registered in the I O map 4 Confirm the I O map and press the...

Page 50: ...he following operations on FPWIN GR7 Save as files To save the I O map as Entire project execute Project Save As To save only the I O map setting information press the Save Setting button in the I O map setting dialog box 4 2 4 Confirmation of I O Allocation I O numbers allocated to the unit are decided by registering them in the I O map I O numbers vary depending on the starting word number regis...

Page 51: ...on FPWIN GR7 Slot number Slot numbers are decided by each installation position of units They are counted from the unit closest to the CPU unit 2 3 16 1 C P U Display on the I O map of FPWIN GR7 Slot numbers are specified in the I O map dialog box of FPWIN GR7 Using by user programs The following shows the case that reads values of unit memories using a user program A slot number is specified at t...

Page 52: ...ined on the condition that FP7 MC Unit has been already allocated in the I O map PROCEDURE 1 Select Tools Control Motion Integrator from the menu bar of FPWIN GR7 The Select Slot no dialog box is displayed 2 Select the slot number and unit of the FP7 MC Unit that the setting is made and press the OK button CMI is activated and the start dialog box is displayed ...

Page 53: ...ee p 4 9 Product no Number of usable axes Real axis Virtual axis AFP7MC16EC Max 16 axes Max 8 axes AFP7MC32EC Max 32 axes Max 16 axes AFP7MC64EC Max 64 axes Max 32 axes 4 Select the axes to be used and press the OK button The dialog box for the interpolation operation group setting is displayed When you do not set the interpolation operation go to step 6 ...

Page 54: ... 2 of interpolation groups When removing the axes from the interpolation groups right click on the target axis in the Interpolation group field and execute Clear 6 Press the OK button A confirmation message is displayed 7 Confirm the change and press the Yes button The data table is created in accordance with the setting content The corresponding axis numbers are also displayed in the project tree...

Page 55: ...mount and interpolation operation are added to the data table and the group numbers are displayed Closing the window with the X mark during editing displays a confirmation message Press the Yes button to cancel and finish the operation Axis settings dialog box For MC32EC Axis settings dialog box For MC64EC ...

Page 56: ...T communication setting menu EtherCAT Configurator of CMI The following procedure is explained on the condition that CMI has already started PROCEDURE 1 Select Parameter EtherCAT communication settings from the menu bar The EtherCAT Configurator window is displayed 2 Right click on FP7 Motion Control Unit in the project explorer The context menu is displayed ...

Page 57: ... form to be used from the list 5 Input the number of slaves and press the OK button The registration state of the slaves A6B A5B connected to FP7 MC Unit is displayed in the project explorer The list shows the slaves in the connection order from the unit connected to FP7 MC Unit first 6 When there are multiple types of slaves servo amplifier form repeat steps 2 to 5 ...

Page 58: ... the power supplies of all servo amplifiers A6B A5B connected to the network 2 Turn on the power of the FP7 MC system The EC L A LED of FP7 MC Unit turns on or blinks after the execution of EtherCAT communication between FP7 MC Unit and Servo Amplifiers A6B A5B 3 Select Parameter EtherCAT communication settings from the menu bar The EtherCAT Configurator window is displayed 4 Right click on FP7 Mo...

Page 59: ...ase and confirmation method Network scanning EC L A EC RUN ERR ON OFF ON Network configurations verify error occurs In this case even when the ERR LED is lit the network scanning can be executed This error also occurs when using FP7 MC Unit for the first time as the information on the network configuration is not downloaded to FP7 MC Unit Executable Flickering ON ON Network configurations verify e...

Page 60: ... devices The number of corresponding axes for slave devices is set Axis number 1 16 1 32 1 64 It is linked with various functions set for each axis in CMI such as axis parameter setting positioning table setting and synchronous parameter setting The start requests and flags used in user programs are determined based on the axis numbers set in CMI User programs are created using FPWIN GR7 Procedure...

Page 61: ...rs or encoders set axis numbers If the information on the configuration of slaves servo amplifiers encoders existing on the network without axis numbers is downloaded an error occurs When the number of axes specified in the used axis setting is more than the number of slave axes registered in the project explorer the download is executed however network configuration error occurs when the power su...

Page 62: ...ection order Station address Axis number FP7 MC 001 002 003 004 1 2 3 4 A5B A5B A5B A5B A6B A6B A6B A6B This shows the state the station addresses are the same as axis numbers and set in the reverse order of the connection FP7 MC A5B A5B A5B A5B A6B A6B A6B A6B 004 003 002 001 4 3 2 1 Station address Axis number The station addresses do not match the axis numbers FP7 MC A5B A5B A5B A5B A6B A6B A6B...

Page 63: ...following procedure is explained on the condition that CMI has already started PROCEDURE 1 Select File Download to Unit from the menu bar A message confirming the target unit is displayed 2 Confirm the message and press the Yes button When the CPU is in RUN mode the following message is displayed 3 Select a unit to which the setting data is downloaded and press the Yes button A message confirming ...

Page 64: ...ead to the unit memory RAM from the FROM When Write to FROM is not executed the set parameters are temporarily written to the unit memory RAM in the unit and used as data during operation However when the power turns on again they are overwritten by the parameters written into the FROM It is also possible to execute Online Write to FROM on CMI Write to FROM can also be executed by turning on the F...

Page 65: ...on is started between Servo Amplifier A6B A5B and FP7 MC Unit Once the communication is executed and the link is established properly the both EC RUN LEDs turn on 4 Confirm that no error occurs When an error occurs the ERR LED on FP7 MC Unit turns on KEY POINTS The connection state of the network can be checked by monitoring the unit memories The information on abnormal slaves is stored in the uni...

Page 66: ... UM 00122 Normal slave table H0 Turns on bits corresponding to each station address slave number in the OP mode out of the slaves registered in ENI file and participating in the network 17 32 UM 00123 177 192 UM 0012D 1 16 UM 0012E Abnormal slave table H0 Turns on bits corresponding to each station address slave number in any modes other than OP mode out of the slaves registered in ENI file and pa...

Page 67: ...act It is used as a near home input SI5 10 External latch input 1 EXT1 A contact It can be only monitored by the unit memories SI6 11 External latch input 2 EXT2 A contact SI7 12 General purpose monitor input 3 SI MON3 A contact It is used as a limit SI8 13 General purpose monitor input 4 SI MON4 A contact It is used as a limit Note 1 The above table shows the allocation before shipment It varies ...

Page 68: ...le click the row Pin number 07 SI2 to which POT is allocated The Input function select dialog box is displayed 3 Select the row Invalid and press the OK button The change result can be confirmed in the Pin Assign dialog box 4 Repeat steps 2 and 3 for NOT Pin number 08 SI3 5 When changing the input logics of limit and near home switches go to step 6 When they are not changed go to step 10 6 Double ...

Page 69: ... in the Pin Assign dialog box 8 Repeat the same operations in steps 6 and 7 for SI MON4 too 9 When changing the input logic of near home switch repeat the same operations 10 Press the Apply button in the Pin Assign dialog box A confirmation message is displayed 11 Press the OK button A confirmation message is displayed 12 Press the Yes button Writing to the EEPROM to the servo amplifier is execute...

Page 70: ...following message is displayed 4 5 3 Checking Servo Amplifier Input State After the completion of the pin assign setting of Servo Amplifier operate the connected limit inputs and near home inputs forcibly and check the input states The input states can be checked on PANATERM ...

Page 71: ...everse connection S Standard R Reverse connection Limit switch logic 1 Normal Close B contact Select the input logic of the limit switches 0 Normal Open A contact 1 Normal Close B contact Limit switch logic KEY POINTS In the system using FP7 MC Unit limit switches are connected to the general purpose inputs SI MON3 and SI MON4 of Servo Amplifier A6B A5B When the Limit switch is set to Enabled in t...

Page 72: ...ownload to FP7 MC Unit Once the settings of limit switches and input logic are completed in CMI download the parameter information to FP7 MC Unit REFERENCE For details of the downloading method refer to 4 4 4 Download to FP7 MC Unit 4 5 6 Checking Input State After the completion of the settings operate the limit inputs and near home inputs connected to the servo amplifier forcibly checker that th...

Page 73: ...iles created by EtherCAT Configurator in CMI are exported imported Export Import CSV file csv The whole parameters of FP7 MC Unit are exported in csv format They can be used for checking parameters Export 4 6 2 Saving as CMI Files Set parameters and positioning table information can be saved and opened on CMI The saved data can also be reused in multiple units and projects PROCEDURE 1 Select File ...

Page 74: ...n csv format It is possible to open the csv files and check the settings of each parameter and positioning table PROCEDURE 1 Select File Export to CSV from the menu bar The Export to CSV dialog box is displayed 2 Enter an output file name and press the OK button CSV files with given file names are saved for each parameter ...

Page 75: ...5 Settings of FP7 MC Unit Using CMI Tool ...

Page 76: ...owing procedure is explained on the condition that CMI has already started PROCEDURE 1 Select Parameter MC common settings from the menu bar The MC common settings dialog box is displayed 2 Set necessary parameters in accordance with the intended use KEY POINTS Although the data being edited is held until finishing CMI even when the dialog box is closed with the X mark during the editing save para...

Page 77: ...equest of unit memories output control area turns on is set Deceleration stop Pause RUN PROG operation Deceleration stop The operation when the operation mode of CPU unit changes from RUN to PROG is set Operation continuance The operation of each axis continues Deceleration stop Each axis decelerates and stops in a specified deceleration stop time in the current control mode Immediate stop Each ax...

Page 78: ... the following items Disable Not check revision numbers Common to all axes HW Check revision numbers of all slave devices in the same method high word match Common to all axes Check revision numbers of all slave devices in the same method all match Common to all axes LW Check revision numbers of all slave devices in the same method low word match Individual axis setting Execute according to the re...

Page 79: ... request flag turns on Enabled Packet monitor is executed when EC packet monitor request flag turns on Execute EC Packet Monitor after Power ON Not executed The operation of the EC EtherCAT packet monitor when FP7 MC Unit is powered on is set Not executed EC packet monitoring is not executed after the power turns on Executed EC packet monitoring is executed after the power turns on REFERENCE For d...

Page 80: ... CMI has already started PROCEDURE 1 Select Parameter Axis parameter settings from the menu bar The Axis parameter settings dialog box is displayed 2 Set necessary parameters in accordance with the intended use 3 Select File Save As from the menu bar 4 Enter an arbitrary file name and press the Save button KEY POINTS Although the data being edited is held until finishing CMI even when the dialog b...

Page 81: ...bit0 N Disabled When using the limit switch function or the home return function using limit switches select A Enabled N Disabled A Enabled Limit switch connection UM 03254 bit2 S Standard When the arrangement of the connected limit and limit is opposite to the input state loaded to FP7 MC Unit select R Reverse connection S Standard R Reverse connection Limit Switch logic UM 03254 bit4 1 Normal Cl...

Page 82: ...the software limit Software limit Lower limit value UM 0324E UM 0324F 2147483648 Note The values set in these parameters are stored in the unit memory numbers described below the parameter names Auxiliary output setting Parameter name Default Description Auxiliary output mode UM 03252 bit7 0 N Not used Select the operation mode of auxiliary output contact and auxiliary output code N Not used W Wit...

Page 83: ...s monitored and exceeds the judgement value N Disabled E Enabled Error W Enabled Warning Monitor error Torque judgement value UM 0325D 5000 Set the torque judgement value Range 0 to 5000 0 0 to 500 0 Monitor error Actual speed judgement UM 0325C bit3 2 N Disabled Select the operation of FP7 MC Unit when the actual speed of the amplifier is monitored and exceeds the judgement value N Disabled E Ena...

Page 84: ...nce this set time has passed after the torque value of the servo amplifier exceeded the stop on contact torque value Range 0 to 10000 ms Return direction UM 03261 0 Limit direction Select the operation direction of home return 0 Elapsed value decreasing direction Limit direction 1 Elapsed value increasing direction Limit direction Return acceleration time ms UM 03262 100 Set the acceleration time ...

Page 85: ...647 μm s inch 0 001 to 2 147 483 647 inch s degree 0 001 to 2 147 483 647 rev s JOG operation Inching movement UM 0326E UM 0326F 1 Set the movement amount when starting JOG inching operation Range 1 to 2147483647 The ranges vary depending on the unit settings as below pulse 1 to 2 147 483 647 pulses μm 0 1μm 0 1 to 214 748 364 7 μm μm 1μm 1 to 2 147 483 647 μm inch 0 00001 inch 0 00001 to 21 474 8...

Page 86: ...g the J point control Range 0 to 10000 ms Deceleration time ms UM 03283 100 Set the deceleration time when performing the J point control Range 0 to 10000 ms Target speed UM 03284 UM 03285 1000 Set the target speed when performing the J point control Range 1 to 2 147 483 647 Any other settings will be errors The ranges vary depending on the unit settings as below pulse 1 to 2 147 483 647 pps μm 1 ...

Page 87: ... no 1000 can be set By double clicking an arbitrary axis of the project tree in CMI the positioning data table opens When setting the interpolation control the cell for Interpolation operation as a selection item is added between Operation pattern and Control method Also the input cells for Movement amount and Auxiliary point are added according to the number of axes In the above example the real ...

Page 88: ...to 2 147 483 647 rev s Dwell time ms 0 Set the time from the completion of the positioning instruction in the E point control until the positioning done flag turns on For the C point control it is the wait time between each table For the P point control the dwell time is ignored Auxiliary output 0 Set the auxiliary output code When the auxiliary output is set to be enabled in the parameter setting...

Page 89: ...point CCW direction 2nd axis feed E Spiral Center point CW direction 3rd axis feed F Spiral Center point CCW direction 3rd axis feed L Spiral Pass point 1st axis feed M Spiral Pass point 2nd axis feed N Spiral Pass point 3rd axis feed 1st axis L Movement amount 0 Input the movement amount position command value The auxiliary point is input for the spiral interpolation The axis numbers allocated to...

Page 90: ...CMI and E point control is selected for the operation pattern for the last table Start requests are made by specifying the starting data table numbers for each control in user programs Example When performing three speed positioning control by P point control pass point control Create three positioning tables and select E End point for the last table Also start requests are made by specifying the ...

Page 91: ...d on the condition that CMI has already started The synchronous parameter setting is made for slave axes PROCEDURE 1 Select and double click the axis for setting the parameters from the project tree The synchronous parameter dialog box is displayed 2 Set necessary parameters in accordance with the intended use REFERENCE For details of the methods of setting parameters related to synchronous contro...

Page 92: ...ready started The cam pattern setting is made for the cam pattern operation for slave axes PROCEDURE 1 Select Parameter Cam pattern settings from the menu bar The cam pattern settings dialog box is displayed 2 Set necessary parameters in accordance with the intended use KEY POINTS The saved parameter information can be read on CMI In the case of synchronous control it also operates according to th...

Page 93: ...e following procedure is explained on the condition that CMI has already started PROCEDURE 1 Select Debug Check parameters and data values from the menu bar A message box is displayed to show the check result In normal state In abnormal state 2 Press the OK button The screen returns to the editing screen of CMI ...

Page 94: ...it from the menu bar When File is selected the Select verification file dialog box is displayed When Unit is selected the Verify Unit dialog box is displayed 2 Select a target file or unit to be verified and press the OK button The verification result is displayed In normal state In abnormal state 3 Press the Close button The screen returns to the editing screen of CMI KEY POINTS When selecting Un...

Page 95: ...e is explained on the condition that CMI has already started PROCEDURE 1 Select File Download to Unit from the menu bar A confirmation message is displayed 2 Confirm the message and press the Yes button When the CPU is in RUN mode the following message is displayed 3 Select a unit to which the setting data is downloaded and press the Yes button The FROM confirmation message is displayed ...

Page 96: ...ers are read into the unit memory RAM from the FROM When Write to FROM is not executed the set parameters are temporarily written to the unit memories RAM in FP7 MC Unit and used as data during operations However when the power turns on again they are overwritten by the parameters written into the FROM It is also possible to execute Online Write to FROM on CMI Write to FROM can also be executed by...

Page 97: ...6 Data Transfer to MC Unit and Test Operation ...

Page 98: ...dition of the over limit switches Check if the limit input can be monitored on PLC Checking the procedure settings for turning on the power supplies Check to make sure settings have been entered so that power supplies are turned on according to the procedure outlined in the section Procedure for Turning On the Power on the next page Setting configuration data Check if the parameters and positionin...

Page 99: ...will not initiate unexpected movements PROCEDURE 1 Turn on the power supplies for the input and output devices connected to the PLC 2 Turn on the power supply for the servo amplifier 3 Turn on the power supply for the PLC 6 2 2 Procedure for Turning Off the Power PROCEDURE 1 Check to make sure the rotation of the motor has stopped and then turns off the power supply for the PLC 2 Turn off the powe...

Page 100: ...ion between the servo amplifier and over limit switches Check the installation condition of the over limit switches Check if the over limit switch is loaded as the limit input of FP7 MC Unit and activated properly by performing JOG operation Checking the near home input Check the connection between the servo amplifier and near home input Check the installation condition of the near home input Chec...

Page 101: ...fier and FP7 MC Unit in this order and check if no error occurs Procedure 2 If an error occurs check if the settings agree with the actual network configuration on CMI Points to check After turning on FP7 MC Unit the time until slaves participate in the network can be confirmed and changed in the axis parameter setting menu of CMI ...

Page 102: ...me of limit input by the tool operation function of CMI or performing the JOG operation with a program Procedure 3 Using the JOG operation check if the over limit switch is functioning properly Operation at Over limit input Limit is Enabled Condition Direction Limit status Operation When JOG operation is started Forward Over limit input ON Not executable Error occurs Over limit input ON Executable...

Page 103: ...ons Procedure 4 If the home stopping position is shifted change the position of near home input or reduce the home return speed 6 3 5 Checking Rotating and Moving Directions and Moving Distance Procedure 1 Execute the JOG operation to confirm the rotating direction and moving direction of the motor Use the tool operation function of CMI and perform the JOG operation Points to check The rotating di...

Page 104: ...atus Monitor The connection state of each axis and input state of external terminals can be monitored The following procedure is explained on the condition that CMI has already started PROCEDURE 1 Select Online Status Monitor from the menu bar The status monitor dialog box is displayed ...

Page 105: ...P7 MC Unit Limit Green or limit Green Indicates the input is enabled Off White Indicates the input is disabled Limit FROM write count Indicates the number of times of writing to FROM in FP7 MC Unit Writing can be performed up to 10000 times Firmware version Indicates the firmware version of FP7 MC Unit Hardware version Indicates the hardware version of FP7 MC Unit KEY POINTS The input logics of th...

Page 106: ...urs in FP7 MC Unit click the Clear errors button to clear the error If a warning occurs in FP7 MC Unit click Clear warning to clear the warning of FP7 MC Unit The difference between the value of the position specified in FP7 MC Unit and the value of the position fed back from Servo Amplifier A6B A5B is calculated on the FP7 MC Unit side as a deviation This value is not the same as the value of the...

Page 107: ... Output Code and Auxiliary Output Contact Repeat count current value Displays the current value of the repeat count 8 3 Repeat Function Repeat count When setting to repeat operations the repeat count is displayed 0 to 255 When this function is not set the repeat count is 0 Current value pulse Displays the current value of FP7 MC Unit It will return to 0 on the completion of home return 13 2 Curren...

Page 108: ... can perform commissioning with CMI before actually starting user programs The following procedure is explained on the condition that CMI has already started PROCEDURE 1 Select Online Tool Operation from the menu bar A confirmation message is displayed 2 Press the Yes button The Tool operation dialog box is displayed ...

Page 109: ... Teaching Controls the axis like JOG operation and reflects the resulting positioning address on the data editing screen KEY POINTS The unit cannot go into the tool operation while the unit is operated with a user program Operation requests using unit memories output control area are disabled during the tool operation If any communication error occurs during the tool operation FP7 MC Unit will det...

Page 110: ...ool Operation from the menu bar The Tool operation dialog box is displayed 2 Select Servo ON OFF in the Tool operation dialog box The Servo ON OFF dialog box is displayed 3 Select a desired axis and press the Change ON OFF button The state is switched between servo lock and servo free 4 Confirm the servo ON OFF states of arbitrary axes and press the Exit button This returns to the Tool operation d...

Page 111: ...een controlled using user programs the servo lock or servo free state before the start of the tool operation is kept and the operation shifts to the tool operation The servo lock or servo free state before the completion will be kept even after finishing the tool operation mode ...

Page 112: ...dure is explained on the condition that CMI has already started PROCEDURE 1 Select Online Tool Operation from the menu bar The Tool operation dialog box is displayed 2 Select JOG operation from the tool operation dialog box The Tool operation JOG operation dialog box is displayed 3 Press or button in the JOG field The JOG operation is executed 4 Press Exit button to terminate the JOG operation ...

Page 113: ...y the dialog for inputting value to change the preset value 13 2 Current Value Update Unit The units of the position command value and speed command value are displayed for each axis Deviation pulse The difference value between the value of the position specified in FP7 MC Unit and the value of the position fed back from the amplifier is stored For virtual axes is always displayed JOG target speed...

Page 114: ...th CMI before actually starting user programs The following procedure is explained on the condition that CMI has already started PROCEDURE 1 Select Online Tool Operation from the menu bar The Tool operation dialog box is displayed 2 Select Home Return from the tool operation dialog box The Tool operation Home return dialog box is displayed 3 Click Start for the axis to execute the home return Exec...

Page 115: ...e current value after the unit system conversion Click Home position coordinate to display the dialog box for inputting value to change the value after home return 13 3 Home Coordinates Unit The units of the position command value and speed command value are displayed for each axis Deviation pulse The difference value between the value of the position specified in FP7 MC Unit and the value of the ...

Page 116: ...nu bar The Tool operation dialog box is displayed 2 Select Positioning from the tool operation dialog box The Tool operation Positioning dialog box is displayed 3 Press the Change button under the target start table number field The starting table no setting dialog box is displayed 4 Input a starting table number 5 Press the Operate button Positioning starts from the specified start table number 6...

Page 117: ...ay the dialog for inputting value to update the current value 13 2 Current Value Update Unit The units of the position command value and speed command value are displayed for each axis Deviation pulse The difference value between the value of the position specified in FP7 MC Unit and the value of the position fed back from the amplifier is stored For virtual axes is always displayed Table number e...

Page 118: ... The positioning operation of an interpolation group starts and stops the axis with the smallest number in the group In the case of the tool operation function the Operate buttons other than that for the smallest axis number cannot be pressed This dialog box cannot be closed during the operation When conditions are changed during the tool operation the operation continues by updating the unit memo...

Page 119: ...ool Operation Teaching dialog box is displayed 3 Stop at the positioning point by the JOG operation 4 Press the Teaching button 5 Input the table number where the desired positioning information is registered and click the OK button The current value is registered for the amount of movement of the table number specified Also if the axis that the teaching operation is performed is an interpolation ...

Page 120: ...r each axis Deviation pulses The difference value between the value of the position specified in FP7 MC Unit and the value of the position fed back from the amplifier is stored For virtual axes is always displayed JOG target speed Monitors and displays the target speed in the JOG operation Click Change to change the target speed for the JOG operation 10 1 Settings and Operations of JOG Operation 1...

Page 121: ...n FP7 MC Unit click Clear warning to clear the warning of FP7 MC Unit The control method for the table number that the teaching operation was performed is automatically changed to Absolute The result of the teaching becomes effective once the tool operation quits and the setting data is downloaded to FP7 MC Unit This dialog box cannot be closed during the operation ...

Page 122: ...Data Transfer to MC Unit and Test Operation 6 26 ...

Page 123: ...7 Creation of User Programs ...

Page 124: ...rol area Reads information required for confirming states from the unit memories input control area to an arbitrary operation memories such as internal relay area WR Example Connection confirmation flag servo lock flag busy flag error annunciation flag Servo control Outputs the requests for the servo on and servo off controls to the operation memories such as internal relay area WR Start enabled c...

Page 125: ... R120 Position control start R4180 Axis 1 Positioning Start DF SR14 S1 UM00186 BKMV US WR409 WR406 1st scan OFF X100 Link establish ment 1 16 Servo ON request 49 64 Servo ON request 1 16 Servo ON request X100 X104 Link establish ment Tool operation R1060 R1100 Axis 1 Connection confirmation Axis 1 Servo lock R1580 Axis 1 Error annunciation R110 Axis 1 Start enabled DF R120 S1 UM00990 DT110 MV US A...

Page 126: ...Virtual 17 32 Busy X100 Link establish ment WR128 BKMV US S1 UM000A1 S1 UM0009C WR122 BKMV US S1 UM0009B S1 UM00096 Virtual 17 32 Operation done Virtual 17 32 Home return WR164 BKMV US S1 UM000C5 S1 UM000C0 WR158 BKMV US S1 UM000BF S1 UM000BA Virtual 17 32 Error annunciation 1 16 Connection confirmation 1 16 Servo lock 1 16 Busy 1 16 Operation done 1 16 Home return done 1 16 Error annunciation 1 1...

Page 127: ...R412 1 16 Servo OFF request 49 64 Servo OFF request 1 16 Servo OFF request R4060 R1100 Axis 1 Servo ON request Axis 1 Servo lock R100 Servo ON R4060 Axis 1 Servo ON request DF R4120 R1100 Axis 1 Servo OFF request Axis 1 Servo lock R101 Servo OFF R4120 Axis 1 Servo OFF request DF 1st scan OFF Link establish ment 1st scan OFF Link establish ment Allocation of unit memories Signal name Real axis Virt...

Page 128: ...ion and home return 1 16 Connection confirmation 49 64 Connection confirmation 1 16 Connection confirmation 1 16 Servo lock 49 64 Servo lock 1 16 Error annunciation Virtual 17 32 Error annunciation 1 16 Servo lock 1 16 Error annunciation Link establish ment Tool operation Axis 1 Connection confirmation Axis 1 Servo lock Axis 1 Error annunciation 7 2 4 Each Control Programs Each control programs su...

Page 129: ...42 Virtual 17 32 Inching operation Virtual 17 32 Emergency stop S1 UM001B6 BKMV US WR459 WR454 Virtual 17 32 Deceleration stop S1 UM001C8 BKMV US WR477 WR472 Virtual 17 32 Error clear request S1 UM001CE BKMV US WR483 WR478 1 16 Servo ON request 1 16 Servo OFF request 1 16 Positioning start request 1 16 Home return start request 1 16 JOG operation start request 1 16 Inching operation request 1 16 E...

Page 130: ...t them as interlock signals for each start request on user programs The stop operations system stop limit stop error stop emergency stop and deceleration stop are preferentially activated even in other operations 7 3 3 Operation When PLC Mode Changes from RUN to PROG The operation when the mode of the CPU unit changes from RUN to PROG varies depending on the setting of RUN PROG operation of MC com...

Page 131: ...8 Automatic Operation Position Control ...

Page 132: ...ol t f E This is a method of control which is initiated up to an end point and is called E point control This method is used for a single speed acceleration deceleration P point control t f P E t f P E P This refers to control which passes through a Pass Point and is called P point control This method is used for performing acceleration deceleration by two speed control or more After the P point c...

Page 133: ...contact The last table should be set to E End point Speed changes t f J E Selection of operation patterns The positioning operation mode is selected in the Positioning table setting menu of CMI For the E point control input settings in one row For P point C point and J point controls input settings to make the last table to be the E point control in combination Settings of J point control Set the ...

Page 134: ...crew Settings Item Setting example Operation pattern E End point Control method I Increment 1st axis L movement amount 10000 pulses Acceleration deceleration type L Linear Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps Note The L in the above table is an axis number Operation diagram 100 100 f pps 10000 t ms 30000 20000 10000 pulses Positioning start request Current...

Page 135: ... UM0009B which indicates the completion of operation will turn on when the current operation is completed and it will be held until the next positioning control JOG operation or home return starts Allocation of unit memories Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 Positioning start request UM00192 UM00193 UM00194 UM00195 UM00196 UM00197 BU...

Page 136: ... Control method I Increment I Increment I Increment 1st axis L movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration type L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps Note The L in the above table is an axis number Operation diagram 100 150 f pps 10000 20000 5000 200 15...

Page 137: ... UM0009B which indicates the completion of operation will turn on when the current operation is completed and it will be held until the next positioning control JOG operation or home return starts Allocation of unit memories Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 Positioning start request UM00192 UM00193 UM00194 UM00195 UM00196 UM00197 BU...

Page 138: ...d point Control method I Increment I Increment I Increment 1st axis L movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration type L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps Note The L in the above table is an axis number Operation diagram 100 f pps 10000 20000 5000 200...

Page 139: ... UM0009B which indicates the completion of operation will turn on when the current operation is completed and it will be held until the next positioning control JOG operation or home return starts Allocation of unit memories Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 Positioning start request UM00192 UM00193 UM00194 UM00195 UM00196 UM00197 BU...

Page 140: ...Control method I Increment I Increment I Increment 1st axis L movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration type L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps J point operation setting code Linear acceleration deceleration J point acceleration time ms 10 ms J poi...

Page 141: ...ioning control will start Allocation of unit memories Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 Positioning start request UM00192 UM00193 UM00194 UM00195 UM00196 UM00197 BUSY flag UM00090 UM00091 UM00092 UM00093 UM00094 UM00095 Operation done flag UM00096 UM00097 UM00098 UM00099 UM0009A UM0009B J point speed change request UM001BC UM001BD UM...

Page 142: ...the long axis speed In the case of the center point specification the coordinate of the center point on arc is specified as the data of 1st axis X axis auxiliary point and 2nd axis Y axis auxiliary point of positioning data Also In the case of the pass point specification the coordinate of the pass point on arc is specified as the data of 1st axis X axis auxiliary point and 2nd axis Y axis auxilia...

Page 143: ...8 2 Interpolation Control 8 13 ...

Page 144: ...ark Operation pattern E End point Interpolation operation 0 Linear Composite speed Control method I Increment 1st axis L movement amount 10000 pulses Axis numbers are put in L and m The values of auxiliary points are invalid for the linear interpolation 1st axis L auxiliary point 0 pulses 2nd axis m movement amount 5000 pulses 2nd axis m auxiliary point 0 pulses Acceleration deceleration type L Li...

Page 145: ...ng control will start The positioning start request will be enabled at the edge where it turns on In the interpolation control turn on the positioning start request of the smallest axis number in the same interpolation group A busy flag corresponding bit allocated to UM00090 to UM00095 which indicates that a motor is running will turn on when the positioning control starts and it will turn off whe...

Page 146: ...emark Operation pattern E End point Interpolation operation S Circular Pass point CW direction Control method I Increment 1st axis L movement amount 0 pulses Axis numbers are put in L and m For the auxiliary points specify the coordinate 0 10000 to be the center of an arc 1st axis L auxiliary point 0 pulses 2nd axis m movement amount 20000 pulses 2nd axis m auxiliary point 10000 pulses Acceleratio...

Page 147: ...ng control will start The positioning start request will be enabled at the edge where it turns on In the interpolation control turn on the positioning start request of the smallest axis number in the same interpolation group A busy flag corresponding bit allocated to UM00090 to UM00095 which indicates that a motor is running will turn on when the positioning control starts and it will turn off whe...

Page 148: ...es of pass point on arc Pass point 2nd axis movement Coordinates of 1st and 3rd axes of pass point on arc Pass point 3rd axis movement Coordinates of 1st axis and 2nd axis of pass point on arc Positioning table and operation characteristics When specifying the long axis speed method the composite speed is faster than the long axis speed In the case of the center point specification the coordinates...

Page 149: ... tangential velocity of arc X axis 1st axis Y axis 2nd axis Z axis 3rd axis X axis 1st axis Y axis 2nd axis Z axis 3rd axis X axis 1st axis Y axis 2nd axis X axis 1st axis Y axis 2nd axis Z axis 3rd axis direction direction direction direction direction direction direction direction direction direction direction direction direction direction direction Z axis 3rd axis X axis 1st axis Y axis 2nd axi...

Page 150: ...Interpolation operation 0 Linear Composite speed Control method I Increment 1st axis L movement amount 10000 pulses Axis numbers are put in L m and n The values of auxiliary points are invalid for the linear interpolation 1st axis L auxiliary point 0 2nd axis m movement amount 5000 pulses 2nd axis m auxiliary point 0 3rd axis n movement amount 20000 pulses 3rd axis n auxiliary point 0 Acceleration...

Page 151: ...197 turns on by a user program the positioning control will start The positioning start request will be enabled at the edge where it turns on In the interpolation control turn on the positioning start request of the smallest axis number in the same interpolation group A busy flag corresponding bit allocated to UM00090 to UM00095 which indicates that a motor is running will turn on when the positio...

Page 152: ... End point Interpolation operation E Spiral Center point CW direction 3rd axis movement Control method I Increment 1st axis L movement amount 0 pulse Axis numbers are put in L and m For the auxiliary points specify the coordinate 0 10000 to be the center of an arc 1st axis L auxiliary point 0 pulse 2nd axis m movement amount 20000 pulses 2nd axis m auxiliary point 10000 pulses 3rd axis n movement ...

Page 153: ...197 turns on by a user program the positioning control will start The positioning start request will be enabled at the edge where it turns on In the interpolation control turn on the positioning start request of the smallest axis number in the same interpolation group A busy flag corresponding bit allocated to UM00090 to UM00095 which indicates that a motor is running will turn on when the positio...

Page 154: ...shown below in the case of repeating positioning control three times P P P E P P P E If a dwell time of 0 is set for E point control i e the end point of positioning control the unit processes E point control as P point control and finishes the operation after repeating the positioning control three times continuously P P P P P P P P P P P E P P P P P P P P P P P E If the dwell time is set to a va...

Page 155: ...3 2 Stop Operation During Repeat Operation The unit operates as follows when the deceleration stop is executed during the repeat operation When repeating E point control When the unit detects a deceleration stop FP7 MC Unit stops the operation after repeating the positioning control N 3 times E E E E N 1 N N 1 N 2 E N 3 Deceleration stop request Repeat count Deceleration stop request signal Busy O...

Page 156: ... Table 3 Operation pattern P Pass point P Pass point E End point Control method I Increment I Increment I Increment 1st axis L movement amount 5000 pulses 10000 pulses 3000 pulses Acceleration deceleration type L Linear L Linear L Linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10000 pps 20000 pps 5000 pps Dwell time 0 ms 0 ms 0 ms Positioning r...

Page 157: ...m the positioning control will start The positioning start request will be enabled at the edge where it turns on A busy flag corresponding bit allocated to UM00090 to UM00095 which indicates that a motor is running will turn on when the positioning control starts and it will turn off when the operation completes An operation done flag corresponding bit allocated to UM00096 to UM0009B which indicat...

Page 158: ... the stop operation The speed cannot be changed during the deceleration in the C point control The speed cannot be changed during the dwell time in the C point control For the J point control use J point speed change contact to change the speed P point C point J point Repeat control JOG Operation For the JOG operation change JOG operation target speed directly to change the speed Home Return Speed...

Page 159: ...equest turns on during positioning operation Speed change reception annunciation turns on when the speed change is actually started Once the Speed change request turns off the Speed change reception annunciation also turns off 200000pps 200000 f t 100000 Positioning speed change request Positioning speed change request reception annunciation Active table only Change mode selection Change speed Not...

Page 160: ...e completion of the operation When setting any other values the unit operates as the setting of 00H Active table only Axis 2 UM 66951 Virtual axis 1 UM 66D41 Virtual axis 32 UM 66F31 Axis 1 UM 66942 UM 66943 Positioning speed change function speed value U100 Area for setting a change speed for changing the positioning speed Set using unit system conversion values Range 1 to 2 147 483 647 Any other...

Page 161: ... on B Only the speed of the table 1 is changed to 150 000 pps C The speeds of the table 2 and 3 do not change Example of operation 2 Speed direct specification Active table to E point table until the completion of the operation Parameter Setting value Change mode selection 0001H Active table to E point table Change speed 150 000 pps f t f t 100 000pps 150 000pps A 1 2 3 1 2 3 B A Speed change requ...

Page 162: ...t 2nd time Repeat 3rd time A B 150 000pps f t 100 000pps 1 2 3 1 2 3 1 2 3 Repeat 1st time Repeat 2nd time Repeat 3rd time A Only the speed of the table 1 in the first repeat period is changed to 150 000 pps B The speeds of the table 1 in the second and third repeat periods are not changed Notes on the speed direct specification method A speed can be changed during the positioning operation howeve...

Page 163: ...me from the change speed follow the setting values of the active table Note 2 The movement amount does not change when the speed change is performed Setting parameters of ratio specification method The following parameters are used in the target speed change function of the ratio specification method Positioning operation change setting area Axis no Unit memory no Hex Name Default Description Axis...

Page 164: ...ual 17 32 Operation done 1 16 Operation done 1st scan OFF WR144 BKMV US S1 UM000B1 S1 UM000AC 1 16 Auxiliary contact Virtual 17 32 Auxiliary contact 1 16 Auxiliary contact WR158 BKMV US S1 UM000BF S1 UM000BA 1 16 Error annunciation Virtual 17 32 Error annunciation 1 16 Error annunciation WR250 BKMV US S1 UM0011B S1 UM00116 1 16 Positioning speed change done annunciation Virtual 17 32 Positioning s...

Page 165: ...decreasing the movement amount Change movement amount Current value Conditions of Use Available Not available Control method Single axis control In the case of the synchronous control the movement amount can be changed only for the master axis Slave axes operate according to the master axis Interpolation control Synchronous control Operation pattern E point The movement amount can be changed more ...

Page 166: ...t 150 000 pulses 100 000pulses Setting parameter The following parameters are used in the movement amount change function Positioning operation change setting area Axis no Unit memory no Hex Name Default Description Axis 1 UM 6694A UM 6694B Positioning movement amount change function movement amount K0 Area for setting a change movement amount for changing the positioning movement amount Range 2 1...

Page 167: ...oning movement amount After change 7 000 pulses 10 000 pulses f t f t 7 000 pulses A A Movement amount change request on Example of operation 2 When reducing the movement amount Change movement amount Current movement amount Parameter Setting value Control method Increment Positioning movement amount Before change 10 000 pulses Positioning movement amount After change 1 000 pulses 10 000 pulses F ...

Page 168: ... A B A Movement amount change request on B Because of the increment setting the stop position of the table 2 also changes Example of operation 4 When a continuous table operation is performed Absolute Parameter Setting value Control method Absolute First table positioning movement amount Before change 5 000 pulses First table positioning movement amount After change 8 000 pulses f t f t 1 2 1 2 A ...

Page 169: ... Repeat 2nd time Repeat 3rd time A Only the movement amount of the table 1 in the first repeat period is changed to 8 000 pulses B The movement amounts of the table 1 in the second and third repeat periods are not changed Auxiliary output when changing movement amounts Even if the movement amount is changed when the auxiliary output is set in the delay mode the auxiliary contact turns on at the po...

Page 170: ... Positioning movement amount change annunciation 1 16 Positioning movement amount change annunciation S1 UM0018C BKMV US WR415 WR412 1 16 Servo OFF request S1 UM00192 BKMV US WR423 WR418 1 16 Positioning start request S1 UM00204 BKMV US WR537 WR532 1 16 Positioning movement amount change request R5320 R1160 R2560 Axis 1 Busy Axis 1 Positioning movement amount Axis 1 Positioning movement amount cha...

Page 171: ...vely 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 BUSY flag Operation done flag Dwell time For C point control The dwell time is the waiting time for executing the next table from the completion of the positioning table deceleration st...

Page 172: ...output mode Operation With mode At the same time that the automatic operation starts the auxiliary contact flag of a corresponding axis allocated to the I O area turns on Delay mode The auxiliary contact flag of a corresponding axis allocated to the I O area turns on according to the ratio of the positioning movement amount of automatic operation The setting of the ratio of turning on the flag in ...

Page 173: ... Also the auxiliary output code that was output just before the completion of the automatic operation is held P E 1H 2H 1H 2H Busy flag Operation done flag Auxiliary output code Auxiliary output code Auxiliary contact flag Auxiliary contact flag Delay mode With mode Delay rate Delay rate Auxiliary output ON time ms Auxiliary output ON time ms Auxiliary output ON time ms Auxiliary output ON time ms...

Page 174: ...er 1 of the axis number 1 for the FP7 MC Unit installed in the slot number 1 To simplify the explanation the part related to the positioning operation is extracted Contents of sample program Mark Description Read flags indicating states from the input control area of the unit memories UM to arbitrary areas WR Read flags such as connection confirmation flag servo lock flag busy flag and error annun...

Page 175: ...ition control starting table SR14 WR106 BKMV US S1 UM00089 S1 UM00086 WR110 BKMV US S1 UM0008D S1 UM0008A WR116 BKMV US S1 UM00095 S1 UM00090 1 16 BUSY Virtual 17 32 BUSY 1 16 BUSY X100 X100 X104 R1060 R1100 R1580 R110 Axis 1 Start enabled Servo ON OFF control program WR158 BKMV US S1 UM000BF S1 UM000BA ⓑ ⓒ Position control start 1 16 Connection confirmation 1st scan OFF 49 64 Connection confirmat...

Page 176: ...mbers A specified slot number varies depending on the installation position of FP7 MC Unit Operation at over limit input Limit is Enabled Condition Direction Limit status Operation When each control starts Forward Over limit input ON Not executable Error occurs Over limit input ON Not executable Error occurs Reverse Over limit input ON Not executable Error occurs Over limit input ON Not executable...

Page 177: ...cessed using user programs When positioning data such as movement amount or target speed varies according to operation results the positioning data should be rewritten using user programs In the system area of FP7 MC Unit the positioning data for 32 words x 1000 tables x 96 axes 64 real axes 32 virtual axes are stored When rewriting positioning data using user programs the data is read and written...

Page 178: ...the positioning data stored in the system area of FP7 MC Unit is updated Once the Recalculation is completed the positioning operation can be started for the rewritten positioning data START Axis no Table control setting Setting value partial change Buffer control read request All parameter settings Parameter partial change Buffer control write request Recalculation request Y7 ON Recalculation don...

Page 179: ...turns on when the recalculation by the recalculation request is completed After that the recalculation done flag turns off when the recalculation request signal turns off REFERENCE For details of the areas used for rewriting positioning data refer to 16 7 4 1 Control Area for Buffer Control and 16 7 4 2 Positioning Data Setting Area For details of the area used for the recalculation process refer ...

Page 180: ...nge Corresponding axis no 1 to 64 Corresponds to the existing axes 1 to 64 65 to 96 Corresponds to the virtual axes 1 to 32 Any other settings will be errors UM 06244 Start table number U1 Specify the starting table number of positioning data to be transferred Range 1 to 1000 Any other settings will be errors UM 06245 Table size U1 Specify the table size of positioning data to be transferred Range...

Page 181: ...gs will be errors 15 8 Interpolation setting H00 Linear interpolation Composite speed H01 Linear interpolation Major axis speed H10 Circular interpolation Center point CW direction H11 Circular interpolation Center point CCW direction H20 Circular interpolation Pass point H50 Spiral interpolation Center point CW direction 1st axis feed H51 Spiral interpolation Center point CCW direction 1st axis f...

Page 182: ...748 364 8 to 214 748 364 7 μm μm 1μm 2 147 483 648 to 2 147 483 647 μm inch 0 00001 inch 21 474 83648 to 21 474 83647 inches inch 0 0001 inch 214 748 3648 to 214 748 3647 inches degree 0 1 degree 214 748 364 8 to 214 748 364 7 degrees degree 1 degree 2 147 483 648 to 2 147 483 647 degrees UM 06252 UM 06253 Auxiliary point K0 Set the auxiliary point coordinate of center or pass point in the case of...

Page 183: ...ruction of Positioning Data by User Programs 8 53 Unit memory no Hex Name Default Description UM 06255 Auxiliary output code U0 Set arbitrary data as auxiliary output codes when using the auxiliary output function ...

Page 184: ...gram Mark Description Set the axis number table number and table size to be rewritten ⓐ Set the axis number table number and table size ⓑ Set the axis number table number and table size in the unit memory control area for buffer control Set the positioning data 14 words to be rewritten in an arbitrary area Set the positioning data in the unit memory positioning data setting area in the buffer Exec...

Page 185: ...UM06240 H1 MV US Buffer no 1 Request flag ⓑ DF R500 DF R501 ⓑ DF R501 Y107 Recalculation request R501 S1 UM00284 BKMV US DT502 DT501 Starting table number Table size DF 1st axis Recalculation start ⓐ DF X107 S1 UM00285 U0 MV US 1st axis Recalculation table Recalculation done ⓒ Y107 X107 Recalculation request Recalculation done DF R501 DT520 H0 MV US Control code DT521 H1 MV US Operation pattern DT...

Page 186: ...a When setting positioning data by user programs the start time of a request is shorter than that when using the extended area However as the recalculation is performed after starting the request the starting time of the operation is a little bit longer Application It is suitable for applications for which positioning data is predetermined such as a movement amount and target speed It is suitable ...

Page 187: ...ttings will be errors When using the extended positioning table table nos 401 to 500 is used as extended table nos 10 001 to 10 100 Buffer 2 UM 0A0CE Buffer 12 UM 3121E Buffer 24 UM 6007E Buffer 1 UM 06247 Extended positioning table usage setting corresponding axis no U0 Set transfer axis numbers of positioning data Range Corresponding axis no 1 to 64 Corresponds to the existing axes 1 to 64 65 to...

Page 188: ...ear interpolation Major axis speed H10 Circular interpolation Center point CW direction H11 Circular interpolation Center point CCW direction H20 Circular interpolation Pass point H50 Spiral interpolation Center point CW direction 1st axis feed H51 Spiral interpolation Center point CCW direction 1st axis feed H52 Spiral interpolation Center point CW direction 2nd axis feed H53 Spiral interpolation...

Page 189: ... Setting range 2 147 483 648 to 2 147 483 647 The ranges vary depending on the unit settings as below pulse 2 147 483 648 to 2 147 483 647 pulse μm 0 1μm 214 748 364 8 to 214 748 364 7 μm μm 1μm 2 147 483 648 to 2 147 483 647 μm inch 0 00001 inch 21 474 83648 to 21 474 83647 inches inch 0 0001 inch 214 748 3648 to 214 748 3647 inches degree 0 1 degree 214 748 364 8 to 214 748 364 7 degrees degree ...

Page 190: ...hen the mode is E End point the positioning done contact turns on after waiting for the dwell time bit Name Default Description 15 0 Dwell time 0 Range 0 to 32 767 ms Any other settings will be errors 00DH Auxiliary output code Sets the data to be output to the auxiliary output code in each axis information monitor area by the setting of the auxiliary output mode in the parameter setting area bit ...

Page 191: ...ning movement amount DT521 H0 MV US Operation pattern DT524 U50 MV US Positioning acceleration time DT525 U50 MV US Positioning deceleration time DT526 U1000000 MV UL Positioning target speed DT528 K2000000 MV SL Positioning movement amount DT530 K0 MV SL Auxiliary point DT532 U0 MV US Dwell time DT533 U0 MV US Auxiliary output code 1st scan OFF Link establish ment 1 16 Connection confirmation 49 ...

Page 192: ...able no Axis 1 Position control start S1 UM0018C BKMV US WR415 WR412 1 16 Servo OFF request S1 UM00192 BKMV US WR423 WR418 1 16 Positioning start request Virtual 17 32 Positioning start request S1 UM00990 DT110 MV US Axis 1 Position control starting table no Axis 1 Position control starting table no Axis 1 Position control start 1st scan OFF Link establish ment 1 16 Servo OFF request 49 64 Servo O...

Page 193: ...9 Automatic Operation Synchronous Control ...

Page 194: ...ol output The synchronous control provides the following functions These functions are executed in order and the slave axes operate according to the operation result of each function Function Overview Electronic gear The number of pulses multiplied by the preset electronic gear ratio is output according to the operation of the master axis Phase clutch OFF A function to turn off an electronic clutc...

Page 195: ...aster axis settings for each operating axis Each operating axis will work as a slave axis if master axis settings are made for the operating axis Select the use or non use of the electronic gear Various electronic gear settings are required if the electronic gear is used Select the use or non use of the electronic clutch Various electronic cutch settings are required if the electronic gear is used...

Page 196: ...eal axes can be used effectively by using the virtual axis Type of master axis and restrictions Operation mode Usable axis Remarks Real axis Virtual axis Home return Virtual axes are available only for Data set method JOG operation Positioning Single axis Interpolation axis Available in any of the following combinations Real axis Real axis Virtual axis Real axis Virtual axis Virtual axis Stop func...

Page 197: ...can perform positioning and other control independently from the master axis while synchronous control is enabled Settings for slave axes Slave axes operate in synchronization with the master axis Set the following items however for each individual slave axis Unit setting Numbers of pulses per revolution Movement per revolution 9 2 3 Unit Type and Number of Axes FP7 MC Unit model number Number of ...

Page 198: ...Axis 2 window opens 2 Select Axis 1 from the drop down list of Basic setup Synchronous master axis The hierarchy of Axis 2 in the project tree is changed Also the items in the electronic gear electronic clutch and electronic cam settings of Synchronous parameter Axis 2 become available 3 Select Parameter Synchronous parameter settings Axis 3 from the menu bar The Synchronous parameter Axis 3 windo...

Page 199: ...d while a master axis is activated This function is available since FP7 MC Unit Ver 1 2 Synchronous cancel request annunciation signals Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 Synchronous cancel request Corresponding bit ON Synchronization is canceled Corresponding bit OFF Synchronization is executed UM001DA UM001DB UM001DC UM001DD Synchro...

Page 200: ...ster or slave axes JOG operation are performed only on the axes are so requested Positioning Single axis Regardless of master or slave axes positioning operation is performed only on the axes are so requested Interpolation axis Interpolation is executed upon request if the master axis is the start axis of interpolation The slave axes operate in synchronization with the master axis Interpolation is...

Page 201: ...ontrol slave axis gear ratio change annunciation slave axis clutch operation annunciation will turn off Conditions for starting synchronous control Only when the following conditions are met the synchronous control can be started Slave axes stop No stop request for slave axes is generated No error occurs in slave axes When these conditions are not met the unit does not become the synchronous state...

Page 202: ...by dividing current value after unit conversion by cam control synchronous master axis cycle is used as a phase t t 0 0 Master axis Current value after unit conversion Phase of slave axis The phase does not change in the section that the clutch is off Synchronous control canceled Clutch ON Cam control synchronous master cycle Under synchronous control Clutch OFF Calcuate the phase based on the cur...

Page 203: ...ynchronous control when the synchronous cancel active annunciation turns on Synchronous started Turn off the synchronous state cancel request by a user program FP7 MC Unit turns off the synchronous cancel active annunciation Turn on the slave axis clutch on request by a user program FP7 MC Unit starts the synchronous operation of slave axes when the slave axis clutch operation annunciation turns o...

Page 204: ...thod regardless of the setting of clutch ON method However if the slave axis clutch ON request is off when the synchronous control start processing is executed the clutch is connected according to the setting of clutch ON method When the slave axis clutch ON request is on when the synchronous control start processing is executed ON OFF t t ON OFF ON OFF ON OFF ON OFF Master axis output speed Slave...

Page 205: ...ion annunciation off when the synchronous control starts synchronous cancel active annunciation off Slave axes start the operation by the slave axis clutch ON request I O allocation Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 Synchronous cancel request UM001DA UM001DB UM001DC UM001DD Synchronous cancel active annunciation UM000CC UM000CD UM000...

Page 206: ...ge Information on master axis speed Gear ratio numerator Gear ratio denominator Cautions when using the electronic gear function The use of the electronic gear function makes it possible to set the salve axes to a desired speed relative to the master axis Movement amount of slave axes Movement amount of master axis x gear ratio numerator Gear ratio denominator On the condition that the gear ratios...

Page 207: ...tch Gear ratio numerator 1 Determines the gear ratio of the electronic gear Electronic gear ratio is determined by the following formula Output speed of electronic gear Operating speed of master axis x Gear ratio numerator Gear ratio denominator Setting range U1 to U2147483647 Gear ratio denominator 1 Gear ratio change time 1 The time required to change the current gear ratio to a new gear ratio i...

Page 208: ...r ratio change annunciation Gear ratio numerator Gear ratio denominator Gear ratio change time Input speed Output speed Time T Programming method Follow the procedure below and write a user program in the case of changing the gear ratio while the positioning unit is in operation 1 Gear ratio change Change the gear ratio numerator and denominator of the electronic gear in the setting area for the e...

Page 209: ...e axis gear ratio change annunciation UM000D2 UM000D3 UM000D4 UM000D5 Note 1 Flags or request signals for 16 axes are allocated to each unit memory 1 word When the value of each bit is 1 it turns on When the value of each bit is 0 it turns off bit no 15 0 8 7 9 1 8 16 Axis no 25 17 24 32 41 33 40 48 57 49 56 64 REFERENCE For details of gear ratio setting area refer to 16 8 3 Electronic Gear Settin...

Page 210: ...ve axes not in synchronization with the master axis come to a stop When the electronic clutch is engaged the master axis and slave axes operate in synchronization Synchronized Stop Electronic gear output Electronic clutch output Speed V Output speed ON OFF Clutch Input speed Time T Keep in mind that the slave axes may come to a sudden stop if the clutch is disengaged while making a gear ratio chan...

Page 211: ... Slip time If Slip is selected set the slip time Range 1 to 10000 ms Slip curve selection Select Linear Clutch OFF Trigger type Select I O clutch OFF request or Phase after I O clutch as a trigger to be detected Edge selection Select Disabled Leading edge or Trailing edge for the method of detecting trigger signals Phase ratio Set the ratio for the phase at which the clutch turns off when selectin...

Page 212: ...ic gear is input as it is into the electronic cam At that time the master axis always operates in synchronization with the slave axes The mode I O Phase after clutch has been added to stop the motors of slave axes at an arbitrary phase after turning off the clutch This function is available since FP7 MC Unit Ver 1 20 For details refer to 9 5 5 Phase Specification Clutch OFF Function ...

Page 213: ...s not used When the edge selection is Level the slave axis clutch OFF request is invalid Clutch is connected ON by detecting the leading edge of the slave axis clutch ON request signal Clutch is connected ON by detecting the trailing edge of the slave axis clutch ON request signal Slave axis clutch OFF request Invalid The clutch control by the slave axis clutch OFF request is not performed Clutch ...

Page 214: ... UM001E9 Slave axis clutch OFF request UM001EC UM001ED UM001EE UM001EF Slave axis clutch operation annunciation UM000D8 UM000D9 UM000DA UM000DB Note 1 Flags or request signals for 16 axes are allocated to each unit memory 1 word When the value of each bit is 1 it turns on When the value of each bit is 0 it turns off bit no 15 0 8 7 9 1 8 16 Axis no 25 17 24 32 41 33 40 48 57 49 56 64 ...

Page 215: ...d OFF coincides with the operating speed of the master axis with the acceleration and deceleration time set to 0 f pps t ms 50 100 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF UM63F73 UM63F83 UM001D4 UM00192 UM00090 UM00096 UM001DA UM001E6 UM001EC UM000D8 Clutch ON slip time Acceleration time Target speed Deceleration time Electronic gear output Master axis operation Clutch OFF slip tim...

Page 216: ...ms 50 100 ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF UM63F73 UM63F83 UM001D4 UM00192 UM00090 UM00096 UM001DA UM001E6 UM001EC UM000D8 Clutch ON slip time Clutch OFF slip time 50ms 100ms Clutch ON slip time Target speed Electronic gear output Master axis operation Clutch OFF slip time Synchronous setting request Positioning start request Busy Busy Operation done Synchronous cancel reque...

Page 217: ... I O X clutch connection state annunciation Disconnected Connected Slave axis e g Rotary cutter Clutch request is OFF Clutch is OFF I O Y clutch ON request Master axis Current value after unit conversion Phase Current value Using the phase specification clutch off function disconnects a clutch when the phase reaches the set phase 0 after the clutch off request by the I O signal OFF ON 100 0 0 50 t...

Page 218: ...equest Master axis Current value after unit conversion Disconnected Connected Phase Current value Precautions for operation characteristics When the clutch OFF trigger signal is detected at a phase larger than the set clutch OFF setting ratio 0 to 99 the clutch will be disconnected at the next time the signal reaches the set phase OFF ON t t I O clutch OFF detection cycle Next cycle When the clutc...

Page 219: ...h the displacement value of the slave axes in each phase rotation angle is defined in the cam pattern settings of CMI Electronic clutch output Slave axis output Input axis phase Output axis displacement Input value Current value L Time T Time T Time T Cam pattern Cam pattern The cam pattern uses one rotation of the master axis as an operation reference based on which the displacement of the slave ...

Page 220: ...dwell cycloid m 1 One dwell cycloid m 2 3 One dwell modified trapezoid m 1 One dwell modified trapezoid Ferguson One dwell modified trapezoid m 2 3 One dwell modified sine One dwell trapecloid No dwell modified trapezoid No dwell constant speed NC2 curve Adjustment function Function to adjust the displacement of desired point data Max 1 000 points in units of cam data Shift function Phase shift in...

Page 221: ...ern used one rotation data on the master axis Range 1 to 2147483647 Used cam pattern number 1 Specify the cam pattern number to be used from cam patterns created Range 1 to 256 Cam stroke amount 1 Set the number of pulses corresponding to the total displacement 100 of the cam pattern to use Range 1 to 2147483647 Advance angle correction operation setting Not use Select the use or non use of the ad...

Page 222: ... screen is displayed A blank screen is displayed for a new file and a setting of cam pattern 1 is displayed when data already exists Resolution setting Press the Resolution button on the Cam Pattern screen The Resolution Settings screen will be displayed Select the desired resolution and press the OK button Resolution Cam setting range AFP7MC16EC AFP7MC32EC AFP7MC64EC 1024 2048 4096 8192 1 to 64 1...

Page 223: ...terns available for the new resolution Delete the cam pattern and change the resolution Making duplicating new cam pattern The Cam no Selection screen is displayed by pressing the Add button from the Cam field Select the desired can number and press the OK button Cam patterns can be copied Press the Copy button and select the cam pattern numbers of copy destination and copy source For changing the...

Page 224: ...ndition only one section whose phase is 0 to 100 can be set for the cam pattern By setting the start phase the above section is divided into multiple sections The background of the selected sections is displayed in white and the background of the unselected sections is displayed in gray The start phase may not be a specified phase value due to the relation with resolution ...

Page 225: ...ve The cam curve changes according to the settings KEY POINTS The end phase cannot be set The end phase is automatically changed when changing the start phase Do not make a rapid change in displacement for the set cam curve In the case of rapid displacement a motor may not be able to follow the output Also set the 0 and 100 of the phase to be the same displacement ...

Page 226: ...llowing information except displacement can be displayed Display item Description Displacement This is set in the cam table Speed The operation speed of the cam table with a set displacement amount is displayed by relative values Acceleration Accelerations at each phase are displayed Care is necessary in the area where acceleration largely changes as a rapid change in the speed occurs Jerk It is o...

Page 227: ...ss the Adjust button The adjustment screen is displayed The adjustment screen shows the table of the part corresponding to the specified section number among sections divided by the resolution that all sections 0 to 100 are set Select the data of a phase control point you want to adjust and change the displacement data Select OK to reflect the adjustment Select Clear Adjustment to clear the set ad...

Page 228: ... 100 0 100 0 ８１９１０２４ 0 100 0 100 0 Cam pattern example Cycle 1000 Resolution 1024 Current coordinate position after the clutch In the case of setting coordinate 0 to 0 phase 0 1024 Current coordinate system after the clutch Current coordinate system after the clutch In the case of setting coordinate 0 to 80 phase 819 1024 To what value the phase of coordinate 0 is set Select Shift from Section an...

Page 229: ...e reading cam tables and rewriting cam tables in the cam pattern editing These operations are performed using the cam pattern editing area UM66F40 to UM66F97 cam table reading request Y8 and cam table rewriting request Y9 of unit memories No n No 3 No 2 No 1 UM66F40 UM66F97 Rewriting cam taNles User program Reading cam taNles Internal cam pattern data Cam pattern editing area Cam pattern edit no N...

Page 230: ...16 1 to 32 1 to 64 Any other settings will be errors UM 66F41 Reserved for system UM 66F42 No of cam pattern setting sections U0 Section When reading the number of setting sections of the read cam pattern table is stored When rewriting the cam curve number of the rewritten cam pattern table is set bit Name Description 15 0 No of cam pattern setting sections Setting range 1 to 20 sections Any other...

Page 231: ...e rewritten cam pattern table is set bit Name Description 15 0 Displacement of section 1 Range 10000 to 10000 100 00 to 100 00 Any other settings will be errors When reading the numbers beyond the third decimal point is truncated and the result is stored When rewriting the numbers beyond the third decimal point are calculated in the unit and the result is registered UM 66F46 Cam curve of section 1...

Page 232: ...0 01 UM 66F4A Cam curve of section 2 U0 UM 66F4B Reserved for system UM 66F4C Start phase of section 3 U0 0 01 UM 66F4D Displacement of section 3 K0 0 01 UM 66F4E Cam curve of section 3 U0 UM 66F4F Reserved for system UM 66F50 Start phase of section 4 U0 0 01 UM 66F51 Displacement of section 4 K0 0 01 UM 66F52 Cam curve of section 4 U0 UM 66F53 Reserved for system UM 66F54 Start phase of section 5...

Page 233: ...ve of section 6 U0 UM 66F5B Reserved for system UM 66F5C Start phase of section 7 U0 0 01 UM 66F5D Displacement of section 7 K0 0 01 UM 66F5E Cam curve of section 7 U0 UM 66F5F Reserved for system UM 66F60 Start phase of section 8 U0 0 01 UM 66F61 Displacement of section 8 K0 0 01 UM 66F62 Cam curve of section 8 U0 UM 66F63 Reserved for system UM 66F64 Start phase of section 9 U0 0 01 UM 66F65 Dis...

Page 234: ...urve of section 10 U0 UM 66F6B Reserved for system UM 66F6C Start phase of section 11 U0 0 01 UM 66F6D Displacement of section 11 K0 0 01 UM 66F6E Cam curve of section 11 U0 UM 66F6F Reserved for system UM 66F70 Start phase of section 12 U0 0 01 UM 66F71 Displacement of section 12 K0 0 01 UM 66F72 Cam curve of section 12 U0 UM 66F73 Reserved for system UM 66F74 Start phase of section 13 U0 0 01 UM...

Page 235: ...f section 14 U0 UM 66F7B Reserved for system UM 66F7C Start phase of section 15 U0 0 01 UM 66F7D Displacement of section 15 K0 0 01 UM 66F7E Cam curve of section 15 U0 UM 66F7F Reserved for system UM 66F80 Start phase of section 16 U0 0 01 UM 66F81 Displacement of section 16 K0 0 01 UM 66F82 Cam curve of section 16 U0 UM 66F83 Reserved for system UM 66F84 Start phase of section 17 U0 0 01 UM 66F85...

Page 236: ...M 66F89 Displacement of section 18 K0 0 01 UM 66F8A Cam curve of section 18 U0 UM 66F8B Reserved for system UM 66F8C Start phase of section 19 U0 0 01 UM 66F8D Displacement of section 19 K0 0 01 UM 66F8E Cam curve of section 19 U0 UM 66F8F Reserved for system UM 66F90 Start phase of section 20 U0 0 01 UM 66F91 Displacement of section 20 K0 0 01 UM 66F92 Cam curve of section 20 U0 UM 66F93 Reserved...

Page 237: ...cam pattern data in the cam pattern setting area is as follows Specify a cam pattern number you want to read for the cam pattern number UM66F40 Turn on the cam table reading request Y8 Check if the cam pattern reading result is 0000H Normal end when the cam table reading done annunciation X8 turns on When the cam table reading done annunciation X8 turns on the setting data from the section 1 in th...

Page 238: ...Code Name Description Countermeasures H0 Normal end HFF01 Cam pattern number setting error The cam pattern setting value is out of the settable range Check the set value of the cam pattern number HFF10 Cam pattern reading not executable error 1 An axis in synchronous operation exists Cancel the synchronous operation and execute the reading HFF11 Cam pattern reading not executable error 2 An operat...

Page 239: ...the cam pattern rewriting result is 0000H Normal end when the cam table rewriting done annunciation X9 turns on No n No 3 No 2 No 1 UM66F40 UM66F97 Rewriting cam taNles Y9 User program Internal cam pattern data Cam pattern editing area Cam pattern edit no NumNer of set sections Start phase for sections 1 to n Displacement Cam curve no Changing parameters Shift amount ON OFF ON OFF 0000H 1 UM66F40 ...

Page 240: ...etween the start phases of each section is Start phase of section n 1 Start phase of section n FF07H Start phase setting error 3 The set start phase of the section 1 is not 0 Always set the start phase of the section 1 to 0 FF08H FF09H FF0AH Displacement setting error The set value of the displacement is out of the settable range Check the set value of the phase in each section FF0BH Cam curve no ...

Page 241: ...nchronous cancel request SR14 S1 UM001DA BKMV US WR493 WR490 X100 1 16 Synchronous cancel request 49 64 Synchronous cancel request 1 16 Synchronous cancel request Section 3 Start phase Cam pattern no Section 3 Cam curve Section 3 Displacement Cam table reading request All axes Synchronous cancel annunciation All axes Operation information annunciation All axes Operation information annunciation Al...

Page 242: ... are set Start phase Value before rewriting Addition of 5 Displacement Value before rewriting Addition of 50 Cam curve Constant acceleration ⓔ Starting the rewriting of cam tables Performs the rewriting to a specified cam pattern data Code Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 Synchronous cancel request UM01DA UM01DB UM01DC UM01DD Synchr...

Page 243: ...ain by a program It is possible to confirm whether the cam pattern has been rewritten or not by the cam pattern update flags UM66F9A to UM66FA9 in the unit memories using a program When performing a reading request specifying an unregistered cam pattern number all the read data will be 0 When performing a rewriting request while no cam pattern is registered a resolution is undetermined rewriting w...

Page 244: ...ern when the phase shift amount is 0 set a phase shift amount When reading and writing settings the closest phase amount will be automatically calculated within the unit from the resolution For rewriting the cam pattern set on CMI to a user program perform the following procedure 1 Record the phase shift amount specified on CMI 2 The phase shift amount has been added to the starting phase displaye...

Page 245: ...ool software or user program By setting advance angle correction reference speed and advance angle correction reference amount a correction amount is automatically calculated using an active master axis input speed The advance angle correction amount is calculated by the following formula Advance angle correction amount Master axis input speed information Advance angle correction reference amount ...

Page 246: ... angle correction reference speed When using the advance angle correction function set the reference speed used by FP7 MC Unit for calculating the advance angle correction amount The unit follows the unit system of the master axis Setting range 1 to 2147483647 The decimal point position is based on unit systems Advance angle correction parameter change time Set the time required until a changed va...

Page 247: ...748 3647 inches degree 0 1 degree 214 748 364 8 to 214 748 364 7 degrees degree 1 degree 2 147 483 648 to 2 147 483 647 degrees Any other settings will be errors Max 31 bits Axis 2 UM 64006 UM 64007 Axis 32 UM 64D26 UM 64D27 Axis 64 UM 65B26 UM 65B27 Axis 1 UM 63F98 UM 63F99 Advance angle correction reference speed U100 Set the reference speed for calculating the advance angle correction amount wh...

Page 248: ...nce amount are signed 32 bit data If they are changed by 16 bit 1 word unit they may be changed to unintended values Always perform the rewriting by 32 bit 2 word unit When changing an advance angle correction reference speed or advance angle correction reference amount during operation the timing that the unit acquires the changed advance angle correction reference speed or advance angle correcti...

Page 249: ...ance angle correction reference speed UM63F98 UM63F99 Master axis input speed information Speed information after clutch control Speed information after electronic clutch control Not use Input speed speed after electronic clutch conversion is considered to be equal to output speed speed after advance angle correction conversion and output This is the state that the clutch is always connected ON Th...

Page 250: ...r axis When using the clutch function in combination make the setting to prevent the occurrence of a rapid acceleration or deceleration using the slip function t t t t Input axis phase Output axis displacement Master speed Master speed Output axis displacement Input axis phase Depending on the setting of advance angle correction reference speed or advance angle correction reference amount a calcul...

Page 251: ...10 Manual Operation JOG Operation ...

Page 252: ...Table Forward JOG Reverse JOG Ball screw side side Settings Item Setting example Acceleration deceleration pattern 0 Linear acceleration deceleration Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps Operation diagram 100 100 f pps 10000 100 100 t ms Forward Reverse Operation done flag Forward JOG request Reverse JOG request BUSY flag ...

Page 253: ...s 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 JOG operation forward reverse request Note 1 UM0019E Axes 1 8 UM001A0 Axes 17 24 UM001A2 Axes 33 40 UM001A4 Axes 49 56 UM001A6 Axes 1 8 UM001A8 Axes 17 24 UM0019F Axes 9 16 UM001A1 Axes 25 32 UM001A3 Axes 41 48 UM001A5 Axes 57 64 UM001A7 Axes 9 16 UM001A9 Axes 25 32 BUSY flag Note 2 UM00090 UM00091 UM00092 UM00093 UM00094 UM00095 Operation done fl...

Page 254: ...n time and target speed after the speed change write the setting values in the unit memories using a program Deceleration time 2 ms 150 ms Target speed 2 20000 pps Operation diagram 100 f pps 10000 20000 200 150 t ms Writing the target speed 2 Operation done flag JOG forward request BUSY flag KEY POINTS Only in the case of JOG operation Infinite rotation the speed during the JOG operation can be c...

Page 255: ...0009B which indicates the completion of operation will turn on when the current operation is completed and it will be held until the next positioning control JOG operation or home return starts Allocation of unit memories Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 JOG operation forward reverse request Note 1 UM0019E Axes 1 8 UM001A0 Axes 17 2...

Page 256: ...te 2 Flags or request signals for 16 axes are allocated to each unit memory 1 word When the value of each bit is 1 it turns on When the value of each bit is 0 it turns off bit no 15 0 8 7 9 1 8 16 Axis no 25 17 24 32 41 33 40 48 57 49 56 64 ...

Page 257: ...10 2 Changing Speed During JOG Operation 10 7 MEMO ...

Page 258: ...cceleration deceleration Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps JOG inching movement amount 10000 pulses Operation diagram 100 100 f pps 10000 100 100 t ms 20000 30000 40000 Operation done flag Current value BUSY flag JOG inching operation request JOG operation forward reverse request KEY POINTS The inching operation starts at the leading edge of the JOG for...

Page 259: ...on of unit memories Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 JOG inching operation request Note 1 UM001AA UM001AB UM001AC UM001AD UM001AE UM001AF JOG operation forward reverse request Note 2 UM0019E Axes 1 8 UM001A0 Axes 17 24 UM001A2 Axes 33 40 UM001A4 Axes 49 56 UM001A6 Axes 1 8 UM001A8 Axes 17 24 UM0019F Axes 9 16 UM001A1 Axes 25 32 UM00...

Page 260: ... unit memories UM to arbitrary areas WR Read flags such as connection confirmation flag servo lock flag busy flag and error flag Servo ON OFF control program Check required conditions and replace it with the start enabled flag R110 in the program JOG operation program ⓐ Set the following operations as necessary Changing the speed during the JOG operation setting and switching the JOG inching opera...

Page 261: ... WR441 WR430 X100 DF R210 S1 UM0326E DT204 MV UL R4420 R220 R240 R230 DF R241 R231 DF R240 R4301 R1160 R110 R231 R4301 DF R241 S1 UM001AA BKMV US WR447 WR442 ⓑ Axis 1 Inching movement amount Axis 1 Inching movement amount change Axis 1 Inching movement amount Axis 1 Inching operation Axis 1 Inching operation Axis 1 forward OFF edge Axis 1 JOG forward Axis 1 reverse OFF edge Axis 1 JOG reverse Axis...

Page 262: ...Operation when an error occurs The operation of FP7 MC Unit when an error occurs varies according to the MC common settings of FP7 MC Unit and the CPU Configuration of the CPU unit Note that the JOG operation may be restarted depending on the settings and execution conditions Example When the execution condition for JOG is on the operation is restarted Condition Unit Setting method Parameter name ...

Page 263: ...11 Manual Operation Home Return ...

Page 264: ...put HOME is detected and it is set as a home position Limit method 1 Home Z phase based on front end Reverses after detecting the leading edge of the limit switch on the opposite side of the home return direction After that the operation stops at the first leading edge of the home position Z phase It is set as a home position Limit method 2 Edge detection of limit switch Detects the leading edge o...

Page 265: ... mode Method33 34 of Servo Amplifier A6B A5B is a mode to detect an index pulse as a home position The home return direction of Method33 is the direction and that of Method 34 is the direction The starting point is between the near home input and limit input The starting point is on the near home input Limit input Z phase Target speed Home return creep speed Home return creep speed Home return cre...

Page 266: ...ed Target speed Target speed Target speed Target speed Limit stop deceleration time Home return deceleration time Home return deceleration time Home return deceleration time Home return deceleration time Home return creep speed Home return creep speed Home return creep speed Home return creep speed Limit input Limit input Near home input Home return direction The starting point is between the near...

Page 267: ...he home return positioning control mode Method33 34 of Servo Amplifier A6B A5B is a mode to detect an index pulse as a home position The home return direction of Method33 is the direction and that of Method34 is the direction Limit input Limit input Near home input Home return direction The starting point is between the near home input and limit input The starting point is on the near home input T...

Page 268: ... Limit input Near home input The starting point is between the near home input and limit input The starting point is on the near home input The starting point is on the limit input Home return creep speed Home return creep speed Home return creep speed Target speed Target speed Target speed Home return deceleration time Home return deceleration time Home return creep speed The starting point is be...

Page 269: ...detected Note The home return positioning control mode Method33 34 of Servo Amplifier A6B A5B is a mode to detect an index pulse as a home position The home return direction of Method33 is the direction and that of Method34 is the direction Limit input Limit input Home return direction Z phase The starting point is any points other than the limit input The starting point is on the limit input Home...

Page 270: ...irection Z phase Home return creep speed Stop on contact method 1 Stops by a mechanical stopping mechanism such as a stopper A position when the stop on contact time ms elapses at a torque value larger than Stop on contact torque value set in the axis parameter of CMI is regarded as a home position Home return direction Home return creep speed Stopper etc Stop on contact method 2 Stop on contact Z...

Page 271: ...11 1 Types of Home Return 11 9 REFERENCE For details of the connections of over limit switches and near home switches refer to 4 5 Connection of Limit and Near Home Switches ...

Page 272: ...DOG method 1 Table Ball screw Home return Near home switch side Z phase side Settings Item Setting example Return setting code 0 DOG method 1 Return direction 0 Limit direction Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps Return creep speed 1000 pps Operation diagram Target speed Home return creep speed Home return start request Near home HOME Z phase Home return ...

Page 273: ...s Allocation of unit memories Signal name Real axis Virtual axis Axes 1 16 Axes 17 32 Axes 33 48 Axes 49 64 Axes 1 16 Axes 17 32 Home return start request UM00198 UM00199 UM0019A UM0019B UM0019C UM0019D BUSY flag UM00090 UM00091 UM00092 UM00093 UM00094 UM00095 Home return done flag UM0009C UM0009D UM0009E UM0009F UM000A0 UM000A1 Note 1 Flags or request signals for 16 axes are allocated to each uni...

Page 274: ...talled in the slot number 1 To simplify the explanation the part related to the home return operation is extracted Contents of sample program Mark Description Read flags indicating states from the input control area of the unit memories UM to arbitrary areas WR Read flags such as connection confirmation flag servo lock flag busy flag and error flag Servo ON OFF control program Check required condi...

Page 275: ... X104 R1060 R1100 R1580 R110 Servo ON OFF control program WR158 BKMV US S1 UM000BF S1 UM000BA 1st scan OFF Link establish ment 1 16 Connection confirmation 49 64 Connection confirmation 1 16 Connection confirmation 1 16 Servo lock 49 64 Servo lock 1 16 Servo lock 1 16 Error annunciation Virtual 17 32 Error annunciation 1 16 Error annunciation Axis 1 Start enabled Link establish ment Tool operation...

Page 276: ...he creep speed is controlled by servo amplifier Therefore the stop request made by FP7 MC Unit is invalid Unit memory numbers allocated to flags and start requests vary depending on axis numbers The specified slot number varies depending on the installation position of the unit Operation at Over limit input Limit is valid Condition Direction Limit status Operation When Home return operation is exe...

Page 277: ...12 Stop Functions ...

Page 278: ...eceleration stop in the limit stop deceleration time specified in the axis parameter Software limit stop E Error stop deceleration time When the software limit function is effective an active operation will stop and the corresponding axes will stop when it exceeds the range of the software limit Performs a deceleration stop in the error stop deceleration time specified in the axis parameter Error ...

Page 279: ...e stopped control will restart Note 1 The deceleration stop and pause operations are switched by the MC common setting parameter or the system operation setting area of unit memory by user programs Allocation of I O numbers Signal name I O number System stop Y0 Note 1 The I O numbers in the above table show relative addresses based on the base word number The I O numbers actually used vary accordi...

Page 280: ...ration setting area using a user program Available Not available Axis no Unit memory no Hex Name Default Description R W UM 0261D Deceleration stop operation H0 Specify the operation when setting the deceleration stop request signal to Active from off to on 0 Deceleration stop When performing the repeat operation stops after reaching E point that is targeted for the repeat operation 1 Pause Perfor...

Page 281: ...ion stop The pause function keeps the stopped state as well as other stop functions when a deceleration stop request signal is on If executing the emergency stop or system stop in paused state the pause will be canceled and the state will change to the one of the emergency stop or system stop When switching the unit memory deceleration stop operation in the system operation setting area UM0261D us...

Page 282: ...lation group In the case of limit stop software limit stop or error stop the stop operation will start once a corresponding condition is established on one of axes in an interpolation group 12 1 4 Stop Operation During Synchronous Control REFERENCE For details of the stop operation during synchronous control refer to 9 2 Settings for Master and Slave Axes and 9 3 Start and Cancel of Synchronous Co...

Page 283: ...et Deceleration stop Pause RUN PROG operation Deceleration stop Set the operation when the operation mode of CPU unit changes from RUN to PROG Operation continuance The operation of each axis continues Deceleration stop Each axis decelerates and stops in a specified deceleration stop time in the current control mode Immediate stop Each axis decelerates and stops in a specified emergency stop decel...

Page 284: ...g Axis parameter settings of CMI Item Default Description Emergency stop deceleration time 100 ms Set the deceleration time at the time of emergency stop 0 to 10000 ms Limit stop deceleration time 100 ms Set the deceleration time at the time of limit stop 0 to 10000 ms Error stop deceleration time 100 ms Set the deceleration time at the time of error stop 0 to 10000 ms ...

Page 285: ...r a pause Flag processing In the case of system stop the busy flag turns off and the operation done flag turns on In the cases of emergency stop limit stop software limit stop error stop and deceleration stop the busy flag turns off and the operation done flag turns on after the completion of deceleration Current value coordinate Even in a stop operation the current value coordinate area is always...

Page 286: ...Stop Functions 12 10 ...

Page 287: ...13 Supplementary Functions ...

Page 288: ...imit Lower limit value of software limit Upper limit value of software limit 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 error and move the motor into the range of the software limit using an operation such as JOG operation after the stop Table side side Lower limit value of s...

Page 289: ...e update request flag area UM00590 to UM00595 Program example When changing the current position of the 1st axis to 100 000 the following figure shows a program to preset an arbitrary value K100000 in the current value update area in the unit memories and update the value for the current value after unit conversion of 1st axis R0 DF MV US S1 UM00590 H1 MV SL S1 UM005A0 K100000 KEY POINTS The curre...

Page 290: ... 16 16n Current value update request Axes 17 32 UM 00591 Axes 33 48 UM 00592 Axes 49 64 UM 00593 Virtual axes 1 16 UM 00594 Virtual axes 17 32 UM 00595 Axis 1 UM 005A0 UM 005A1 Current value update coordinate K0 Stores the coordinate value to be preset as the current value after unit conversion Range 2 147 483 648 to 2 147 483 647 The ranges vary depending on the unit settings as below pulse 2 147...

Page 291: ...e home coordinates by executing the home return for target axes Setting of home coordinates The home coordinates can be set for each axis in the Axis parameter settings dialog box of CMI Program example When the current value of the first axis is returned after the home return the current value after system conversion of the first axis is read and set as home coordinates and the home return is req...

Page 292: ...214 748 364 7 degrees degree 1 degree 2 147 483 648 to 2 147 483 647 degrees An integer equivalent to the current value after unit conversion is set to the unit memory Example When the unit is μm 0 1 μm set to 10000 for making it be 1000 0 μm Axis 2 UM 0330E UM 0330F Axis 64 UM 0520E UM 0520F Virtual axis 1 UM 0528E UM 0528F Virtual axis 32 UM 0620E UM 0620F Note 1 As for the unit memories in whic...

Page 293: ...s menu of CMI Movement check values can be set by respective axes When an error occurs the operation will stop in the error stop deceleration time and cannot be executed until the error is cleared When a warning occurs only the occurrence of warning will be informed and the operation will continue Parameter setting by CMI Parameter name Default Description Movement check operation 2 None Select th...

Page 294: ...ceeds the set movement check value or not Stores the current value held by FP7 MC Unit within FP7 MC Unit Subsequently repeats the above and Position deviation monitor The value deviation calculated by the movement amount automatic check function can be confirmed by a ladder program For monitoring the position deviation the following unit memory area is used Available Not available Axis number Uni...

Page 295: ... Specify the width of the completion of command operation Range 0 to 10 000 ms Any other settings will be errors When 0 is set the completion width is not checked Axis 2 UM 032D7 Virtual axis 1 UM 05257 Virtual axis 32 UM 061D7 Axis 1 UM 0325A to UM 0325B Completion width U10 pulse Turns on the completion flag when the AMP current value feedback value becomes within this completion width after the...

Page 296: ...d judgment value enabled 0 Disables the actual speed judgment value 1 Enables the actual speed judgment value 3 Actual speed judgment value error warning setting 0 Announces an error when it is enabled 1 Announces a warning when it is enabled 4 Actual speed judgement unit 0 0 1 rpm 1 Command unit s 15 5 Axis 2 UM 032DC Axis 32 UM 041DC Axis 64 UM 051DC Axis 1 UM 0325D Torque judgement value U5000 ...

Page 297: ...UM 0264C Torque monitor value 0 1 Stores the torque monitor values bit Name Description 15 0 Torque command value Range 0 to 5000 0 0 to 500 0 Although the torque command value is specified as an absolute value the monitor value is displayed like 500 0 to 500 0 to indicate the direction Axis 2 UM 0266C Axis 32 UM 02A2C Axis 64 UM 02E2C f pps t ms ON OFF ON OFF ON OFF ON OFF ON OFF First speed Targ...

Page 298: ...oes not exceed the judgment value Check the torque monitor judgment value Note To simplify the displays only the lower four digits Hex of each error code are displayed in the above table Monitor value error setting UM0325C 0x3 Warning annunciation Unit warning From 00B0 0000H Recoverable Unrecoverable Warning code Name Description Object Recovered Countermeasures 0050H Torque judgment warning The ...

Page 299: ...en Extend monitor value in the system operation setting area is set to 1 word Axis no Unit memory no Hex Name Defaul t Unit Description Axis 1 UM 0264D Actual speed monitor value 1 rpm The actual speed monitor value is stored bit Name Description 15 0 Actual speed Setting range 0 to 5 000 When Extend monitor value in MC common settings is set to 2 words this area is always 0 However if the setting...

Page 300: ...f Extend monitor value in the system operation setting area is changed during operation the changed value is held Although the actual speed command value is specified as an absolute value the monitor value is displayed like 2 147 483 648 to 2 147 483 647 to indicate the direction Axis 2 UM 00772 UM 00773 Axis 32 UM 007AE UM 007AF Axis 64 UM 007EE UM 007EF f pps t ms ON OFF ON OFF ON OFF ON OFF ON ...

Page 301: ... within the range that the actual speed of the motor does not exceed the judgment value Check the actual speed monitor judgment value Monitor value error setting UM0325C 0xC Warning annunciation Unit warning From 00B0 0000H Error code Error name Description Object Recovered Countermeasures 0051H Actual speed judgment value warning The monitored actual speed exceeded the specified upper lower limit...

Page 302: ...the corresponding bits of axes for the torque limit to 1 bit Name Description 0 Axes 1 16n Torque limit enabled 0 Torque limit disabled 1 Torque limit enabled 1 Axes 2 16n Torque limit enabled 2 Axes 3 16n Torque limit enabled 3 Axes 4 16n Torque limit enabled 4 Axes 5 16n Torque limit enabled 5 Axes 6 16n Torque limit enabled 6 Axes 7 16n Torque limit enabled 7 Axes 8 16n Torque limit enabled 8 A...

Page 303: ... Torque monitor value 0 1 Stores the torque monitor values bit Name Description 15 0 Torque command value Setting range 0 to 5000 Axis 2 UM 0266C Axis 32 UM 02A2C Axis 64 UM 02E2C 13 7 1 Restrictions on Torque Limit The torque limit function cannot be used for the home return operation As a parameter of AMP Primary torque limit value is used do not change the used torque limit by PANATERM when usi...

Page 304: ...Servo Amplifier A6B A5B are displayed The slaves are connected in the connection order from the slave closest to FP7 MC Unit Device Editor Three tabs are available General Addresses are set Information registered in the ESI file and connection states are displayed PDO Mapping Information on the PDO map of EtherCAT communication can be monitored Distributed Clocks The setting state of Distributed C...

Page 305: ...d in the device editor General tab The address axis number settings and information on ESI files and topology are displayed Distributed Clock tab The communication cycle of synchronous unit is EtherCAT communication cycle The communication cycle of synchronous unit is set in the MC common settings of CMI not in this screen ...

Page 306: ...nctions 13 20 13 8 3 Overview of PDO Mapping PDO process data object is data updated for each communication cycle via EtherCAT PDO Mapping can be confirmed in the device editor of CMI EtherCAT Configurator PDO Mapping4 ...

Page 307: ...nput signals is received Select The Outputs The maps of data sent output by FP7 MC Unit and received by Servo Amplifier A6B A5B are displayed Receiving PDO mapping 1 to Receiving PDO mapping 4 is displayed By default Receiving PDO mapping 4 is selected Control word Setting data of control instructions for Servo Amplifier such as PDS state transition is sent Modes of operation Setting data of the c...

Page 308: ... The following procedure is explained on the condition that servo amplifiers have already been registered in CMI PROCEDURE 1 Select an arbitrary servo amplifier in the project explorer 2 Select PDO mapping in the device editor window 3 Select Settings Enable Slave Edit PDO Mapping from the menu bar and check the checkbox You can now edit the field of PDO map ...

Page 309: ...nd press the Edit button The Edit PDO dialog box is displayed 5 Press the Add button The Add PDO dialog box is displayed 6 Input the following items and press the OK button It returns to the Edit PDO dialog box Item Input content General Name Digital Outputs Settings Index 0x60FE Sub index 1 Data type DINT ...

Page 310: ...n is displayed and press the OK button 8 Select Settings Enable Slave Edit PDO Mapping from the menu bar and uncheck the checkbox Carry out the operation of the above procedure 8 to prevent data from being rewritten carelessly after finishing the edit of PDO mapping ...

Page 311: ...ser programs Read 0x0001 Write 0x0081 UM 7C4B0 UM 7C4C0 UM 7C8BF Master FP7 MC Unit Slave device Station address no ｘｘｘｘ SDO communication header part area SDO communication data part area 16 words 1 024 words Data sent received is stored in the SDO communication area data part of the unit memory and the communication is performed by controlling in the SDO communication area header part When commu...

Page 312: ... Index 0 The main index number of CoE object for SDO communication is set Refer to CoE objects in respective manuals of slave devices UM 7C4B2 Sub Index 0 The sub index number of CoE object for SDO communication is set Refer to CoE objects in respective manuals of slave devices When performing SDO communication with any setting values other than the above an error error code 0002H occurs UM 7C4B3 ...

Page 313: ...ge 0x0000 to 0x03FF UM 7C4B5 Command 0H Commands for SDO communication are set bit Name Description 15 0 Command 0000H Initial state processing done 0001H Read 0081H Write Any other settings will be errors UM 7C4B6 Result 0H SDO communication results are stored bit Name Description 15 0 Result 0000H Normal end 5555H During processing Waiting for response FFFFH Error occurs Any other settings will ...

Page 314: ...be mapped would exceed the PDO length 0604 0043H SDO abort code General parameter incompatibility reason 0604 0047H SDO abort code General internal incompatibility in the device 0606 0000H SDO abort code Access failed due to a hardware error 0607 0010H SDO abort code Data type does not match length of service parameter does not match 0607 0012H SDO abort code Data type does not match length of ser...

Page 315: ...byte 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 3rd byte Data of 4th byte Low word address High word address Example 2 word data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 2nd word Low word address High word address UM 7C4C1 0000H UM 7C4C2 0000H UM 7C4C3 0000H UM 7C4C4 0000H UM 7C4C5 0000H UM 7C4C6 0000H UM 7C4C7 0000H UM 7C4...

Page 316: ... 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 3rd byte Data of 4th byte Low word address High word address Example 2 word data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 2nd word Low word address High word address 1024 words 0000H 0000H 0000H UM 7C8A4 0000H UM 7C8A5 0000H UM 7C8A6 0000H UM 7C8A7 0000H UM 7C8A8 0000H UM 7C8A9 0000H UM...

Page 317: ... perform SDO communication Data type setting UM 7C4B3 Bit width setting UM 7C4B4 This is set only when Data type setting is set to 0x9 Perform the read command request of SDO communication Command request UM 7C4B5 0x 1 When Communication Result is Communication result UM 7C4B6 0x0000 Communication result UM 7C4B6 0x5555 FP7 MC Unit clears the read command request of SDO communication Command reque...

Page 318: ...7C4B0 XXX 0x 1018 Main Index UM7C4B1 XXX 0x 01 Sub Index UM7C4B2 XXX 0x 7 Data Type UM7C4B3 XXX Bit length UM7C4B4 0x 0 0x 1 Command UM7C4B5 0x 00000000 Error code 0x 0000 Transmission reception result UM7C4B6 0x 5555 0x 0000 0x 0 XXX 0x 066F Sent received data UM7C4C0 XXX 0x 0000 UM7C4C1 XXX XXX XXX XXX Read request Read processing in progress Sent received data ...

Page 319: ...n Address SDO Read request DT101 H1018 MV US Main Index DT102 H1 MV US Sub Index S1 UM7C4B5 H1 MV US X100 Link establishment DT103 H7 MV US SDO communication Data type DF R100 X100 DF R100 X100 DT104 U0 MV US SDO communication Bit length SDO communication Communication command SDO Read request Link establishment SDO Read request Link establishment ...

Page 320: ...tings of SDO communication transmission data Set Station Address Station Address setting UM 7C4B0 Set Index Main Index setting UM 7C4B1 Sub Index setting UM 7C4B2 Set Data Width to perform SDO communication Data type setting UM 7C4B3 Bit width setting UM 7C4B4 This is set only when Data type setting is set to 0x9 When Communication Result is Confirm SDO communication error codes SDO communication ...

Page 321: ... 3214 Main Index UM7C4B1 XXX 0x 00 Sub Index UM7C4B2 XXX 0x 3 Data Type UM7C4B3 XXX UM7C4B4 0x 0 0x 81 UM7C4B5 0x 00000000 0x 0000 UM7C4B6 0x 5555 0x 0000 0x 0 UM7C4C0 UM7C4C1 XXX XXX XXX XXX Write request UM7C4B8 UM7C4B9 XXX 200 XXX XXX 0x 0 XXX Bit length Command Error code Transmission reception result Sent received data Sent received data Write processing in progress ...

Page 322: ...MV US Main Index DT102 H0 MV US Sub Index S1 UM7C4B5 H81 MV US X100 DT103 H3 MV US DF R101 X100 SDO communication Write data setting DF R101 X100 SDO Write request Link establishment SDO Write request Link establishment SDO Write request Link establishment SDO communication Communication command SDO communication Data type Station Address SDO communication Data type ...

Page 323: ...or the motion control operation in FP7 MC Unit cannot be used Objects allocated to Transmit PDO mapping can be monitored in the TxPDo communication area RxPDO TxPDO UM 7C8C0 UM 7D458 UM 7DFFF 2 968 words 2 968 words Master FP7 MC Unit Slave device Station address no ｘｘｘｘ RxPDO communication area TxPDO communication area Unit memory addresses for PDO communication Data can be sent and received by u...

Page 324: ...3 38 Precautions on programming PDO communication can be used only when ESM is SafeOP or OP In addition when it is SafeOP only Slave Master TxPDO communication can be used PDO communication cannot be used in the diagnosis mode ...

Page 325: ...ed on the condition that CMI has already started PROCEDURE 1 Select File ESI Manager from the menu bar The ESI Manager window is displayed 2 Press the Add File button The Add ESI File dialog box is displayed 3 Select an arbitrary ESI file xml and press the Open button The ESI file is added and the slave device can be registered in the EtherCAT communication setting menu EtherCAT Configurator of CM...

Page 326: ...tion settings from the menu bar The EtherCAT Configurator window is displayed 2 Right click on FP7 Motion Control Unit in the project explorer The context menu is displayed 3 Select Append Slave from the context menu The dialog box for selecting slaves is displayed 4 Select slaves to be used from the list 5 Input the number of slaves and press the OK button The registration state of the slaves con...

Page 327: ...rmed in the Variables tab on the Device Editor window They can be updated periodically by PDO communication and can be read via unit memories by user programs Example of SL VGU1 EC allocation KEY POINTS When the data type is Boolean type bit device bit numbers are displayed in for corresponding UM Addresses Example 7D464 8 It indicates the bit number 8 of UM7D464 ...

Page 328: ...ue Count up Count down Operation when reaching the upper limit or lower limit If the count value exceeds 4 294 967 295 the count value will be 0 automatically and the count operation will continue If the count value falls below 0 the count value will return to 4 294 967 295 automatically and the count operation will continue REFERENCE For details of the specifications and setting method of encoder...

Page 329: ...evice in the axis change setting After that press the Encoder axis settings button and set the registered axes are encoder axes asterisk is displayed for the axes set as encoder axes 2 Register the encoder input device as a slave Refer to 4 4 Setting of Network Configuration Allocate the counters of a slave device to used Set the slave device allocated to the axes as an encoder Allocate axes for t...

Page 330: ... counters of the encoder input device 4 Set to monitor the number of counters of the encoder input device by AMP current value in Each axis information monitor area of FP7 MC Unit Click Used parameter setting The number of counters of the slave device ...

Page 331: ...et to 0 on the completion of home return The value will not be updated when the current value update function is executed Unit pulse 1 UM 02656 UM 02657 Current value after unit conversion Logic system coordinate K0 Stores the current value based on an electric origin value set as home position coordinate Stores values converted with the unit system pulse μm inch degree selected in the axis parame...

Page 332: ...e format TCP Dump format cap Packet data file size Max 6 Mbytes per file No of packets Max 3904 packets Storage timing The following two types of storage timing are available It is set in MC common settings of CMI 1 After the power turns on EC packet is stored after FP7 MC Unit turns on the initialization done XF 2 EC packet is stored by turning on the EC packet monitor request Y1 at an arbitrary ...

Page 333: ...ctrical noise The SD memory card was taken out or the PLC body was powered off while the card was being accessed Formatting an SD memory card In principle SD memory cards have been formatted by the time of purchase and no formatting by the user is required If formatting becomes necessary download formatting software for SD memory cards on the following website SD Association s website https www sd...

Page 334: ...ket monitor after the power is turned on Not executed Executed Executing by user programs For executing the packet monitor turn on the EC packet monitor request Y1 at an arbitrary timing I O allocation Target axis Name Description X1 All axes EC packet monitor active Turns on when the monitoring of EtherCAT communication packet is executed by the EC packet monitor request Y1 ON Monitoring is execu...

Page 335: ...he packet monitor is executed in the following procedure Procedure Insert the SD memory card into FP7 MC Unit Confirm that the EC packet monitor is set with CMI Turn on the power supply Confirm that the operation monitor LED SD is off and remove the SD memory card ...

Page 336: ...Supplementary Functions 13 50 ...

Page 337: ...14 CMTimeChart Monitor ...

Page 338: ...CMTimeChart Monitor 14 2 14 1 Overview of Function ...

Page 339: ...gged p 14 4 Set trigger conditions Specify conditions used as triggers for logging Max 16 conditions Leading edges and trailing edges of bit devices or values of word devices can be set as comparison conditions p 14 6 Download setting data for CMTimeChart Download set conditions registered devices and trigger conditions p 14 12 Start and stop the logging operation Start and stop the logging operat...

Page 340: ... CMTimeChart has already started on CMI PROCEDURE 1 Select Set Register Device from the menu bar Or double click an arbitrary line in the device list window The Register Device dialog box is displayed 2 Select Trigger number Object Classification Device Axis number Device type Used bit position and Color 3 Press the OK button The information on the registered device is displayed in the device list...

Page 341: ...l be automatically set When one bit in a word device is specified the used bit position is displayed Used bit position Color Select a display color on the time chart monitor Double clicking it will open the Color editor Setting items When Object is Slave Item Description Trigger no Select a trigger number corresponding to the monitored device Range 1 to 16 Object Slave Node address Set the station...

Page 342: ...setting of CMTimeChart The following procedure is explained on the condition that CMTimeChart has already started on CMI PROCEDURE 1 Select View Trigger condition setting from the menu bar Or click Trigger window The Trigger condition setting dialog box is displayed 2 Select a trigger number sampling condition trigger mode trigger position and trigger condition ...

Page 343: ...Press either Set button of Trigger A or B according to the trigger condition The Trigger Setting dialog box is displayed 4 Select trigger setting conditions and press the OK button The detailed information of trigger conditions is displayed ...

Page 344: ...ccording to the above communication cycle magnification Measurement time ms Select data measurement time The range of measurable time varies according to the EtherCAT communication cycle EtherCAT communication cycle Measurement time range 0 5 ms 4 ms to 130 560 s 2 0 ms 6 ms to 522 240 s 1 0 ms 8 ms to 261 120 s 4 0 ms 32 ms to 1 044 480 s No of sampling data The number of data sampled is displaye...

Page 345: ...t the logging is executed every time the trigger is detected Auto After requesting the start the data before the measurement time will be stored as measurement data from the point of time when the logging stop is requested Trigger position Trigger positions displayed on the time chart monitor can be specified They can be set by the rate of the measurement time Select any one from the following opt...

Page 346: ...ondition for the corresponding trigger number A It will be valid when the condition specified for Trigger A is met B It will be valid when the condition specified for Trigger B is met A and B It will be valid when the both conditions specified for Trigger A and Trigger B are met A or B It will be valid when the condition specified for Trigger A or Trigger B is met Trigger A Click Set button to ope...

Page 347: ...dge on to off of the condition set for Comparison source is detected It will be valid when condition set for Comparison source is equal to condition set for Comparison destination It will be valid when condition set for Comparison source is not equal to condition set for Comparison destination It will be valid when condition set for Comparison source is larger than or equal to condition set for Co...

Page 348: ...ed on CMI PROCEDURE 1 Select Online Download Logging Setting from the menu bar A confirmation message box is displayed 2 Press the OK button Downloading the logging setting is executed Once the download is complete a message box is displayed When the logging operation is performed the following message box is displayed Confirm that the logging flag is off by the logging monitor function of CMTimeC...

Page 349: ...as already started on CMI PROCEDURE 1 Select Online Download Logging Setting from the menu bar Announce Trigger Registration and Allow Trigger Use turn on in the Logging Monitor window 2 Select Online Start Logging from the menu bar A confirmation message box appears 3 Press the OK button Once a trigger is detected the logging is started and the logging flag turns on Once the logging is finished t...

Page 350: ...age are displayed 7 Press the OK button Then upload the logging data on CMTimeChart It can be displayed in the time chart KEY POINTS When the trigger mode is Auto pressing the OK button in step 3 turns on the logging flag Also executing the logging stop after step 5 turns on the presence absence of logging data flag For information on the difference between operations according the trigger modes r...

Page 351: ...02633 in the unit memories 5 Turn off Waveform logging enable YB The logging operation stops Then upload the logging data on CMTimeChart It can be displayed in the time chart I O allocation I O number Target axis Name Description YB All axes Waveform logging enable When this signal is on the waveform logging can be executed When this signal is off the waveform logging cannot be executed When this ...

Page 352: ...er program turn the bit corresponding to the trigger number 0 Not allow the use 1 Allow the use UM 02632 Logging flag H0 It turns on when the logging operation is being executed on FP7 MC Unit It turns off when the logging operation is complete 0 Logging is not executed complete 1 During logging UM 02633 Presence absence of logging data H0 It turns on when the logging operation is complete on FP7 ...

Page 353: ...e when the first trigger condition is met will be logged and stored as data ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF UM 02630_bit0 UM 02631_bit0 UM 02632_bit0 UM 02633_bit0 YB XB Announce trigger registration Allow trigger use Waveform logging active annunciation Trigger detection Logging flag Presence absence of logging data Waveform logging enable Measurement time Note If the waveform lo...

Page 354: ...latest information ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF UM 02630_bit0 UM 02631_bit0 UM 02632_bit0 UM 02633_bit0 YB XB Announce trigger registration Allow trigger use Waveform logging active annunciation Trigger detection Logging flag Presence absence of logging data Waveform logging enable Measurement time Measurement time Measurement time Note If the waveform logging enable YB flag tu...

Page 355: ... turns off the data from the time traced back by the measurement time specified in CMTimeChart until the stop will be stored ON OFF ON OFF ON OFF ON OFF ON OFF ON OFF UM 02630_bit0 UM 02631_bit0 UM 02632_bit0 UM 02633_bit0 YB XB Announce trigger registration Allow trigger use Waveform logging active annunciation Logging flag Presence absence of logging data Waveform logging enable Measurement time...

Page 356: ...plete and CMTimeChart has already started on CMI PROCEDURE 1 Confirm that the logging is complete the operation is stopped and the Presence absence of logging data flag is on They can be confirmed in the Logging Monitor window 2 Select Online Upload Logging Data from the menu bar A confirmation message box appears 3 Press the OK button The upload is executed and a confirmation message box is displ...

Page 357: ... Chart 14 21 KEY POINTS For uploading logging data and displaying the time chart the logging operation should be complete During the execution of the logging operation it is not possible to upload logging data and start the time chart ...

Page 358: ...vided into 10 by grids No of Data per Grid Set the number of data dividing the area between grids Range 1 to 100 Example No of Data per Grid 10 Set the time rate of one grid regarding one is equal to a time scale Time Scale Unit Type Set the time scale unit of a displayed chart Microsecond msec sec min hours Y axis Setting No of Displayed Grids Set the number of grids displayed in a displayed char...

Page 359: ... displayed grids 1 data No of displayed grids 1 grid No of displayed grids Color Setting 0 00 00 0000 0 00 00 0050 0 00 00 0100 0 00 00 0150 0 00 00 0200 0 00 00 0250 0 290 61 1908640 ON OFF ON OFF ON OFF Trigger color T A B Cursor A color Cursor B color X axis scale color Grid color Chart background color Background color ...

Page 360: ... 14 24 Display Setting dialog box Device tab The display range and position can be set for each registered device Note In Scale field enter an interval between the scales of Y axis by grids Range 1 to Upper end Lower end ...

Page 361: ...is explained on the condition that the logging is complete and CMTimeChart has already started on CMI PROCEDURE 1 Select File Save As from the menu bar 2 Enter the desired file name and press Save It can be stored as a file with the extension cmt KEY POINTS By opening the file and downloading the setting data to the unit gain the logging operation can be performed under the same conditions ...

Page 362: ...ng enable flag YB turns on by CMTimeChart or a user program Logging trigger condition When the trigger condition is met Instruction The waveform logging enable flag YB is executed under arbitrary conditions and logging starts File determination condition Logging stop trigger condition When logging is complete File format Data is saved in log format Folders and files stored in an SD memory card FP7...

Page 363: ... CPU Unit is used For acquiring the time data of FP7 CPU Unit make the following settings PROCEDURE 1 Select Options FP7 Configuration CPU configuration from the menu bar of FPWIN GR7 The CPU Configuration Setting dialog box appears 2 Specify the slot number where FP7 MC Unit is installed for Slot number of unit to acquire 3 Change the setting of When power supply is on under Acquisition timing to...

Page 364: ...ry card check the checkbox of Write SD memory card in the Trigger condition setting dialog box KEY POINTS Even when using an SD memory card the operations such as registering devices setting trigger conditions downloading setting data starting stopping logging operation and uploading logging data are the same ...

Page 365: ...15 Troubleshooting ...

Page 366: ...ctivate until the error clear is executed Warning Occurs when any operational unconformity not abnormal conditions exist The operation can continue even after the occurrence of warnings and the motor continues running if the motor is operating 15 1 2 Checking and Clearing by CMI It is possible to check and clear errors warning on an axis by axis basis by selecting Online Data monitor on the progra...

Page 367: ...lear request Axis 1 Error clear request Axes 1 Error flag Axes 1 to 16 Error annunciation Virtual axes 17 to 32 Error annunciation Axes 1 to 16 Error clear request Virtual axes 17 to 32 Error clear request 1st scan OFF Link establish ment Axes 1 to 16 Error annunciation 1st scan OFF Link establish ment Axes 1 to 16 Error clear request Allocation of unit memories Input control area Output control a...

Page 368: ...ion Classification Function Error annunciation clear area Error clear individual axis setting No of occurrences of errors The number of occurred errors is stored Error code buffer 1 Up to eight error codes per axis are stored Eight digit hex codes are stored as error codes The buffer 1 is always the latest code Error codes are stored in the occurrence order from the buffer 1 Error code buffer 8 Wa...

Page 369: ...ed Description Error type Recoverable state After an error occurred the operating axes stop After an error occurred FP7 MC Unit can recover the error at any time All error types Unrecoverable state Error when a critical trouble occurred on the FP7 MC Unit system When an unrecoverable error occurred the power supply of the positioning unit should be restored System errors AMP communication errors ...

Page 370: ...cute the servo on request again after clearing the error How to read AMP error codes An AMP error is divided into a main code and sub code The error codes stored in the error annunciation area of FP7 MC Unit are hexadecimal 4 digit codes The main codes decimal of AMP errors are converted to hexadecimal and stored The error codes equivalent to sub codes are not stored Example For encoder communicat...

Page 371: ...4 0 Position deviation excess protection 24 1 Speed deviation excess protection 0019H 25 0 Hybrid deviation excess error protection 001AH 26 0 Over speed protection 26 1 2nd over speed protection 001BH 27 1 Absolute clear protection 27 4 Position command error protection 27 6 Operation command contention protection 001CH 28 0 Pulse regeneration limit protection 001DH 29 2 Counter overflow protecti...

Page 372: ...cale communication error protection 50 2 External scale communication data error protection 0033H 51 0 External scale status error protection 0 51 1 External scale status error protection 1 51 2 External scale status error protection 2 51 3 External scale status error protection 3 51 4 External scale status error protection 4 51 5 External scale status error protection 5 0037H 55 0 A phase connect...

Page 373: ...05CH 92 0 Encoder data recovery error protection 92 1 External scale data recovery error protection 92 3 Multi turn data upper limit value disagreement error protection 005DH 93 2 Parameter setting error protection 2 93 3 External scale connection error protection 93 8 Parameter setting error protection 6 005EH 94 3 Home position return error protection 2 005FH 95 0 Motor automatic recognition err...

Page 374: ...n deviation excess protection 24 1 Speed deviation excess protection 0019H 25 0 Hybrid deviation excess error protection 001AH 26 0 Over speed protection 26 1 2nd over speed protection 001BH 27 1 Absolute clear protection 27 4 Position command error protection 27 6 Operation command contention protection 27 7 Position information initialization error protection 001CH 28 0 Pulse regeneration limit ...

Page 375: ...rotection 0030H 48 0 Incremental encoder Z phase error protection 0031H 49 0 Incremental encoder CS signal error protection 0032H 50 0 External scale connection error protection Not supported 50 1 External scale communication error protection Not supported 0033H 51 0 External scale status 0 error protection Not supported 51 1 External scale status 1 error protection Not supported 51 2 External sca...

Page 376: ...on error protection 88 3 Improper operation error protection 005BH 91 1 Command error protection 005CH 92 0 Encoder data recovery error protection 92 1 External scale data recovery error protection Not supported 005DH 93 0 Parameter setting error protection 1 93 2 Parameter setting error protection 2 93 3 External scale connection error protection Not supported 93 7 Parameter setting error protect...

Page 377: ...ution of writing to FROM Write error Verify error Erase error All axes Execute writing to FROM again If the error occurred repeatedly please contact us 1020H Tool operation abnormal end Any error occurred in the communication with a PC when executing the tool operation on CMI All axes Check the connection of the cable connecting the PC and PLC Reboot the PC 1021H Diagnosis mode abnormal end Any er...

Page 378: ...nication error occurred All axes Check the communication cable to see if it is correctly connected Check the power supply of Servo Amplifier A6B A5B 2063H SDO communication error The SDO communication error occurred Each axis Check the setting parameters for SDO communication Check if there is anything wrong with SDO communication devices slaves 2064H SDO communication timeout The SDO communicatio...

Page 379: ...ch axis 3012H Limit signal error Both inputs on the plus and minus sides of the limit turned on Each axis Check the settings of Servo Amplifier and FP7 MC Unit to see if the limit input is correct 3020H Software limit plus side detection The movement amount of the motor exceeded the upper limit of the software limit Each axis Move the motor into the range of the software limit by an operation such...

Page 380: ...vement amount has exceeded the upper or lower limit Each axis Check the set value 3040H Synchronous operation group error The synchronous group was changed during the synchronous operation or when requesting the stop in the synchronous operation The setting of synchronous group is out of range An error occurred in the home return of the synchronous operation Each axis Changing the synchronous grou...

Page 381: ...ue Each axis Design the system within the range that the torque of the motor does not exceed the judgment value Check the torque monitor judgment value 3051H Actual speed judgment value error The actual speed exceeds the setting actual speed monitor judgement value Each axis Design the system within the range that the actual speed of the motor does not exceed the judgment value Check the actual sp...

Page 382: ...the setting value is out of the range reduce it by the following formula Pulse number per rotation Movement amount per rotation 4005H Movement per revolution error The movement amount is out of the range Each axis 4010H Software limit setting error The upper or lower limit value of software limit is out of the range Each axis Check the set value If the error occurs repeatedly with the correct set ...

Page 383: ...ation deceleratio n type error The acceleration deceleration method of the JOG positioning is out of the range Each axis 4081H JOG positioning operation acceleration time error The acceleration time of the JOG positioning is out of the range Each axis 4082H JOG positioning operation deceleration time error The deceleration time of the JOG positioning is out of the range Each axis 4083H JOG positio...

Page 384: ...n method is set to the stop on contact method 1 or 2 Each axis 4120H Home coordinate error The set home coordinates are out of the range Each axis 4201H JOG operation target speed error The target speed of the JOG operation is out of the range Each axis 4203H JOG operation acceleration deceleration type error The acceleration deceleration type of the JOG operation is incorrect Each axis 4204H JOG ...

Page 385: ... time of the positioning operation is out of the range Each axis 4403H Positioning deceleration time error The deceleration time of the positioning operation is out of the range Each axis 4404H Positioning target speed error The target speed of the positioning operation is out of the range Each axis 4500H Interpolation type error The setting of the interpolation type is incorrect Each axis 4504H C...

Page 386: ... deceleration time The setting for the synchronous slave single deceleration stop time is incorrect Each axis Note To simplify the displays only the lower four digits Hex of each error code are displayed in the above table Synchronous parameter Electronic gear related errors Recoverable Unrecoverable Error code Error name Description Object Recovered Countermeasures 5100H Electronic gear Gear rati...

Page 387: ...cification clutch off function phase value setting error The phase value setting is incorrect Each axis Check the set value If the error occurs repeatedly with the correct set values please contact us 5207H Electronic clutch Clutch ON method setting error The setting for the clutch ON method is incorrect Each axis 5208H Electronic clutch Clutch ON slip method setting error The setting for the clut...

Page 388: ... range The used cam pattern number is not registered Each axis 5302H Electronic cam Cam stroke amount setting error The setting for the cam stroke amount is incorrect Each axis 5310H Advance angle correction function Reference amount setting error The advance angle correction reference amount setting is incorrect Each axis 5311H Advance angle correction function Reference speed setting The advance...

Page 389: ...ng error The start phase setting for each section of cam pattern is out of the range Each axis 5405H Cam pattern displacement setting error The displacement for each section of cam pattern is out of the range Each axis 5406H Cam pattern cam curve no setting error The curve number for each section of cam pattern is out of the range Each axis 5410H Adjustment data total no setting error The total nu...

Page 390: ... warning no Description 00A0 A0 Overload warning 00A1 A1 Over regeneration warning 00A2 A2 Battery warning 00A3 A3 Fan warning 00A4 A4 Encoder communication warning 00A5 A5 Encoder overheat warning 00A6 A6 Oscillation detection warning 00A7 A7 Lifetime detection warning 00A8 A8 External scale error warning 00A9 A9 External scale communication warning 00AC AC Deterioration diagnosis warning 00C3 C3...

Page 391: ...m 00A3 A3 Fan alarm 00A4 A4 Encoder communication alarm 00A5 A5 Encoder overheat alarm 00A6 A6 Oscillation detection warning 00A7 A7 Lifetime detection alarm 00A8 A8 External scale error warning Not supported 00A9 A9 External scale communication warning Not supported 00C3 C3 Main power off warning Note Refer to the latest instruction manual and technical materials of the servo amplifier ...

Page 392: ...cuted except the following requests System stop request flag all axes Emergency stop request flag each axis Deceleration stop request flag each axis 0030H J point simultaneous startup warning J point speed change request and J point positioning start request turned on simultaneously during the JOG positioning operation The J point speed change request turned on during acceleration deceleration Eac...

Page 393: ...ck the timing that the speed change request contact turns on 0062H Target speed change function disable warning J point control active The speed change request turned on during the J point operation Each axis 0063H Target speed change function disable warning Synchronous slave axis specified The speed change request contact of synchronous slave axis turned on Each axis 0064H Target speed change fu...

Page 394: ...ch axis 0075H Movement amount change function disable warning During positioning stop process The movement amount change request contact turned on when any positioning stop processing is performed Each axis 0076H Movement amount change function disable warning During dwell process The movement amount change request contact turned on when the positioning dwell processing is performed Each axis 0100...

Page 395: ...ectly 0121H Tool logging function enable warning When UM02613 is on logging enabled it is detected that YB is on All axes After setting UM02613 to off turn on the YB logging enabled 0300H Control area for buffer control value warning The following parameters of the control area for buffer control is out of the range Request flag control Request code control Response code control Axis number contro...

Page 396: ...Troubleshooting 15 32 ...

Page 397: ...16 Specifications ...

Page 398: ... supply terminals of CPU unit 100 MΩ min at 500 V DC Vibration resistance Conforming to JIS B 3502 and IEC 61131 2 5 to 8 4 Hz 3 5 mm single amplitude 8 4 to 150 Hz acceleration of 9 8 m s 2 10 sweeps each in X Y and Z directions 1 octave min Shock resistance Conforming to JIS B 3502 and IEC 61131 2 147 m s 2 min in X Y and Z directions three times each Noise resistance 1 000 V P P pulse width of ...

Page 399: ... 1 to 160 Servo Encoder Max 32 Others 128 AFP7MC64EC 1 to 192 Servo Encoder Max 64 Others 128 Note 1 The A6B series and SL VGU1 EC series are available since the FP7 MC Unit Ver 1 2 The Communication Unit for Digital Sensor SC GU3 03 series will be available in the near future Note 2 More than one A6B or A5B should exist on a network Also the mixed connection of A6B and A5B can be used Note 3 Hubs...

Page 400: ...inches inch 0 0001 inch 214 748 3648 to 214 748 3647 inches degree 0 1 degree 214 748 364 8 to 214 748 364 7 degrees degree 1 degree 2 147 483 648 to 2 147 483 647 degrees Speed reference range pulse 1 to 2 147 483 647 pps μm 1 to 2 147 483 647 μm s inch 0 001 to 2 147 483 647 inch s degree 0 001 to 2 147 483 647 rev s Acceleration deceleration type Linear acceleration deceleration S shaped accele...

Page 401: ...on method Linear acceleration deceleration S shaped acceleration deceleration Electronic gear Operation setting Gear ratio setting Gear ratio numerator 1 to 2 147 483 647 Gear ratio denominator 1 to 2 147 483 647 Gear ratio change time 0 to 10 000 ms adjustable in 1 ms increments Operation method Direct method acceleration deceleration method Electronic clutch Clutch ON trigger Contact input Clutc...

Page 402: ...stable in 1 ms increments Deceleration time 0 to 10 000 ms adjustable in 1 ms increments Return method DOG method 4 types Limit method 2 types Z phase method Stop on contact method 2 types Data set method Stop on contact torque value 0 to 500 0 adjustable in 0 1 increments Stop on contact judgment time 0 to 10 000 ms adjustable in 1 ms increments Home coordinates Home offset pulse 2 147 483 648 to...

Page 403: ...es Speed rate function 0 to 500 For single axis control 0 to 200 For interpolation control Current Value Update Function pulse 2 147 483 648 to 2 147 483 647 pulses μm 0 1 μm 214 748 364 8 to 214 748 364 7 μm μm 1 μm 2 147 483 648 to 2 147 483 647 μm inch 0 00001 inch 21 474 83648 to 21 474 83647 inches inch 0 0001 inch 214 748 3648 to 214 748 3647 inches degree 0 1 degree 214 748 364 8 to 214 748...

Page 404: ...request Y7 This contact turns on after the completion of restructuring If the recalculation request Y7 turns on again this contact will be off once Note It is used only when the positioning data has been rewritten by ladder programs X8 All axes Cam table reading done annunciation The cam table is read by turning on the cam table reading request Y8 This contact turns on after reading the cam table ...

Page 405: ...mber starting the recalculation specified in the unit memory can be restructured and is executable by turning on this signal Execute the following procedures by user programs 1 Write data to positioning table 2 Turn on Recalculation request Y7 3 After confirming Recalculation done flag X7 turns on turn off Y7 For details refer to 8 9 Reconstruction of Positioning Data by User Programs Y8 All axes ...

Page 406: ...M00770 UM0082F 192 words Each axis information monitor real speed monitor area UM00830 UM0098F 352 words Reserved for system UM00990 UM009EF 96 words Positioning control starting table number setting area UM009F0 UM00A4F 96 words Positioning control area UM00A50 UM00A8F 64 words Reserved area for the system UM00A90 UM0170F 3 200 words Error annunciation clear area UM01710 UM0238F 3 200 words Warni...

Page 407: ...trol setting area 16 words Common setting area 16 words clutch control area 48 words Electronic cam setting area 32 words Positioning operation change setting area UM66940 UM66F3F 1 536 words Positioning operation change setting area Electronic cam pattern data editing area UM66F40 UM66F97 106 words Electronic cam pattern editing area Reserved area for the system UM66FAA UM7C4AF 64 words Reserved ...

Page 408: ...he input control area UM00086 UM00089 of the FP7 MC Unit installed in the slot no 1 S1 to an arbitrary internal relay area WR106 WR109 R0 S1 UM00086 S1 UM00089 WR106 BKMV US X100 Writing to unit memories UM It is possible to write to the areas which are shown with Available in the W column in the following table using transfer instructions or arithmetic instructions with user programs The operand ...

Page 409: ...iation Synchronous setting done Synchronous cancel active announciation Slave axis gear ratio change annunciation Slave axis clutch operation annunciation General purpose input Registered slave table Network participating slave table Normal slave table Abnormal slave table 6 words 4 words 4 words 4 words 6 words 6 words 6 words 2 words 6 words 6 words 6 words 6 words 6 words 6 words 4 words 4 word...

Page 410: ...0 Busy H0 When axes are operating by the start request of each control positioning JOG operation home return the bits corresponding to each axis number turn on They turn off on completion of the operation 17 32 UM 00091 33 48 UM 00092 49 64 UM 00093 Virtual 1 16 UM 00094 Virtual 17 32 UM 00095 1 16 UM 00096 Operation done H0 When the running operation of each control positioning JOG operation home...

Page 411: ...e near home input connected to the corresponding AMP The update cycle is communication EtherCAT communication cycle 17 32 UM 000A3 33 48 UM 000A4 49 64 UM 000A5 UM 000A6 UM 000AB Reserved for system 1 16 UM 000AC Auxiliary contact H0 This contact is enabled when the auxiliary output function has been set When the positioning table is executed the bits corresponding to each axis number turn on The ...

Page 412: ...MON4 When Limit switch in the axis parameter is set to Disabled the following inputs of AMP are monitored Limit POT Limit NOT When Limit input logic and Limit input logic in the axis parameter of FP7 MC Unit is set to A contact it is reflected by the same logic as the input of servo amplifier When set to B contact it is reversed 9 16 UM 000B3 17 24 UM 000B4 25 32 UM 000B5 33 40 UM 000B6 41 48 UM 0...

Page 413: ...0C6 Synchronous setting done H0 Sets the synchronous setting in the unit by turning on the synchronous setting request of the output control area after setting the synchronous setting by the synchronous master axis selection for each axis After the completion of the setting change the bits corresponding to each axis number turns on 17 32 UM 000C7 33 48 UM 000C8 49 64 UM 000C9 UM 000CA UM 000CB Res...

Page 414: ... 000D3 33 48 UM 000D4 49 64 UM 000D5 UM 000D6 UM 000D7 Reserved for system 1 16 UM 000D8 Slave axis clutch operation annunciation H0 Starts the clutch operation by turning on the slave axis clutch on request or clutch off request of the output control area After the completion of the clutch operation the bits corresponding to each axis number turn on 17 32 UM 000D9 33 48 UM 000DA 49 64 UM 000DB UM...

Page 415: ...1 4 SI MON2 EXT2 5 SI MON3 6 SI MON4 7 SI MON5 E STOP 8 NOT 2 2n 9 POT 10 HOME 11 SI MON1 EXT1 12 SI MON2 EXT2 13 SI MON3 14 SI MON4 15 SI MON5 E STOP 3 4 UM 000DF 5 6 UM 000E0 7 8 UM 000E1 9 10 UM 000E2 11 12 UM 000E3 13 14 UM 000E4 15 16 UM 000E5 17 18 UM 000E6 19 20 UM 000E7 21 22 UM 000E8 23 24 UM 000E9 25 26 UM 000EA 27 28 UM 000EB 29 30 UM 000EC 31 32 UM 000ED 33 34 UM 000EE 35 36 UM 000EF 3...

Page 416: ...1 16 UM 0010A Network participating slave table H0 Turns on the bits corresponding to each station address slave number in the OP mode out of the slaves participating in the network 17 32 UM 0010B 33 48 UM 0010C 49 64 UM 0010D 65 80 UM 0010E 81 96 UM 0010F 97 112 UM 00110 113 128 UM 00111 129 144 UM 00112 145 160 UM 00113 161 176 UM 00114 177 192 UM 00115 Note 1 Sixteen node numbers are allocated ...

Page 417: ...17 32 UM 00117 33 48 UM 00118 49 64 UM 00119 Virtual 1 16 UM 0011A Virtual 17 32 UM 0011B 1 16 UM 0011C Positioning movement amount change request reception annunciation H0 Starts the movement amount change operation when the positioning movement amount change request turns on The contact for the corresponding axis will turn on when the request is accepted 17 32 UM 0011D 33 48 UM 0011E 49 64 UM 00...

Page 418: ...77 192 UM 0012D 1 16 UM 0012E Abnormal slave table H0 Turns on bits corresponding to each station address slave number in any modes other than the OP mode out of the slaves registered in ENI file and participating in the network 17 32 UM 0012F 33 48 UM 00130 49 64 UM 00131 65 80 UM 00132 81 96 UM 00133 97 112 UM 00134 113 128 UM 00135 129 144 UM 00136 145 160 UM 00137 161 176 UM 00138 177 192 UM 0...

Page 419: ... 10 11 12 Node 4 4n 13 14 15 1 4 UM 0013B 5 6 UM 0013C 9 12 UM 0013D 13 16 UM 0013E 17 20 UM 0013F 21 24 UM 00140 25 28 UM 00141 29 32 UM 00142 33 36 UM 00143 37 40 UM 00144 41 44 UM 00145 45 48 UM 00146 49 52 UM 00147 53 56 UM 00148 57 60 UM 00149 61 64 UM 0014A 65 68 UM 0014B 69 72 UM 0014C 73 76 UM 0014D 77 80 UM 0014E 81 84 UM 0014F 85 88 UM 00150 89 92 UM 00151 93 96 UM 00152 97 100 UM 00153 ...

Page 420: ...o Hex Name Default Description R W 149 152 UM 00160 Current ESM state H0 Refer to the previous page 153 156 UM 00161 157 160 UM 00162 161 164 UM 00163 165 168 UM 00164 169 172 UM 00165 173 176 UM 00166 177 180 UM 00167 181 184 UM 00168 185 188 UM 00169 189 192 UM 0016A ...

Page 421: ...16n 6 Node 7 16n 7 Node 8 16n 8 Node 9 16n 9 Node 10 16n 10 Node 11 16n 11 Node 12 16n 12 Node 13 16n 13 Node 14 16n 14 Node 15 16n 15 Node 16 16n 17 32 UM 0016C 33 48 UM 0016D 49 64 UM 0016E 65 80 UM 0016F 81 96 UM 00170 97 112 UM 00171 113 128 UM 00172 129 144 UM 00173 145 160 UM 00174 161 176 UM 00175 177 192 UM 00176 Note 1 Sixteen node numbers are allocated to each area 1 word bit no 15 0 8 7...

Page 422: ...est Inching operation request Emergency stop request Deceleration stop request J point speed change request J point positioning start request Error clear request Warning clear request Synchronous setting request Synchronous cancel request Slave axis gear ratio change request Slave axis clutch ON request Slave axis clutch OFF request General purpose output 6 words 4 words 2 words 12 words 2 words 6...

Page 423: ...2 Positioning start request H0 Requests the positioning control start for the corresponding axis The starting table is specified in the area for specifying the position control starting table number in the unit memory This request signal is enabled when the bits corresponding to each axis number turn on The operation is the edge type 17 32 UM 00193 33 48 UM 00194 49 64 UM 00195 Virtual 1 16 UM 001...

Page 424: ...rtual 25 32 UM 001A9 1 16 UM 001AA Inching operation request H0 Turns on the bits corresponding to each axis number for performing the JOG inching operation The inching operation is enabled when the bits corresponding to each axis number are on The operation is the level type When this request signal is on the above JOG operation forward reverse request functions as the start request for the JOG i...

Page 425: ...tern specified in the axis parameters by turning on this request during the J point control operation This request signal is enabled when the bits corresponding to each axis number turn on The operation is the edge type 17 32 UM 001BD 33 48 UM 001BE 49 64 UM 001BF Virtual 1 16 UM 001C0 Virtual 17 32 UM 001C1 1 16 UM 001C2 J point positioning start request H0 Transits to the process for the next ta...

Page 426: ...e 17 32 UM 001DB 33 48 UM 001DC 49 64 UM 001DD UM 001DE UM 001DF Reserved for system 1 16 UM 001E0 Slave axis gear ratio change request H0 Changes the gear ratio when the request flag for the corresponding axis during the synchronous operation turns on The operation is the edge type This request signal is enabled when the bits corresponding to each axis number turn on The operation is the edge typ...

Page 427: ... axis during the synchronous operation turns on Axes that no clutch is used do not operate Set the operation for leading edge or trailing edge These signals will be disabled while the slave axis clutch on request signal is set to level type 17 32 UM 001ED 33 48 UM 001EE 49 64 UM 001EF UM 001F0 UM 001F1 Reserved for system Note 1 Request flags for 16 axes are allocated to each area 1 word bit no 15...

Page 428: ...1 8n 1 EX OUT1 2 set brake 2 8n 3 EX OUT1 4 set brake 3 8n 5 EX OUT1 6 set brake 4 8n 7 EX OUT1 8 set brake 5 8n 9 EX OUT1 10 set brake 6 8n 11 EX OUT1 12 set brake 7 8n 13 EX OUT1 14 set brake 8 8n 15 EX OUT1 9 16 UM 001F3 17 24 UM 001F4 25 32 UM 001F5 33 40 UM 001F6 41 48 UM 001F7 49 56 UM 001F8 57 64 UM 001F9 UM 001FA UM 001FD Reserved for system Note For details of the method of using set brak...

Page 429: ...2 UM 001FF 33 48 UM 00200 49 64 UM 00201 Virtual 1 16 UM 00202 Virtual 17 32 UM 00203 1 16 UM 00204 Positioning movement amount change request H0 Starts the movement amount change operation when the positioning movement amount change request turns on 17 32 UM 00205 33 48 UM 00206 49 64 UM 00207 Virtual 1 16 UM 00208 Virtual 17 32 UM 00209 Note 1 Request flags for 16 axes are allocated to each area...

Page 430: ...e 8 16n 8 Node 9 16n 9 Node 10 16n 10 Node 11 16n 11 Node 12 16n 12 Node 13 16n 13 Node 14 16n 14 Node 15 16n 15 Node 16 16n 17 32 UM 0020B 33 48 UM 0020C 49 64 UM 0020D 65 80 UM 0020E 81 96 UM 0020F 97 112 UM 00210 113 128 UM 00211 129 144 UM 00212 145 160 UM 00213 161 176 UM 00214 177 192 UM 00215 UM 00216 UM 0027F Reserved for system Note 1 Request flags for 16 axes are allocated to each area 1...

Page 431: ... Synchronous control monitor area 256 words Starting no Name No of words 128 words 256 words 64 words 256 words 96 words 96 words 3 200 words 3 200 words 64 words 576 words 144 words 144 words Reserved area for the system Reserved area for the system 352 words Reserved area for the system Reserved area for the system Reserved area for the system Whole unit memory map Common area Each axis informat...

Page 432: ...n request Y7 turns on Range 1 to 1000 1 UM 00285 Recalculation starting table size U1 Reconstructs the positioning data of the table size specified in this area when the recalculation request Y7 turns on Range 1 to 500 2 64 Virtual 1 32 UM 00286 UM 00343 The following areas are allocated to each axis Recalculation starting table number 1 word Recalculation starting table size 1 word UM 00344 UM 00...

Page 433: ...ne group 17 32 UM 00491 33 48 UM 00492 49 64 UM 00493 Virtual 1 16 UM 00494 Virtual 17 32 UM 00495 UM 00496 UM 00549 For interpolation groups 2 to 31 6 words are allocated to each group 1 16 UM 0054A Interpolation group 32 setting H0 Same as above 17 32 UM 0054B 33 48 UM 0054C 49 64 UM 0054D Virtual 1 16 UM 0054E Virtual 17 32 UM 0054F 1 16 UM 00550 Independent axis setting H0 The bit correspondin...

Page 434: ...ersion of a target axis 1 Axis 2 16n Current value update request 2 Axis 3 16n Current value update request 3 Axis 4 16n Current value update request 4 Axis 5 16n Current value update request 5 Axis 6 16n Current value update request 6 Axis 7 16n Current value update request 7 Axis 8 16n Current value update request 8 Axis 9 16n Current value update request 9 Axis 10 16n Current value update reque...

Page 435: ...degree 0 1 degree 214 748 364 8 to 214 748 364 7 degrees degree 1 degree 2 147 483 648 to 2 147 483 647 degrees An integer equivalent to the current value after unit conversion is set to the unit memories Example When the unit is μm 0 1 μm set to 10000 for making it be 1 000 0 μm 2 64 Virtual 1 32 UM 005A2 UM 0065F The following areas are allocated to each axis Current value update coordinate 2 wo...

Page 436: ...enabled 2 Axes 3 16n Torque limit enabled 3 Axes 4 16n Torque limit enabled 4 Axes 5 16n Torque limit enabled 5 Axes 6 16n Torque limit enabled 6 Axes 7 16n Torque limit enabled 7 Axes 8 16n Torque limit enabled 8 Axes 9 16n Torque limit enabled 9 Axes 10 16n Torque limit enabled 10 Axes 11 16n Torque limit enabled 11 Axes 12 16n Torque limit enabled 12 Axes 13 16n Torque limit enabled 13 Axes 14 ...

Page 437: ...0 to 6500 0 2 64 UM 00722 UM 007EF The following areas are allocated to each axis Actual speed monitor value 2 words Note When Extend monitor value in MC common settings is set to 1word this area is always 0 16 5 8 Positioning Control Starting Table Number Setting Area Available Not available Axis no Unit memory no Hex Name Default Description R W 1 UM 00990 Positioning control start table number ...

Page 438: ...ating the operation from the positioning control starting table number until the E point control Range 0 to 255 When setting 0 or 1 the operation is executed only once When setting 255 the operation is repeated unlimitedly until the operation is stopped 2 64 Virtual 1 32 UM 009F1 UM 00A4F The following areas are allocated to each axis Positioning repeat count 1 word UM 00A50 UM 00A8F Reserved for ...

Page 439: ...H0 Clears the error of the axis for the corresponding bit After changing the corresponding bit to 1 FP7 MC Unit clears the corresponding bit to 0 automatically 17 32 UM 00A97 33 48 UM 00A98 49 64 UM 00A99 Virtual 1 16 UM 00A9A Virtual 17 32 UM 00A9B UM 00A9C UM00ABF Reserved for system Note 1 Bits for 16 axes are allocated to the error clear individual axis setting area 1 word bit no 15 0 8 7 9 1 ...

Page 440: ... UM 00ACD Error code Buffer 6 H0 1 UM 00ACE UM 00ACF Error code Buffer 7 H0 1 UM 00AD0 UM 00AD1 Error code Buffer 8 H0 1 UM 00AD2 UM 00ADF Reserved for system 2 64 Virtual 1 32 UM 00AE0 UM 016BF As well as the area for axis 1 32 word area is allocated to each axis in the following configuration Number of occurrences of errors 1 word Reserved area for the system 1 word Error code buffer 2 words x 8...

Page 441: ...ars the FP7 MC Unit warning of the axis for the corresponding bit After changing the corresponding bit to 1 FP7 MC Unit clears the corresponding bit to 0 automatically 17 32 UM 01717 33 48 UM 01718 49 64 UM 01719 Virtual 1 16 UM 0171A Virtual 17 32 UM 0171B UM 0171C UM 0173F Reserved for system Note 1 Bits for 16 axes are allocated to the warning clear individual axis setting area 1 word bit no 15...

Page 442: ...4C UM 0174D Warning code Buffer 6 H0 1 UM 0174E UM 0174F Warning code Buffer 7 H0 1 UM 01750 UM 01751 Warning code Buffer 8 H0 1 UM 01752 UM 0175F Reserved for system 2 64 Virtual 1 32 UM 01760 UM 0233F As well as the area for axis 1 32 word area is allocated to each axis in the following configuration Number of occurrences of warnings 1 word Reserved area for the system 1 word Warning code buffer...

Page 443: ...s 2 H 0010 H 8010 Axis 16 H 0020 H 8020 Axis 32 H 0040 H 8040 Axis 64 H 0041 H 8041 Virtual axis 1 H 0060 H 8060 Virtual axis 32 1 UM 02391 Synchronous output function selected state monitor H0 Stores the information on the master axis of synchronous control bit Name Value 0 Electronic gear operation settings 0 Not use 1 Use 1 Clutch operation setting 2 Electronic cam operation setting 3 Advance a...

Page 444: ...top and restarts the positioning operation 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 operation when turning Deceleration stop reques...

Page 445: ...no 3 3 Trigger no 4 4 Trigger no 5 5 Trigger no 6 6 Trigger no 7 7 Trigger no 8 8 Trigger no 9 9 Trigger no 10 10 Trigger no 11 11 Trigger no 12 12 Trigger no 13 13 Trigger no 14 14 Trigger no 15 15 Trigger no 16 UM 02631 Allow trigger use H0 The control for using triggers is set bit Name Description 0 Trigger no 1 0 Not allow the use 1 Allow the use 1 Trigger no 2 2 Trigger no 3 3 Trigger no 4 4 ...

Page 446: ...rigger no 9 9 Trigger no 10 10 Trigger no 11 11 Trigger no 12 12 Trigger no 13 13 Trigger no 14 14 Trigger no 15 15 Trigger no 16 UM 02633 Presence absence of logging data H0 When logging is executed and logging data is stored the bits corresponding to trigger number turn on bit Name Description 0 Trigger no 1 0 No logging data 1 Logging data exists 1 Trigger no 2 2 Trigger no 3 3 Trigger no 4 4 T...

Page 447: ...node address to be switched Range 0 to 192 Any other settings will be errors UM 0263A Timeout value U100 Set the timeout monitor time Range 0 to 10000 Any other settings will be errors UM 0263B Result H0 The execution result of ESM switch request is stored bit Name Description 15 0 Result 0001H Normal end 5555H In progress FFFFH Error occurs UM 0263C Error code H0 Error codes are stored bit Name D...

Page 448: ...words 256 words 256 words 9 104 words 3 072 words 396 480 words 10 752 words Each axis setting area Input control area System area 48 words 64 words System area Positioning operation change setting area 1 536 words Cam pattern editing area 106 words Information and monitor area of 1st axis Information and monitor area of 2nd axis Information and monitor area of 16th axis Information and monitor ar...

Page 449: ...ored as 4 bytes 1 UM 02646 UM 02647 Serial no H0 Stores the serial number of AMP It is stored as 4 bytes 1 UM 02648 Station Address H0 Stores the station address set to AMP It is stored as 4 bytes 1 UM 02649 Reserved for system 1 UM 0264A AMP status display H0 Stores the status of AMP bit Name Value 1 0 Reserved for system 2 Home return done 0 Home return not completed 1 Home return completed 3 To...

Page 450: ...t to 2 words this area is 0 1 UM 0264E UM 0264F Position deviation Stores the difference value between the value of the position specified in FP7 MC Unit and the value of the position fed back from the amplifier 1 UM 02650 Active or execution done table U1 Stores the number of active positioning table or when the operation completed Range Standard area 1 to 1000 Expansion area 10 001 to 10 100 1 U...

Page 451: ...ioning control E point control P point control C point control H1 J point control H2 Home return H3 JOG operation Operating motion H4 JOG operation Inching motion 1 UM 02659 UM 0265B Reserved for system 1 UM 0265C UM 0265D Current advance angle correction amount K0 Stores the current advance angle correction amount Range 2 147 483 648 to 2 147 483 647 1 UM 0265E UM 0265F Reserved for system 2 64 V...

Page 452: ...9 Whole unit memory map Common area Each axis information area Synchronous control setting area System area Output control area 128 words 256 words 256 words 9 104 words 3 072 words 396 480 words 10 752 words Each axis setting area Input control area System area 48 words 64 words System area Positioning operation change setting area 1 536 words Cam pattern editing area 106 words Parameter setting ...

Page 453: ...9 104 words 3 072 words 396 480 words 10 752 words Each axis setting area Input control area System area 48 words 64 words System area Positioning operation change setting area 1 536 words Cam pattern editing area 106 words Parameter setting area of 1st axis Parameter setting area of 2nd axis Parameter setting area of 16th axis Parameter setting area of 32th axis Parameter setting area of 48th axi...

Page 454: ...inch or degree Range 1 to 2 147 483 647 Any other settings will be errors 1 UM 03244 UM 03245 Movement per revolution U1 Set the movement amount per revolution It is necessary for the conversion of the pulse number when the unit is μm inch or degree Range 1 to 32 767 000 Any other settings will be errors The ranges vary depending on the unit settings as below μm 1 μm inch 1 10 000 inch degree 1 de...

Page 455: ...83 647µm inch 0 00001 inch 21 474 83648 to 21 474 83647 inches inch 0 0001 inch 214 748 3648 to 214 748 3647 inches degree 0 1 degree 214 748 364 8 to 214 748 364 7 degrees degree 1 degree 2 147 483 648 to 2 147 483 647 degrees Any other settings will be errors 1 UM 0324E UM 0324F Software limit Lower limit value K 2147483 648 1 UM 03250 UM 03251 Reserved for system 1 UM 03252 Auxiliary output mod...

Page 456: ...he completion of command operation Range 0 to 10 000 ms Any other settings will be errors When 0 is set the completion width is not checked 1 UM 03258 UM 03259 Movement check value pulse U10000 Set the threshold for using the movement automatic check function Extend monitor value Note 1 Range 1 word 0 to 65 535 pulse 2 words 0 to 2 147 483 647 pulse 1 UM 0325A UM 0325B Completion width U10 Turns o...

Page 457: ... value error warning setting 0 Announces an error when it is enabled 1 Announces a warning when it is enabled 4 Actual speed judgement unit 0 0 1 rpm 1 Command unit s 15 5 1 UM 0325D Torque judgement value U5000 Set the limit of the torque as integer Range 0 to 5000 0 0 to 500 0 Any other settings will be errors 1 UM 0325E UM 0325F Actual speed judgement value U5000 Set the limit of the actual spe...

Page 458: ...time U100 Set the acceleration deceleration time when performing the home return Range 0 to 10 000 ms Any other settings will be errors 1 UM 03263 Home return deceleration time U100 1 UM 03264 UM 03265 Home return target speed U1000 Set the target speed when performing the home return as integer Range 1 to 2 147 483 647 Any other settings will be errors The ranges vary depending on the unit settin...

Page 459: ...to 2 147 483 647 μm s inch 0 001 to 2 147 483 647 inch s degree 0 001 to 2 147 483 647 rev s 1 UM 0326E UM 0326F Inching movement amount U1 Set the inching movement amount as integer The ranges vary depending on the unit settings as below pulse 1 to 2 147 483 647 pulses μm 0 1μm 0 1 to 214 748 364 7 μm μm 1μm 1 to 2 147 483 647 μm inch 0 00001 inch 0 00001 to 21 474 83647 inches inch 0 0001 inch 0...

Page 460: ...ing code H0 Set the acceleration deceleration pattern when performing the J point control bit Name Description 0 1 Acceleration deceleration pattern setting 0 Linear acceleration deceleration 1 S shaped acceleration deceleration 15 2 1 UM 03282 J point control acceleration time U100 Sets the acceleration deceleration time when performing the J point control Range 0 to 10 000 ms Any other settings ...

Page 461: ...epending on the unit settings as below pulse 2 147 483 648 to 2 147 483 647 pulses μm 0 1 μm 214 748 364 8 to 214 748 364 7 μm μm 1 μm 2 147 483 648 to 2 147 483 647 μm inch 0 00001 inch 21 474 83648 to 21 474 83647 inch inch 0 0001 inch 214 748 3648 to 214 748 3647 inch degree 0 1 degree 214 748 364 8 to 214 748 364 7 degrees degree 1 degree 2 147 483 648 to 2 147 483 647 degrees Example When the...

Page 462: ...map Common area Each axis information area Synchronous control setting area System area Output control area 128 words 256 words 256 words 9 104 words 3 072 words 396 480 words 10 752 words Each axis setting area Input control area System area 48 words 64 words System area Positioning operation change setting area 1 536 words Cam pattern editing area 106 words Buffer 16 Positioning data setting are...

Page 463: ...254 UM 06255 UM 06256 Buffers 1 to 8 Buffer 1 Buffer 2 Buffer 3 Buffer 4 Buffer 5 Buffer 6 Buffer 7 Buffer 8 Request flag control UM06240 UM0A0C8 UM0DF50 UM11DD8 UM15C60 UM19AE8 UM1D970 UM217F8 Request code control UM06241 UM0A0C9 UM0DF51 UM11DD9 UM15C61 UM19AE9 UM1D971 UM217F9 Response code control UM06242 UM0A0CA UM0DF52 UM11DDA UM15C62 UM19AEA UM1D972 UM217FA Axis number control UM06243 UM0A0CB...

Page 464: ...6 UM2950E UM2D396 UM3121E UM350A6 UM38F2E UM3CDB6 UM40C3E Extended table corresponding axis no UM25687 UM2950F UM2D397 UM3121F UM350A7 UM38F2F UM3CDB7 UM40C3F Table no 1 UM25688 UM29510 UM2D398 UM31220 UM350A8 UM38F30 UM3CDB8 UM40C40 Table no 2 UM256A8 UM29530 UM2D3B8 UM31240 UM350C8 UM38F50 UM3CDD8 UM40C60 Table no 3 UM256C8 UM29550 UM2D3D8 UM31260 UM350E8 UM38F70 UM3CDF8 UM40C80 Table no 100 UM2...

Page 465: ...ed tables UM44AC6 UM4894E UM4C7D6 UM5065E UM544E6 UM5836E UM5C1F6 UM6007E Extended table corresponding axis no UM44AC7 UM4894F UM4C7D7 UM5065F UM544E7 UM5836F UM5C1F7 UM6007F Table no 1 UM44AC8 UM48950 UM4C7D8 UM50660 UM544E8 UM58370 UM5C1F8 UM60080 Table no 2 UM44AE8 UM48970 UM4C7F8 UM50680 UM54508 UM58390 UM5C218 UM600A0 Table no 3 UM44B08 UM48990 UM4C818 UM506A0 UM54528 UM583B0 UM5C238 UM600C0 ...

Page 466: ...080 Read request H0081 Write request Any other settings will be errors 1 UM 06242 Response code control H0 Stores the response code for the request of the buffer for positioning data H0000 Complete H0001 In progress HFF00 Setting value error 1 UM 06243 Axis number control U1 Specify the axis number of positioning data to be transferred Range Corresponding axis no 1 64 Corresponds to the existing a...

Page 467: ... usage setting 0 Not make the table setting 1 Make the table setting Any other settings will be errors When using the extended positioning table table nos 401 to 500 is used as extended table nos 10 001 to 10 100 1 UM 06247 Extended positioning table usage setting corresponding axis no U0 Set transfer axis numbers of positioning data Range Corresponding axis no 1 to 64 Corresponds to the existing ...

Page 468: ...ol Continuance point control H03 J point control Speed point control Any other settings will be errors 15 8 Interpolation setting H 00 Linear interpolation Composite speed H 01 Linear interpolation Major axis speed H 10 Circular interpolation Center point CW direction H 11 Circular interpolation Center point CCW direction H 20 Circular interpolation Pass point H 50 Spiral interpolation Center poin...

Page 469: ...tting Range 2 147 483 648 to 2 147 483 647 Any other settings will be errors The ranges vary depending on the unit settings as below pulse 2 147 483 648 to 2 147 483 647 pulse μm 0 1μm 214 748 364 8 to 214 748 364 7 μm μm 1μm 2 147 483 648 to 2 147 483 647 μm inch 0 00001 inch 21 474 83648 to 21 474 83647 inches inch 0 0001 inch 214 748 3648 to 214 748 3647 inches degree 0 1 degree 214 748 364 8 t...

Page 470: ...or the dwell time and the next operation is started P point Pass point It is ignored J point Speed control It is ignored E point End point The positioning done contact turns on after waiting for the dwell time Range 0 to 32 767 ms Any other settings will be errors 00DH Auxiliary output code U0 Set arbitrary data as auxiliary output codes when using the auxiliary output function 00EH 01FH Reserved ...

Page 471: ... words 3 072 words 396 480 words 10 752 words Each axis setting area Input control area System area 48 words 64 words System area Positioning operation change setting area 1 536 words Cam pattern editing area 106 words Synchronous control common setting area 16 words Starting no Name No of words Synchronous control setting area of 1st axis Synchronous control setting area of 2nd axis Synchronous c...

Page 472: ...Not use 1 Use 1 Clutch operation setting 2 Electronic operation setting 3 Advance angle correction operation setting 15 4 Reserved for system 1 UM 63F42 Synchronous slave single deceleration stop deceleration method H0 bit Name Description 0 Not used 1 Synchronous slave single Deceleration stop deceleration method 0 Linear deceleration 1 S shaped deceleration 15 2 Reserved for system 1 UM 63F43 Sy...

Page 473: ...ormula Output speed of electronic gear Operating speed of master axis x Gear ratio numerator Gear ratio denominator 1 UM 63F52 UM 63F53 Gear ratio denominator of each axis U1 1 UM 63F54 Gear ratio change time of each axis U1 Set the time required to change the current gear ratio to a new gear ratio when the new gear ratio is set for the electronic gear in operation 1 to 10000 ms 1 UM 63F55 UM 63F5...

Page 474: ...lave axis clutch OFF request 11H I O Phase after clutch control clutch OFF When setting any other values an error occurs 1 2 3 4 5 6 7 15 8 Reserved for system 1 UM 63F69 Clutch OFF edge selection H0 Set the valid condition of trigger signals This item is unavailable when the clutch ON edge selection is set to H0 Level H0 Disabled H1 Leading edge H2 Trailing edge 1 UM 63F6A Clutch OFF phase ratio ...

Page 475: ...tch ON slip curve selection H0 H0 Linear 1 UM 63F77 UM 63F7F Reserved for system 1 UM 63F80 Clutch OFF method H0 Select the clutch OFF method H0 Direct H1 Slip 1 UM 63F81 Reserved for system 1 UM 63F82 Clutch OFF slip method H0 H0 Slip time setting 1 UM 63F83 Clutch OFF slip time U1 Set a slip time when the clutch OFF method is set to H1 Slip 1 to 10 000 ms 1 UM 63F84 UM 63F85 Reserved for system ...

Page 476: ...elow pulse 2 147 483 648 to 2 147 483 647 pulses μm 0 1 μm 214 748 364 8 to 214 748 364 7 μm μm 1 μm 2 147 483 648 to 2 147 483 647 μm inch 0 00001 inch 21 474 83648 to 21 474 83647 inches inch 0 0001 inch 214 748 3648 to 214 748 3647 inches degree 0 1 degree 214 748 364 8 to 214 748 364 7 degrees degree 1 degree 2 147 483 648 to 2 147 483 647 degrees Any other settings will be errors 1 UM 63F98 U...

Page 477: ...d when the parameter related to advance angle correction advance angle correction reference speed or advance angle correction reference amount is changed during the electronic cam operation Range 0 to 10 000 ms Any other settings will be errors 1 UM 63F9B UM 63FAF Reserved for system Note The above table shows the unit memory numbers of axis number 1 For details of the whole configuration refer to...

Page 478: ... Each axis information area Synchronous control setting area System area Output control area 128 words 256 words 256 words 9 104 words 3 072 words 396 480 words 10 752 words Each axis setting area Input control area System area 48 words 64 words System area Positioning operation change setting area 1 536 words Cam pattern editing area 106 words UM 66940 UM 66941 UM 66942 UM 66944 UM 6694A Change m...

Page 479: ...47 Any other settings will be errors The ranges vary depending on the unit settings as below pulse 1 to 2 147 483 647 pps μm 1 to 2 147 483 647 μm s inch 0 001 to 2 147 483 647 inch s degree 0 001 to 2 147 483 647 rev s UM 66944 UM 66949 Reserved for system 1 UM 6694A UM 6694B Positioning movement amount change function movement amount K0 Area for setting a change movement amount for changing the ...

Page 480: ...System area 48 words 64 words System area Positioning operation change setting area 1 536 words Cam pattern editing area 106 words UM 66F40 UM 66F41 UM 66F42 UM 66F43 UM 66F44 UM 66F45 UM 66F46 UM 66F47 UM 66F90 UM 66F91 UM 66F92 UM 66F93 UM 66F98 UM 66F99 UM 66F9A 4 words Reserved area for the system 4 words 4 words Reserved area for the system 6 words Reserved area for the system Cam pattern no ...

Page 481: ... to 64 Any other settings will be errors UM 66F41 Reserved for system UM 66F42 No of cam pattern setting sections U0 When reading stores the number of setting sections of the read cam pattern table When rewriting the cam curve number of the rewritten cam pattern table is set bit Name Description 15 0 No of cam pattern setting sections Setting range 1 to 20 sections Any other settings will be error...

Page 482: ...be errors When reading stores it truncating the numbers beyond the third decimal point When rewriting the numbers beyond the third decimal point are calculated in the unit and the result is registered UM 66F45 Displacement of section 1 K0 When reading the displacement in the section 1 of the read cam pattern table is stored When rewriting the displacement in the section 1 of the rewritten cam patt...

Page 483: ...peed 11 Constant acceleration 12 Simple harmonic motion 22 Cycloid 25 Modified trapezoid 26 Modified sine 27 Modified uniform velocity 33 Asymmetric cycloid 34 Asymmetric modified trapezoid 35 Trapecloid 43 One dwell cycloid m 1 44 One dwell cycloid m 2 3 45 One dwell modified trapezoid m 1 46 One dwell modified trapezoid Ferguson 47 One dwell modified trapezoid m 2 3 48 One dwell modified sine 49...

Page 484: ...phase of section 3 U0 UM 66F4D Displacement of section 3 K0 UM 66F4E Cam curve of section 3 U0 UM 66F4F Reserved for system UM 66F50 Start phase of section 4 U0 UM 66F51 Displacement of section 4 K0 UM 66F52 Cam curve of section 4 U0 UM 66F53 Reserved for system UM 66F54 Start phase of section 5 U0 UM 66F55 Displacement of section 5 K0 UM 66F56 Cam curve of section 5 U0 UM 66F57 Reserved for syste...

Page 485: ...66F60 Start phase of section 8 U0 UM 66F61 Displacement of section 8 K0 UM 66F62 Cam curve of section 8 U0 UM 66F63 Reserved for system UM 66F64 Start phase of section 9 U0 UM 66F65 Displacement of section 9 K0 UM 66F66 Cam curve of section 9 U0 UM 66F67 Reserved for system UM 66F68 Start phase of section 10 U0 UM 66F69 Displacement of section 10 K0 UM 66F6A Cam curve of section 10 U0 UM 66F6B Res...

Page 486: ...e of section 13 U0 UM 66F75 Displacement of section 13 K0 UM 66F76 Cam curve of section 13 U0 UM 66F77 Reserved for system UM 66F78 Start phase of section 14 U0 UM 66F79 Displacement of section 14 K0 UM 66F7A Cam curve of section 14 U0 UM 66F7B Reserved for system UM 66F7C Start phase of section 15 U0 UM 66F7D Displacement of section 15 K0 UM 66F7E Cam curve of section 15 U0 UM 66F7F Reserved for ...

Page 487: ...e of section 17 U0 UM 66F87 Reserved for system UM 66F88 Start phase of section 18 U0 UM 66F89 Displacement of section 18 K0 UM 66F8A Cam curve of section 18 U0 UM 66F8B Reserved for system UM 66F8C Start phase of section 19 U0 UM 66F8D Displacement of section 19 K0 UM 66F8E Cam curve of section 19 U0 UM 66F8F Reserved for system UM 66F90 Start phase of section 20 U0 UM 66F91 Displacement of secti...

Page 488: ...of the previous section Check if the relation between the start phases of each section is Start phase of section n 1 Start phase of section n H FF07 Start phase setting error 3 The set start phase of the section 1 is not 0 Always set the start phase of the section 1 to 0 H FF0A Displacement setting error The set value of the displacement is out of the settable range Check the set value of the phas...

Page 489: ...r rewriting by user program is valid 1 Configuration data by tool software CMI is valid 1 Cam no 2 Valid condition 2 Cam no 3 Valid condition 3 Cam no 4 Valid condition 4 Cam no 5 Valid condition 5 Cam no 6 Valid condition 6 Cam no 7 Valid condition 7 Cam no 8 Valid condition 8 Cam no 9 Valid condition 9 Cam no 10 Valid condition 10 Cam no 11 Valid condition 11 Cam no 12 Valid condition 12 Cam no ...

Page 490: ...y map Common area Each axis information area Synchronous control setting area System area System area System area System area Output control area 128 words 256 words 256 words 9 104 words 3 072 words 396 480 words 10 752 words Each axis setting area Input control area System area 48 words 64 words System area Positioning operation change setting area 1 536 words Cam pattern editing area 106 words ...

Page 491: ... exist in the network an error error code 0007H occurs UM 7C4B1 Main Index 0 The main index number of CoE object for SDO communication is set Refer to CoE objects in respective manuals of slave devices UM 7C4B2 Sub Index 0 The sub index number of CoE object for SDO communication is set Refer to CoE objects in respective manuals of slave devices When performing SDO communication with any setting va...

Page 492: ...00 to 0x03FF UM 7C4B5 Command 0H Commands for SDO communication are set bit Name Description 15 0 Comma nd 0000H Initial state processing done 0001H Read 0081H Write Any other settings will be errors UM 7C4B6 Result 0H SDO communication results are stored bit Name Description 15 0 Result 0000H Normal end 5555H During processing Waiting for response FFFFH Error occurs Any other settings will be err...

Page 493: ...to PDO mapping 0604 0042H SDO abort code The number of mapped objects or data length exceeded PDF limit 0604 0043H SDO abort code Incompatibility of general parameters 0604 0047H SDO abort code Incompatibility of the inside of device 0606 0000H SDO abort code Access failure caused by hardware error 0607 0010H SDO abort code Data type mismatch service parameter length mismatch 0607 0012H SDO abort ...

Page 494: ...byte 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 3rd byte Data of 4th byte Low word address High word address Example 2 word data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 2nd word Low word address High word address UM 7C4C1 0000H UM 7C4C2 0000H UM 7C4C3 0000H UM 7C4C4 0000H UM 7C4C5 0000H UM 7C4C6 0000H UM 7C4C7 0000H UM 7C4...

Page 495: ... byte 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 3rd byte Data of 4th byte Low word address High word address Example 2 word data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 2nd word Low word address High word address 1 024 words 0000H 0000H 0000H UM 7C8A4 0000H UM 7C8A5 0000H UM 7C8A6 0000H UM 7C8A7 0000H UM 7C8A8 0000H UM 7C...

Page 496: ...1st byte Data of 2nd byte Example 4 byte data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st byte Data of 2nd byte 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 3rd byte Data of 4th byte Low word address High word address Example 2 word data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 2nd word Low word address High word ad...

Page 497: ...12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st byte Data of 2nd byte Example 4 byte data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st byte Data of 2nd byte 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 3rd byte Data of 4th byte Low word address High word address Example 2 word data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data ...

Page 498: ...ata of 2nd byte 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 3rd byte Data of 4th byte Low word address High word address Example 2 word data 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 1st word 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 bit Data of 2nd word Low word address High word address 2 968 words UM 7DFD3 UM 7DFD4 UM 7DFD5 UM 7DFD6 UM 7DFD7 UM 7DFD8 UM 7DFD9 UM 7DFDA UM 7DFDB UM 7DFD...

Page 499: ... G D B 0 A 4 I K J L 1 B 8 9 C US SI F D b4 b5 0 b6 1 6 5 4 2 3 DEL t s r v u 7 1 1 q p w b7 o O x _ y z e N RS SO m l k CR j n EOT ENQ STX ETX ACK VT LF BS HT BEL FF 1 1 1 i 0 SOH 6 g h d f a c b 0 1 0 1 0 1 1 1 1 0 0 0 1 1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 0 1 0 0 1 1 0 1 0 1 1 0 0 1 1 0 1 1 0 0 0 1 1 0 1 1 1 b4 b5 b6 b2 b3 b7 0 1 1 0 b0 b1 0 0 0 1 0 R C 7 NAK 1 CAN ESC GS A E 0 1 0 T V 7 9 ...

Page 500: ...Specifications 16 104 16 13Dimensions AFP7MC16EC AFP7MC32EC AFP7MC64EC 90 28 80 4 Unit mm ...

Page 501: ...t and actual speed monitor value 2 word data Speed change and movement amount change when axes are operating Switching deceleration stop and pause operation by user programs Torque limit Electronic clutch Clutch phase match OFF Electronic cam Advance angle correction function and editing by user programs Cancelling slave axes when a master axis is operating Synchronous deceleration method S shaped...

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