Panasonic FP? Positioning Unit RTEX Technical Manual Download Page 262 | Manualshive

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17-48

Positioning tables

Data in the following formats is stored from the starting address of positioning tables of each axis.

Offset
address

Name

Descriptions

000H

Control code

Sets the position setting mode and acceleration/deceleration pattern for the

positioning operation.

Bit

Name

Default

Description

0

Increment /absolute

setting

0H

0: Increment mode

1: Absolute mode

1

Acceleration/deceleration

pattern setting

0H

0: Linear acceleration/deceleration

1: S-shaped acceleration/deceleration

15 to 2

-

-

-

001H

Operation

pattern

Sets the independent and interpolation patterns for the positioning operation.

The relation of the interpolation depends on the settings in the axis group setting
area in the common area of the shared memory. In the interpolation operation, the
setting for the axis with the smallest number in an axis group is effective.

Bit

Name

Default

Description

7 to 0

Control

pattern

00H

00H: E point control (End point control)

01H: P point control (Pass point control)

02H: C point control (Continuance point control)

03H: J point control (Speed point control)

Any other settings will be errors.

15 to 8

Interpolation

setting

00H

00H: Linear interpolation (Composite speed)

01H: Linear interpolation (Long axis speed)

10H: Circular interpolation (Center point/CW direction)

11H: Circular interpolation (Center point/ CCW direction)

20H: Circular interpolation (Pass point)

50H: Spiral interpolation (Center point/CW direction/X-axis movement)

51H: Spiral interpolation (Center point/CCW direction/X-axis movement)

52H: Spiral interpolation (Center point/CW direction/Y-axis movement)

53H: Spiral interpolation (Center point/CCW direction/Y-axis movement)

54H: Spiral interpolation (Center point/CW direction/Z-axis movement)

55H: Spiral interpolation (Center point/CCW direction/Z-axis movement)

60H: Spiral interpolation (Pass point/X-axis movement)

61H: Spiral interpolation (Pass point/Y-axis movement)

62H: Spiral interpolation (Pass point/Z-axis movement)

Any other settings will be errors.

002H

-

-

003H

-

-

004H

Positioning

acceleration

time

Sets the acceleration and deceleration time for the positioning operation.

The acceleration time and deceleration time can be set individually. In the
interpolation operation, the setting for the axis with the smallest number in an axis
group is effective.

Bit

Name

Default

Description

15 to 0

Acceleration time

Deceleration time

100

Setting range: 0 to 10,000 (ms)

Any other settings will be errors.

005H

Positioning

deceleration

time

006H

Positioning

target speed

(interpolation

speed)

In case of the individual operation (no interpolation), it is the target speed of the

corresponding axis. In case of the interpolation operation, it is the target speed of

the interpolation.

In the interpolation operation, the target speed for the axis of the smallest number

in a group is valid.

Bit

Name

Default

Description

31 to 0

Positioning

target speed

(Interpolation

speed)

1,000

Setting range: 1 to 32,767,000

Any other settings will be errors.

The interpretation is changed by the unit setting.

pulse: 1 to 32,767,000 pps

µ

m: 1 to 32,767,000

µ

m/s

inch: 0.001 to 32,767.000 inch/s

degree: 0.001 to 32,767.000 rev/s

007H

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Summary of Contents for FP? Positioning Unit RTEX

Page 1: ......

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

Page 3: ...ff and Items to Check 4 1 4 1 Safety Circuit Design 4 2 4 2 Before Turning On the Power 4 3 4 3 Procedure for Turning On the Power 4 4 5 Preparation For Operation 5 1 5 1 Procedures For System Establishment 5 2 5 2 Preparation For Operation 5 8 6 I O Allocation 6 1 6 1 Occupied I O Area 6 2 6 2 Allocation of Each Contact 6 3 7 Setting Tool Configurator PM 7 1 7 1 Connection With Computer 7 2 7 2 F...

Page 4: ...and Usable Home Return Methods 10 6 10 3 Setting and Operation of Home Return 10 7 11 Manual Operation Pulser Operation 11 1 11 1 Setting and Operation of Pulser Operation 11 2 12 Stop Functions 12 1 12 1 Settings and Operations of Stop Functions 12 2 12 2 Setting and Operation of Pause Function 12 3 13 Supplementary Functions 13 1 13 1 Dwell Time 13 2 13 2 Software Limit 13 3 13 3 Torque Limit 13...

Page 5: ...2 17 2 Table of I O Area 17 6 17 3 Configuration of Shared Memory Areas 17 12 17 4 Details of Common Area in Shared Memory 17 13 17 5 Details of Each Axis Information Area in Shared Memory 17 30 17 6 Details of Each Axis Setting Area in Shared Memory 17 40 18 Dimensions 18 1 18 1 FPSigma Positioning Unit RTEX 18 2 18 2 FP2 Positioning Unit RTEX 18 3 19 Sample Programs 19 1 19 1 I O Allocation of S...

Page 6: ...iv ...

Page 7: ...Stop on contact method 2 Phase Z method Data set method Added Delay mode to Auxiliary contact Position deviation simple monitor function Specification change Eliminated Home offset function and added Coordinate origin function and Current update function Added error codes and warning code along with the addition of functions Changed the operations after the occurrence of errors 1 30 Additional fun...

Page 8: ...is convenient especially to confirm the operation at the time of an initial start up PANATERM This is a setup support tool for the servo amplifiers of MINAS series made by Panasonic By using this tool the parameter settings within the AMP monitoring control statuses the setup support or analysis of machines can be executed on PC E point control This is a method of control which is initiated up to ...

Page 9: ... linear acceleration deceleration acceleration and deceleration between the startup and the target speed are carried out in a straight line Acceleration and deceleration take place at a constant percentage The S acceleration deceleration performs acceleration or deceleration curvedly Acceleration deceleration is performed relatively slow at the beginning and gradually increased Acceleration decele...

Page 10: ...ue control method This is a control method in which the distance from the current position to the target position is specified as a relative position This is specified on the positioning data editing screen of the Configurator PM Automatic operation This is an operation to be automatically executed and means a position control Manual operation This is an operation to be executed for an initial boo...

Page 11: ...time shorter than a time for a deceleration stop is set The deceleration time can be specified individually Positioning table Table A series of positioning data such as acceleration deceleration time target speed and interpolation operation that is necessary for a position control is managed as a positioning table For example one table is necessary for the E point control and multiple tables are n...

Page 12: ...controls positions as the locus of the operations of the 2 axis motor with the grouped X axis and Y axis or 3 axis motor with the grouped X axis Y axis and Z axis becomes a straight line There are two setting methods which are a composition speed specification and long axis speed specification Circular interpolation This is the interpolation control that controls positions as the locus of the oper...

Page 13: ... FPΣ Positioning Unit RTEX and FP2 Positioning Unit RTEX are described in this manual The illustrations in this manual shows the status with the FPΣ If you use the FP2 please replace the illustrations of the FPΣ with the following illustration ...

Page 14: ...xii ...

Page 15: ...Chapter 1 Functions of Unit and Restrictions on Combination ...

Page 16: ...red axes 2 axis 4 axis and 8 axis unit are available Can confirm operations without ladder programs Using the tool operation function of the Configurator PM enables a test run without a ladder program and enables to confirm various items such as the rotating direction various input contacts or automatic operation settings Two axis and three axis interpolation controls The 2 axis linear interpolati...

Page 17: ...ts the manual pulser The maximum of three manual pulsers can be connected It is possible to change the axes corresponding to each pulser by the setting of the positioning unit RTEX 1 1 2 Unit Types FPΣ Positioning Unit RTEX Type Function Part number Product number 2 axis type 2 axis control FPG PN2AN AFPG43610 4 axis type 4 axis control FPG PN4AN AFPG43620 8 axis type 8 axis control FPG PN8AN AFPG...

Page 18: ...current consumption 1 3 Restrictions on Unit and AMP 1 3 1 Restrictions on Combination of Unit and AMP As for the combination of the positioning unit RTEX and each MINAS series confirm the following restrictions Combination of Positioning Unit RTEX and AMP A Available Not available Version of Positioning Unit RTEX Connectable AMP A4N A5N A6N Ver 1 0 or later A Ver 1 3 or later A A Ver 1 4 or later...

Page 19: ...omatically changes the setting Do not change this parameter 04 Over travel inhibit input 1 Use setting value 1 Over travel inhibit input is disabled 09 Unit of velocity 0 Use Pulse s 0A Parameter change via network 0 Use setting value 0 Enable When setting setting value 1 inhibit parameters cannot be changed from the positioning unit RTEX 43 Direction of motion 1 The positioning unit automatically...

Page 20: ...avel inhibit input is disabled Pr5 21 Selection of torque limit 1 The positioning unit automatically changes the setting Do not change this parameter Pr7 20 RTEX communication cycle setup 3 Use setting value 3 0 5 ms Pr7 21 RTEX command updating cycle ratio setting 2 Use setting value 2 2 times Pr7 22 RTEX function extended setup 1 0 Use setting value 0 16 byte mode Pr7 23 RTEX function extended s...

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

Page 22: ...2 2 2 1 Parts and Functions FPΣ Positioning Unit RTEX FP2 Positioning Unit RTEX ...

Page 23: ...een LED off LED on Both phase A and phase B are in the off state Both phase A and phase B are in the on state Check the input signals of the pulsers FP2 Positioning Unit RTEX Name Color Status Remarks STATUS Green LED blinks LED on Waiting for network establishment Network establishment LINK Green LED off LED on Not connected Normal connection The state that the TX of the sending node and the RX o...

Page 24: ...2 4 ...

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

Page 26: ...or the wiring of the network To prevent the cable from coming off securely connect the connector of the cable to the network connector RJ45 connector of the unit The length between each node should be within 60 m and the total length of the communication loop should be within 200 m ...

Page 27: ...3 3 3 2 Network Connector RJ45 plug is connected to the network connector Pins of RJ45 plug Connecting diagram ...

Page 28: ...res Tightening torque AWG 28 to 20 0 14 to 0 5 mm 2 Pole terminal with a compatible insulation sleeve If a pole terminal is being used the following models manufactured by Phoenix Contact Co should be used Manufacturer Cross sectional area mm 2 Size Part No Phoenix Contact Co 0 25 AWG 24 A 0 25 7 0 34 AWG 22 A 0 34 7 0 50 AWG 20 A 0 5 6 Pressure welding tool for pole terminals Manufacturer Part No...

Page 29: ... into the connector until it stops with pressing the orange switch 4 Take the tool off the switch Precautions on wiring When removing the wire s insulation be careful not to scratch the core wire Do not twist the wires to connect them Do not solder the wires to connect them The solder may break due to vibration After wiring make sure stress is not applied to the wire ...

Page 30: ...to 5 25 V DC 5 VDC line driver specifications 2 6 10 Pulse input A Minimum ON voltage current 3 V DC 4 mA 3 7 11 Pulse input B Maximum ON voltage current 1 V DC 2 0 mA 4 8 12 Pulse input B Input impedance Approx 390 Ω Minimum input pulse width 0 5 µs or more Max 1 MHz for each phase Note When the pulser is connected to the pulse input the elapsed value increases if the phase A is proceeding more t...

Page 31: ...Chapter 4 Power On Off and Items to Check ...

Page 32: ...ver limit switches as shown above Connect them to the CW and CCW driving inhibition input of the parallel I O connector of AMP For the positioning unit RTEX connect them to the limit input and limit input through the network Install the safety circuit recommended by the manufacturer of the motor being used ...

Page 33: ...ed on an external circuit has been installed securely A 3E A Checking the procedure settings for turning ON the power supplies Make sure settings have been entered so that power supplies will be turned on according to the procedure outlined in section Procedure for Turning On the Power A 4E A Checking the CPU mode selection switch Set the PLC in the PROG mode Setting it in the RUN mode can cause i...

Page 34: ...nected to the system should be taken into consideration and sufficient care should be taken that turning on the power does not initiate unexpected movements or operations 4 3 1 Procedure for Turning On the Power Procedure 1 Turn on the power supplies for input and output devices connected to the PLC 2 Turn on the power supply for the AMP 3 Turn on the power supply for the PLC ...

Page 35: ...wer Procedure 1 Check to make sure the rotation of the motor has stopped and then turn off the power supply for the PLC 2 Turn off the power supply for the AMP 3 Turn off the power supplies for the input and output devices connected to the PLC ...

Page 36: ...4 6 ...

Page 37: ...Chapter 5 4BPreparation For Operation ...

Page 38: ...ng of the network Connect the positioning unit RTEX with each AMP in a loop Connect the TX of the positioning unit RTEX to the RX of an AMP and then connect the TX of the AMP to the RX of the next AMP At the end connect the TX of the last AMP to the RX of the positioning unit RTEX Note Turn off the power supply of the system before wiring cables ...

Page 39: ...determined after the establishment of the network AMP rotary switch number Axis number 1 Axis 1 2 Axis 2 3 Axis 3 4 Axis 4 5 Axis 5 6 Axis 6 7 Axis 7 8 Axis 8 Note An error occurs when the settings as below were specified When the same unit number is redundantly specified on the same network When a unit number was set to 0 When a unit number larger than the maximum axis number of the unit used was...

Page 40: ...irection Therefore they must be matched according to the following procedures 1 Boot the Configurator PM and set the corresponding axis 2 Specify the Select slot from the Online on the menu and select the slot number that the positioning unit RTEX is installed 3 Specify the Download to unit from the File on the menu and down the axis information and parameter setting data 4 The indication for writ...

Page 41: ...nto the positioning unit RTEX or not with operating each switch forcibly The statuses of the input of switches can be confirmed on the status indication display of the Configurator PM Key Point If the operating direction of the motor is opposite to the position of the limits and after the installation of the over limit switch the connection of the limits and can be set to Reverse connection in the...

Page 42: ...ding to the installation of the ball screw or the CW CCW direction setting of the parameter 2 Confirm whether the moving distance is as designed or not by the position control Set the table 1 of the positioning data using the Configurator PM and select the Online Tool operation on the menu of the Configurator PM after downloading the table to the positioning unit RTEX and make the servo on for the...

Page 43: ...meters and data download them to the positioning unit RTEX Note After the parameters and positioning data was downloaded the display to select whether to write them into the FROM flash memory or not is shown When they are written into the flash memory the parameters and positioning data in the flash memory will be automatically reflected to the shared memory when the power supply of the PLC turns ...

Page 44: ...is X112 X12 3 axis X113 X13 4 axis X114 X14 5 axis X115 X15 6 axis X116 X16 7 axis X117 X17 8 axis Contact allocation Target axis Name Descriptions FPΣ FP2 WY10 Y108 WY8 Y88 1 axis Servo ON request Requests the servo lock for the corresponding AMP The servo lock is executed by the ON edge of this contact The servo cannot be free automatically even in the program mode To make the servo free turn on...

Page 45: ...Chapter 6 5BI O Allocation ...

Page 46: ...nt output are occupied for any axis types Type Number of occupied points allocated using a tool software 2 axis type 4 axis type 8 axis type Input 128 points Output 128 points 128SX 128SY With the FPΣ or FP2 the I O numbers vary depending on the installed position of the positioning unit RTEX Reference FPΣ User s Manual ARCT1F333 FP2 FP2SH User s Manual ARCT1F320 ...

Page 47: ...ation request contact Y_7 turns on the positioning data of the shared memory standard area will be restructured This contact will turn on after restructuring completes If the recalculation request contact Y_7 turns on again this contact will be off once Note It is used only when the positioning data has been rewritten by ladder programs X108 X8 1 axis Each axis connection confirmation Turns on whe...

Page 48: ...D X2D 6 axis X12E X2E 7 axis X12F X2F 8 axis WX13 X130 WX3 X30 X131 X31 X132 X32 X133 X33 X134 X34 X135 X35 X136 X36 X137 X37 X138 X38 1 axis Near home Monitor contact for the near home input connected to the corresponding AMP X139 X39 2 axis X13A X3A 3 axis X13B X3B 4 axis X13C X3C 5 axis X13D X3D 6 axis X13E X3E 7 axis X13F X3F 8 axis WX14 X140 WX4 X40 1 axis Imposition Turns on when the positio...

Page 49: ...1 2 axis X162 X62 3 axis X163 X63 4 axis X164 X64 5 axis X165 X65 6 axis X166 X66 7 axis X167 X67 8 axis X168 X68 1 axis Warning annunciation Turns on when a warning occurs on the corresponding axis The contacts of all axes turn on if a warning occurs on all axes The details of the warning can be confirmed in the warning annunciation area of the shared memory X169 X69 2 axis X16A X6A 3 axis X16B X...

Page 50: ...cifying the position control starting table number in the shared memory The operation is the edge type If this contact turns on during the Tool operation by Configurator PM a warning will be output Y111 Y91 2 axis Y112 Y92 3 axis Y113 Y93 4 axis Y114 Y94 5 axis Y115 Y95 6 axis Y116 Y96 7 axis Y117 Y97 8 axis Y118 Y98 1 axis Home return start up Requests the home return for the corresponding AMP Th...

Page 51: ... for the pulser operation are specified by Configurator PM or the pulser operation setting area in the shared memory The operation is the level type Y141 Y121 2 axis Y142 Y122 3 axis Y143 Y123 4 axis Y144 Y124 5 axis Y145 Y125 6 axis Y146 Y126 7 axis Y147 Y127 8 axis Y148 Y128 1 axis J point speed change contact The speed changes by turning on this signal during the J point operation to the target...

Page 52: ...6C Y14C 5 axis Y16D Y14D 6 axis Y16E Y14E 7 axis Y16F Y14F 8 axis WY17 Y170 WY15 Y150 1 axis General purpose output 1 Contact for the general purpose output connected to the corresponding AMP The input status of this contact does not affect on the operation of the motor or positioning unit Y171 Y151 General purpose output 2 Y172 Y152 2 axis General purpose output 1 Y173 Y153 General purpose output...

Page 53: ...Chapter 7 6BSetting Tool Configurator PM ...

Page 54: ... With Computer Install the Configurator PM on a computer and connect it to the tool port of the FPΣ control unit like the above example as well as a programming tool For the FP2 connect to the tool port of the FP2 CPU unit ...

Page 55: ...on the disk or the settings values in the positioning unit RTEX You can jump the cursor to the data with differences from the dialog of the result of verification Search and Replace functions The search or replacement for data item each is possible Twenty search strings and twenty replace strings can be memorized so it is convenient for the repeated search or replacement Showing comments for all p...

Page 56: ...64 bit edition Note Required HDD capacity 20MB or more Recommended CPU Pentium 200MHz or higher Recommended resolution 800 600 or more Recommended memory 64MB or more Depending on OS Recommended display colors 256 colors or more Note Available since Configurator PM Ver 1 22 Application specifications No of characters of data comment 100 bytes table No of histories of search replace strings 20 each...

Page 57: ...ons currently running If there are any applications currently running exit them 2 Insert the setup CD Insert the Configurator PM setup CD in the CD drive 3 Select Run Click on the Start button at the lower left of the screen or press the Ctrl ESC keys to display the start menu of Windows Operation System Select Run 4 Enter the name of the file on which the function is to be run When Run is selecte...

Page 58: ...is displayed Confirm the contents and click on the Next button To interrupt the installation click on Cancel 6 Confirm the licensing agreement The licensing agreement confirmation box is displayed If you agree to all of the items in the displayed license agreement click on Yes The setup process begins ...

Page 59: ...here can be confirmed under Version Information on the splash screen and in the Help function when the Configurator PM is booted 8 Select the installation destination A dialog box is displayed where the folder to which the Configurator PM is to be installed can be confirmed To install the program in the displayed folder click on the Next button The standard destination is C Progam Files Panasonic ...

Page 60: ...he displayed folder name click on the Next button The standard folder name is Panasonic ID SUNX Control To use a different folder name simply enter that name 10 The installation process begins A message is displayed on the screen indicating that the installation is in progress and the Configurator PM setup begins ...

Page 61: ...the process has been completed a dialog box is displayed confirming that the computer will be rebooted Select either radio button reboot at once or reboot later and click on Finish Reference The above group icon is displayed only when the installation completed The procedures of the start up refer to the sections of Starting Configurator PM and Exiting Configurator PM Note Never eject the CD durin...

Page 62: ...c ID SUNX Control and Setting software in the order And then click Configurator PM The following dialog is shown New Create a new setting data for the positioning unit RTEX Open Read the existing setting data Upload from Unit Read the setting data of the positioning unit RTEX Exit End this software ...

Page 63: ...eating Files 7 5 1 98BNew Create a new file 1 Select File New in the menu bar or click New file icon in the toolbar The Select axes dialog is shown 2 Select a unit type to be used 3 Check the axes to use and click OK ...

Page 64: ...e box to perform the synchronous operation Synchronous mode It is used to set the synchronous operation mode Select either Mode A or B Master axis It is used to set the master axis for performing the synchronous operation Slave axis It is used to set the slave axis for performing the synchronous operation The slave axis can be specified for an independent axis only Difference value It is used to s...

Page 65: ...e groups A to D at the bottom of the window to determine the axes of the interpolation groups 6 To perform the synchronous operation check the synchronous operation and specify each setting Clicking OK determines the interpolation group 7 The data setting screen is shown which enables the setting ...

Page 66: ...the Location of File box If the file you want to read is not indicated double click the folder name where the file is saved Double click the sub folder names until the sub folder where the file is saved is open 4 Click the file name The following contents are recorded in the positioning setting file npm that can be used in this software Axis information Parameter settings Data settings Data commen...

Page 67: ...iffer depending on the case of overwrite save and the one saves as a new file Saving a file by overwriting an existing file Select File Save in the menu bar or click the Save icon in the toolbar Saving a file by naming a new name Select File Save As in the menu bar When saving a file by overwriting an existing file the operation completes when the function is selected When saving a file by name a ...

Page 68: ...elect File File property in the menu bar to specify the file property The following dialog is shown 2 Input the creator and comment and click OK Up to 10 one byte characters 5 two byte characters for the creator and 40 one byte characters 20 two byte characters for the comment can be input ...

Page 69: ...igurator PM Select File Exit in the menu bar to quit the Configurator PM If the file is not unsaved a message asking for the save is shown Click Yes to save the file Click No to end the Configurator PM without saving the file ...

Page 70: ...depending on the type of PLCs See below PLC Slot No FPΣ The positioning unit RTEX is installed on the left side of the CPU unit and defined as below Expansion unit 1 Slot No 0 Expansion unit 2 Slot No 1 Expansion unit 3 Slot No 2 Expansion unit 4 Slot No 3 FP2 The positioning unit RTEX is installed on the CPU unit with the motherboard The slot number for the unit installed on the right side of the...

Page 71: ...rt to be used COM1 Baud rate 1200 to 115200 bps 9600 Data length 7 bits 8 bits Set either 7 bits or 8 bits to send 1 byte 8 bits Stop bit 1 bit 2 bits 1 bit Parity None Odd Even Odd Timeout Set the communication timeout time with PLC 0 to 60 seconds 5 seconds Automatic communication settings When the communication condition is different from the PLC check the items to search the matched conditions...

Page 72: ...CW CCW direction is CCW Limit switch Enable disable the limit switch Limit switch connection The connections of the direction limit switch and direction limit switch Standard direction limit is CWL direction limit is CCWL Reverse connection direction limit is CCWL direction limit is CWL Software limit Positioning control Enable disable the software limit in the positioning control Software limit H...

Page 73: ...g the home return once the torque value of the AMP exceeded the setting value in this area by the stop on contact Home return Judgment time ms When using the stop on contact method it is regarded as a criterion for judging the home return once this set time has passed after the torque value of the AMP exceeded the stop on contact torque value Home return Direction The operating direction of the ho...

Page 74: ...ulse is calculated by multiplying the No of input pulse from the pulser by the ratio below Numerator of ratio of pulser operation Denominator of ratio of pulser operation Pulser operation ratio denominator Pulser operation target speed Maximum operation speed of pulser operation OK Update the parameter settings with the specified contents Cancel Close this dialog without updating the parameter set...

Page 75: ...ge the used axes or the groups for the setting data being edited Select Set axis Change axis in the menu bar The following dialog is shown The editing dialog for the interpolation axis group is shown by clicking OK after selecting the used axes ...

Page 76: ...int at the end of the pass point control J point Execute the speed control Specify the end point E point at the end of the speed control J point Interpolation operation Select the operation of interpolation X axis control method Select either increment or absolute coordinate X axis movement amount Input the movement amount of X axis The movement amount depends on the unit system specified in the p...

Page 77: ... Acceleration time ms Set the acceleration time It is set in the ms unit Deceleration time ms Set the deceleration time It is set in the ms unit Interpolation speed Set the interpolation speed Dwell time ms Set the time from when the positioning command in the end point control completes till when the completion flag Y contact turns on For the continuance point control it is the wait time between ...

Page 78: ...scroll the screen using the scroll bar until you can see the cell Input the data item Pressing any character input key or double clicking the mouse on the cell you want to input data enables to input the data as below However in the column with the combo box as below the data item can be set only by inputting the initial character on the keyboard For example input C directly in the column of the p...

Page 79: ...tes of the pasted area If values are contained in the contents of the clipboard the values can be pasted up to the maximum digit number of the data item Key Point If the pasted area is different from the data in the clipboard paste as shown below 7 11 3 105BSelecting All Cells All cells can be selected before the operations such as copy or paste are done It is convenient to copy all the settings o...

Page 80: ...ing item 3 Click Next Key Point Press Esc to end the search Press Replace to change the replacement screen 7 11 5 107BReplacing Character Strings 1 Select Replace Find in the menu bar The following dialog is shown 2 Input the character string to search in the Character string to find box 3 Input the character string after the replacement in the Character string after replacement 4 Select the targe...

Page 81: ...data editing screen to select all the cells in one column Drag the header holding down the left click on the mouse to select multiple columns 7 11 8 110BEditing Data Items Collectively Select a series of the data item in the same column and change them all at once 1 Select the part to change with the mouse or the up and down arrows on the keyboard 2 Input the data item For example press A on the k...

Page 82: ...olbar is indicated with the check and it is not indicated without the check Showing Hiding Status Bar Set to show or hide the status bar Select View Status Bar and check or uncheck in the menu The status bar is indicated with the check and it is not indicated without the check Showing Hiding Parameter Status Bar Set to show or hide the parameter status bar Select View Parameter Status Bar and chec...

Page 83: ...7 31 Setting Font Select Option Font in the menu bar The following dialog is shown ...

Page 84: ...bug Check Parameters and Data in the menu bar or click the Check Parameter and Data icon in the toolbar Verifying File Contents Verify the file currently being edited and the files on the disk or the information in the unit The following procedure is for the verification with the files on the disk Verify the axis information parameters and positioning data collectively Select Debug Verify File in ...

Page 85: ...cute reading the unit Note The process of reading may take for a few minutes Click Cancel to stop the read 3 When the read completes successfully a message asking if the data comment will be held is indicated Click Yes to leave all the comments set in the data Click No to clear all the comments Note To execute the upload previously determine the target positioning unit RTEX by the communication se...

Page 86: ... settings Then select File Download to Unit in the menu bar or click the Download to Unit icon in the toolbar The dialog is shown as below Connect to Displays the slot number of a positioning unit RTEX to be transferred Select slot The slot number of a positioning unit RTEX to be transferred can be changed Communication settings Changes the communication setting 2 Clicking Yes displays the followi...

Page 87: ...me required for the download depends on the range of the positioning setting data Note To execute the download previously determine the target positioning unit RTEX by the communication settings and selecting the slot number 4 Once the download completes the following dialog is shown Clicking Yes indicates the following dialog and save the setting data in the FROM Flash Memory within the positioni...

Page 88: ... Then select Tool Write to FROM in the menu bar The following dialog is shown Clicking Yes indicates the following dialog and save the setting data in the FROM Flash Memory in the unit The saved setting data is automatically read when the power supply of the PLC turns on Click No not to write the setting data to the FROM The downloaded data is erased when the power supply of the PLC turns off Note...

Page 89: ... the value of feedback pulses Current value after unit conversion Monitor the feedback value of the AMP after the unit conversion Torque command Monitor the torque command value of the AMP Actual speed rpm Monitor the actual speed rpm of the AMP State of axis The operating states of axes or error and warning occurrences Error code The latest error code when an error occurred Error clear Clear the ...

Page 90: ...splay the model code of a motor servo free The state of the servo of the AMP whether it is locked or free Status The operating states of axes Completion width The state of the deviation counter whether it is in the range of the imposition or out of the range of the imposition Home proximity The state of the AMP input contact whether the home return is input or not Limit The limit input state of th...

Page 91: ...umber according to the settings of the data stored in the positioning unit RTEX JOG operation The specified axis can be moved to the specified direction with the specified speed while the operation command is on Teaching Control the axis manually using the same operation as the JOG operation and reflect the resulting positioning address on the data editing screen Note It is not possible to change ...

Page 92: ... 2 Set the servo to on off by clicking the Change ON OFF for the equivalent axes If the servo is on for the 1 axis to 3 axis the setting is as below 3 Click Close to close this dialog after completing the servo ON for the axes operated in the tool operation The tool operation dialog is automatically shown once the dialog is closed Note If the servo ON OFF has been controlled using the ladder progr...

Page 93: ...owing dialog is shown Axis Group The axis numbers and group names to be monitored Synchronous group Displays the current synchronous group Synchronous mode Displays the current synchronous mode Synchronous condition Displays the current synchronous state synchronous or asynchronous Click Change synchronous to display the dialog for changing the synchronous setting Current value Monitor the feedbac...

Page 94: ...rded as 100 and the operation is executed in the specified speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective only in the tool operation and it changes to the original speed rate automatically once the tool operation quits Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warnin...

Page 95: ...The axis numbers and group names to be monitored Synchronous group Displays the current synchronous group Synchronous mode Displays the current synchronous mode Synchronous condition Displays the current synchronous state synchronous or asynchronous Click Change synchronous to display the dialog for changing the synchronous setting Current value Monitor the feedback values after the unit system co...

Page 96: ...ically once the tool operation quits Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 2 Click Change in the starting table number field to specify the starting table number Specify the starting table number and click Operate to start the positioning ope...

Page 97: ...hronous to display the dialog for changing the synchronous setting Current value Monitor the feedback values after the unit system conversion for each axis Current value update Click Current value update to display the dialog for inputting value to change the preset value Unit The unit of position for each axis specified in the parameter settings JOG target speed Monitor and display the target spe...

Page 98: ...to the original speed rate automatically once the tool operation quits Note If an recoverable error occurred in the positioning unit RTEX click Error Clear to clear the error If a warning occurred in the positioning unit RTEX click Warning Clear to clear the warning 2 Click the JOG for the JOG operation in the forward rotation Click the JOG for the JOG operation in the reverse rotation 3 Click Cur...

Page 99: ...operation and register the positioning addresses where the axes stopped as the point data Note To perform the teaching operation the equivalent axes should be in the state that the servo is locked servo ON 1 Click Teaching in the tool operation dialog The following dialog is shown ...

Page 100: ...atest warning code when a warning occurs Warning clear Clear the warning by clicking this button when a warning occurred Speed rate The target speed of the home return specified in the parameter settings for each axis is regarded as 100 and the operation is executed in the specified speed rate Clicking Speed rate shows the dialog for inputting the value The speed rate changed here is effective onl...

Page 101: ...urrent value update to change the current value The following dialog box is displayed Enter the current value to be changed 5 Click Close to close the dialog Note This dialog cannot be closed during the JOG operation ...

Page 102: ...7 50 ...

Page 103: ...Chapter 8 7BAutomatic Operation Position Control ...

Page 104: ...n time and deceleration time can be set individually For the P point control and C point control the E point should be set as the last table Also in the P point control and C point control the operation done flag turns on after the last table was executed JOG positioning J point control i e speed control is available in addition to P point control C point control and E point control J point contro...

Page 105: ...lation control The procedures to set the positioning data and to start the position control are the same for the E point control P point control and C point control The operation of each control is determined according to the contents of the positioning data to be set ...

Page 106: ...ance point E End point P Pass point J Speed point Control method I Increment I Increment A Absolute X axis movement amount 10000 pulse Pulse 1 073 741 823 to 1 073 741 823 pulse µm 0 1 µm 107 374 182 3 to 107 374 182 3 µm µm 1 µm 1 073 741 823 to 1 073 741 823 µm inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 t...

Page 107: ...cating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the parameter setting of the Configurator PM after send...

Page 108: ...tion position The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation When E point control is executed Forward Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs Reverse Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs During E poin...

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

Page 110: ...g Once starting the table 1 the operation continues up to the table 3 automatically The last table should be set to E End point If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts The number of the startup contact and flag varies depending on the number of axes and...

Page 111: ... P Pass point J Speed point Control method I Increment I Increment I Increment I Increment A Absolute X axis movement amount 5000 pulses 10000 pulses 3000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse µm 0 1 µm 107 374 182 3 to 107 374 182 3 µm µm 1 µm 1 073 741 823 to 1 073 741 823 µm inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree...

Page 112: ...8 10 Operation diagram 1 The operation shifts to the next action after the elapse of dwell time For details of dwell time refer to 13 1 Dwell Time ...

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

Page 114: ...y each setting of a specified table The J point control code J point acceleration deceleration time and J point target speed are enabled when changing the speed of the J point control Precautions when performing J point control A speed change is possible during J point control but impossible during acceleration or deceleration The speed change while accelerating decelerating is ignored and the spe...

Page 115: ...01 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration deceleration pattern L Linear L Linear L Linear L Linear S S shaped Acceleration time ms 100 ms 200 ms 30 ms 0 to 10000 ms Deceleration time ms 10 ms 20 ms 150 ms 0 to 10000 ms Target speed 10000 pps 20000 pps 5000 pps Pulse 1 to 32 76...

Page 116: ... Precautions on programming Once starting the table 1 the operation continues up to the table 3 automatically The last table should be set to E End point If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts The number of the startup contact and flag varies depending...

Page 117: ...Composite speed Composite speed of X axis and Y axis Long axis speed Speed of long axis Axis of which moving distance is long 2 axis circular interpolati on control Center point CW direction X axis and Y axis coordinate of center point Center point CCW direction X axis and Y axis coordinate of center point Pass point X axis and Y axis coordinate of pass point on arc 3 axis linear interpolati on co...

Page 118: ...8 16 ...

Page 119: ...8 17 When the X axis and Y axis is the moving axes each axis in the above diagram is replaced ...

Page 120: ...te speed 1 Linear Long axis speed S Circular Pass point CW direction T Circular Pass point CCW direction U Circular Pass point Control method I Increment I Increment A Absolute X axis movement amount 10000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse µm 0 1 µm 107 374 182 3 to 107 374 182 3 µm µm 1 µm 1 073 741 823 to 1 073 741 823 µm inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0...

Page 121: ...he parameter setting of the Configurator PM after sending the command to move to the target position Sample program Precautions on programming To start the interpolation control turn on the positioning start contact of the axis with the smallest number in the same group The values of the X axis auxiliary point and Y axis auxiliary point are invalid for the linear interpolation When setting the lon...

Page 122: ...te speed 1 Linear Long axis speed S Circular Pass point CW direction T Circular Pass point CCW direction U Circular Pass point Control method I Increment I Increment A Absolute X axis movement amount 0 pulse Pulse 1 073 741 823 to 1 073 741 823 pulse µm 0 1 µm 107 374 182 3 to 107 374 182 3 µm µm 1 µm 1 073 741 823 to 1 073 741 823 µm inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001...

Page 123: ...ion the X axis auxiliary point is the center point of X axis and the Y axis auxiliary point is the center point of Y axis In case of the pass point each pass point is set as the pass point of X axis and Y axis When the control method is increment both the center point and pass point are the increment coordinate from the start point When the start point and the operation done point is the same it p...

Page 124: ...ement D Spiral Center point CCW direction Y axis movement E Spiral Center point CW direction Z axis movement F Spiral Center point CCW direction Z axis movement L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis movement Control method I Increment I Increment A Absolute X axis movement amount 10000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse µm...

Page 125: ...1 2 and 3 FPΣ X120 X121 X122 FP2 X20 X21 X22 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the pa...

Page 126: ...olation When setting the long axis speed the composite speed is faster than the long axis speed If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position control starts The number of the startup contact and flag varies depending on the number of axes and the installation position The s...

Page 127: ... CW direction Y axis movement D Spiral Center point CCW direction Y axis movement E Spiral Center point CW direction Z axis movement F Spiral Center point CCW direction Z axis movement L Spiral Pass point X axis movement M Spiral Pass point Y axis movement N Spiral Pass point Z axis movement Control method I Increment I Increment A Absolute X axis movement amount 0 pulse Pulse 1 073 741 823 to 1 0...

Page 128: ...1 2 and 3 FPΣ X120 X121 X122 FP2 X20 X21 X22 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts The timing of that the flag turns on is at the time that the current value of the AMP became within the completion width specified in the pa...

Page 129: ...rforms one circular operation when using the center point method However when using the pass point method an error occurs In case of the pass point method when the start point pass point and operation done point exist in the same straight line an arc is not comprised and an error occurs When setting the long axis speed the composite speed is faster than the long axis speed If any value such as a m...

Page 130: ...e B Differences in the operations of synchronous modes Synchronous mode A Synchronous mode B Synchronous setting A maximum of 2 groups can be set for the synchronous group An individual operation mode can be set for each synchronous group Enabled disabled of synchronous operation It can be selected either Enabled or Disabled Only Enabled Positioning operation JOG operation Operation stop Pulser op...

Page 131: ...re different when using the home return Home return when using synchronous mode A In the synchronous mode A the home return is performed for each axis individually Procedure 1 Disable the synchronous operation 2 Execute the home return for the master axis and slave axis individually 3 Enable the synchronous operation after confirming the completion of the home return for the master and slave axes ...

Page 132: ...roup 1 Operation enabled disabled Switches the setting for the synchronous operation between Enabled and Disabled When using the synchronous mode B this setting is ignored and an operation always being synchronized is performed Bit Name Default Description 0 Group attribute of axis 1 0 0 Executes synchronous operation 1 Cancel synchronous operation 1 Group attribute of axis 2 0 2 Group attribute o...

Page 133: ...is during the synchronous operation JOG operation Acceleration time JOG operation Deceleration time JOG operation Target speed JOG positioning operation setting code JOG positioning operation acceleration time JOG positioning operation deceleration time JOG positioning operation target speed Emergency stop deceleration time ms The operation varies according to the type of stop operations For the d...

Page 134: ...3 to 1 073 741 823 pulse µm 0 1 µm 107 374 182 3 to 107 374 182 3 µm µm 1 µm 1 073 741 823 to 1 073 741 823 µm inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Acceleration deceleration pattern L Linear L Linear S S shaped Acceleration ...

Page 135: ... off when the operation completed The operation done flag FPsigma X120 and X121 FP2 X20 and X21 indicating the state that an operation completed turns on when the position control completed and it will be held until any operation among the position control JOG operation home return and pulser operation starts In the synchronous operation the request for the operation of the slave axis is ignored ...

Page 136: ...installation position The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation When E point control is executed Forward Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs Reverse Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs Durin...

Page 137: ...s the E point control as the P point control and completes the operation after repeating the positioning control for 3 times without stopping the operation When setting the dwell time to a number other than 0 for the E point control that is the last of the positioning control the positioning unit processes the E point control as the C point control and execute the positioning control again after s...

Page 138: ...method I Increment I Increment I Increment I Increment A Absolute X axis movement amount 5000 pulses 10000 pulses 3000 pulses Pulse 1 073 741 823 to 1 073 741 823 pulse µm 0 1 µm 107 374 182 3 to 107 374 182 3 µm µm 1 µm 1 073 741 823 to 1 073 741 823 µm inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 1 7 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374...

Page 139: ...ontrol JOG operation home return and pulser operation starts Sample program Precautions on programming Once starting the table 1 the operation continues up to the table 3 automatically The last table should be set to E End point If any value such as a movement amount acceleration time deceleration time or target speed is out of the specified range a setting value error will occur when the position...

Page 140: ...rd Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs Reverse Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs During position control Forward Limit input ON Deceleration stop Error occurs Reverse Limit input ON Deceleration stop Error occurs ...

Page 141: ...Chapter 9 8BManual Operation JOG Operation ...

Page 142: ... speed 10000 pps Pulse 1 to 32 767 000 pps µm 1 to 32 767 000 µm s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Operations of each contact The BUSY flag FPΣ X118 FP2 X18 indicating the state that a motor is running turns on when the JOG operation started and it turns off when the operation completed The operation done flag FPΣ X120 FP2 X20 indicating the state...

Page 143: ...tallation position of the unit Operation at limit input Condition Direction Limit status Operation When JOG operation is executed Forward Limit input ON Not executable Error occurs Limit input ON Executable Reverse Limit input ON Executable Limit input ON Not executable Error occurs During JOG operation Forward Limit input ON Deceleration stop Error occurs Reverse Limit input ON Deceleration stop ...

Page 144: ...s 0 to 10000 ms Deceleration time 2 ms 150 ms 0 to 10000 ms Target speed 2 20000 pps Pulse 1 to 32 767 000 pps µm 1 to 32 767 000 µm s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Operation diagram Operations of each contact The BUSY flag FPΣ X118 FP2 X18 indicating the state that a motor is running turns on when the JOG operation started and it turns off when the operation com...

Page 145: ...trieved when the speed is changed during the JOG operation the acceleration deceleration speed can be changed The number of the startup contact and flag varies depending on the number of axes and the installation position The specified slot number varies depending on the installation position of the unit ...

Page 146: ...9 6 ...

Page 147: ...Chapter 10 9BManual Operation Home Return ...

Page 148: ...on and set the coordinate to zero The following home return methods are available for the positioning unit DOG method 1 Edge detection of near home switch Home based on front end The rising edge of the first home position phase Z is set as the starting point after the detection of the rising edge of the near home switch DOG ...

Page 149: ...tected and it is set as the starting point DOG method 3 Edge detection of near home switch Home based on back end The rising edge of the first home position phase Z in the home return direction is set as the starting point after the detection of the trailing edge back end of the near home switch DOG ...

Page 150: ...nd stops That point becomes the starting point Home phase Z method Edge detection of home position Moves the current position to the home return direction and stops at the position where the rising edge of the home position phase Z is detected This coordinate is set as the starting point Stop on contact method 1 Stop on contact The position reached after a constant time has passed at the torque va...

Page 151: ...ontact method it performs the reverse operation after the stop by a stopper and stops at the position where the first home position phase Z is detected This coordinate is set as the starting point Data Set Method The current value is considered as the origin Sample Program Refer to Home return ladder program for demo fp ...

Page 152: ...et logic Pr 4 00 SI1 5 00323232H SI MON5 A contact Pr 4 01 SI2 7 00000000H Pr 4 02 SI3 8 00000000H Pr 4 03 SI4 9 002E2E2EH SI MON1 A contact Pr 4 04 SI5 10 00222222H HOME A contact Pr 4 05 SI6 11 00010101H POT A contact Pr 4 06 SI7 12 00020202H NOT A contact Pr 4 07 SI8 13 00313131H SI MON4 A contact Available home return methods for each AMP setting of A6N A5N are as follows Home return method Re...

Page 153: ... Limit direction 1 Limit direction Acceleration time ms 100 ms 0 to 10000 ms Deceleration time ms 100 ms 0 to 10000 ms Target speed 10000 pps Pulse 1 to 32 767 000 pps µm 1 to 32 767 000 µm s Inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Return creep speed 1000 pps Operation diagram Operations of each contact The BUSY flag FPΣ X118 FP2 X18 indicating the state that a motor is ru...

Page 154: ...ng on the installation position of the unit Operation at limit input Condition Direction Limit status Operation When Home return operation is executed Forward Limit input ON Executable Limit input ON Executable Reverse Limit input ON Executable Limit input ON Executable During Home return operation Forward Limit input ON Automatic reverse operation Reverse Limit input ON Automatic reverse operatio...

Page 155: ...Chapter 11 10BManual Operation Pulser Operation ...

Page 156: ...of the pulser input exceeds the specified maximum speed The number of pulses that has been input with the pulser is kept As the pulse that could not be output is kept the pulse may be output even without input from the pulser Speed unit is Set unit X1000 s Speed limit cutoff Operates keeping the maximum speed once the speed of the pulser input exceeds the specified maximum speed The pulse that cou...

Page 157: ... Pulse retention 2 Speed limit Round down Pulser operation maximum speed 500 Pulse 1 to 32 767 000 pps Operation diagram Operations of each contact The BUSY flag FPΣ X118 FP2 X18 indicating the state that a motor is running turns on when a pulser operation enabled contact turned on and it turns off when the pulser operation enabled contact turned off The operation done flag FPΣ X120 FP2 X20 indica...

Page 158: ...ion position The specified slot number varies depending on the installation position of the unit Operation at limit input Condition Direction Limit status Operation When Pulser operation is executed Forward Limit input ON Not executable Limit error occurs Limit input ON Executable Reverse Limit input ON Executable Limit input ON Not executable Limit error occurs During Pulser operation Forward Lim...

Page 159: ...Chapter 12 11BStop Functions ...

Page 160: ...ach request contact in the I O area The stopped state is held while each contact is on until each request signal turns off Any operation cannot be performed in the stopped state Refer to the following table for the stop by turning contacts on It indicates the allocated I O when the FPΣ FP2 positioning unit RTEX is installed in the slot 0 Contact allocation Target axis Name Descriptions FPΣ FP2 Y10...

Page 161: ...eceleration stop except during the positioning operation In the repeat operation operates until getting to the E point targeted for repeating and stops Restarts the repeat operation when resetting Deceleration stop request signal from ON to OFF When executing the system stop or emergency stop in paused state the pause will be reset and the operation will not be restarted even if the Deceleration s...

Page 162: ...12 4 ...

Page 163: ...Chapter 13 12BSupplementary Functions ...

Page 164: ...rns on For P point control In the P point control the positioning table operates consecutively therefore the dwell time is ignored For the last table E point as well as the E point control the dwell time is the time taken from the completion of the position command until the operation done flag turns on For C point control The dwell time is the waiting time for executing the next table from the co...

Page 165: ...thin the range of the mechanical limits and as below When exceeding the setting range of the software limit upper and lower limit values an error occurs and the deceleration stop is executed It is necessary to clear the error and move the motor into the range of the software limit using an operation such as JOG operation after the stop Whether the software limit is set to be available or not can b...

Page 166: ...s the torque limit value of axis 2 3000 1 to 5000 0 1 0E2H Torque limit value of axis 3 Stores the torque limit value of axis 3 3000 1 to 5000 0 1 0E3H Torque limit value of axis 4 Stores the torque limit value of axis 4 3000 1 to 5000 0 1 0E4H Torque limit value of axis 5 Stores the torque limit value of axis 5 3000 1 to 5000 0 1 0E5H Torque limit value of axis 6 Stores the torque limit value of ...

Page 167: ... time Torque Limit The realtime 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 e limit by PANATERM etc when using the torque limit ...

Page 168: ...f the shared memory However if the J point control has been specified for the automatic operation the operation is the same as the one in the With mode Also the ON time of the auxiliary contact flag can be specified in the ms unit Reference 17 6 2 Parameter Setting Area Note When performing the J point control the operation in the Delay mode is the same as the one in the With mode When the auxilia...

Page 169: ... The judgment values for the actual speed and torque can be specified for axis each and it is possible to select either to give an error or warning When an error occurs the operation stops with the error stop deceleration time and the next operation cannot be executed until performing the error clear When giving a warning the warning is just informed and the operation continues Reference 17 6 2 Pa...

Page 170: ...at is a setting tool for the AMP Reference 17 2 Table of I O Area Completion width It is used to set the timing to turn on the operation done flag allocated to the I O of the positioning unit RTEX The operation done flag turns when the current position is in the range of the completion width pulse of the target command position after the completion of the pulse output The completion width is monit...

Page 171: ...oordinate of axis 1 Stores the coordinate to change the current value of axis 1 0C9H 0CAH Current value update coordinate of axis 2 Stores the coordinate to change the current value of axis 2 0CBH 0CCH Current value update coordinate of axis 3 Stores the coordinate to change the current value of axis 3 0CDH 0CEH Current value update coordinate of axis 4 Stores the coordinate to change the current ...

Page 172: ...13 7 1 135BRestrictions on Operation The current value update can be executed only when the target axes stop Although the current value update function can be executed during the operation of a target axis the current value update request during the axis operation Busy is ignored and the current value is automatically updated after the axis operation stops ...

Page 173: ...a for the axis of which coordinate will be changed after the home return 2 Execute the home return for the target axis After the home return the coordinated specified in the above 1 becomes the origin Offset address Name Description 04AH Coordinate origin Stores the value of coordinate origin after the home return 04BH Reference 17 6 2 Parameter Setting Area Note The coordinate origin value should...

Page 174: ...er 1 13 or later Bank Offset address Name Description 01H 034H Position deviation of axis 1 The position deviation calculated on the unit of axis 1 is stored 035H 074H Position deviation of axis 2 The position deviation calculated on the unit of axis 2 is stored 075H 0B4H Position deviation of axis 3 The position deviation calculated on the unit of axis 3 is stored 0B5H 0F4H Position deviation of ...

Page 175: ...eration As the deviation to be displayed with the position deviation simple monitor is calculated within the positioning unit a difference may occur with the deviation counter value of the AMP The display of the position deviation monitor is updated by 10 ms ...

Page 176: ...e axis number AMP ID No to be read to the AMP ID number Set the parameter number to be read to the individual parameter number Set the control flag to 2H Read request 3 The positioning unit RTEX reads parameters of the AMP and stores the parameter values in the A4N parameter data of the AMP parameter control area 4 Confirm the AMP parameter control area status is 2H Normal end 5 Change the AMP con...

Page 177: ...13 15 Sample program When reading AMP parameter No 1 1 of axis 1 with A6N or A5N ...

Page 178: ...ntrol mode to 0 AMP control disable after reading parameter data With A6N A5N 1 Change the AMP control mode to 1 AMP control enable 2 AMP parameter control area Set the axis number AMP ID No to be read to AMP ID number Set the parameter classification to be read to the A6N A5N parameter classification Set the parameter number to be read to the individual parameter number Store the parameter value ...

Page 179: ...13 17 Sample program When writing AMP parameter No 1 1 of axis 1 with A6N or A5N ...

Page 180: ...axis number AMP ID No to be read to AMP ID number Set the control flag to 5H EEPROM write request 3 The positioning unit RTEX performs EEPROM write of the AMP 4 Confirm the AMP parameter control area status is 2H Normal end 5 Change the AMP control mode to 0 AMP control disable after reading parameter data Sample program When saving AMP parameters of axis 1 ...

Page 181: ...trol flag to 6H AMP reset request 3 The positioning unit RTEX resets the AMP 4 Confirm the AMP parameter control area status is 2H Normal end 5 Change the AMP control mode to 0 AMP control disable after reading parameter data Note When the AMP is reset all the connected axes will result in error and be in the servo off state because the network is disconnected Sample program When resetting AMP of ...

Page 182: ... deviation of axis 2 The position deviation calculated on the unit of axis 2 is stored 075H 0B4H Position deviation of axis 3 The position deviation calculated on the unit of axis 3 is stored 0B5H 0F4H Position deviation of axis 4 The position deviation calculated on the unit of axis 4 is stored 0F5H 134H Position deviation of axis 5 The position deviation calculated on the unit of axis 5 is store...

Page 183: ...Chapter 14 Precautions During Programming ...

Page 184: ...n the positioning unit RTEX When parameters and positioning data has been set using the Configurator PM it is selectable whether to store them in the FROM flash memory or not at the time of downloading to the positioning unit 14 1 2 Once starting an Operation Once any start up contact of the automatic operation position control manual operations JOG operation home return pulser operation turns on ...

Page 185: ... contact 3 Confirm the input contact X_7 recalculation done contact is on Confirm the completion of the recalculation If the data is not recalculated after rewriting the positioning table by the ladder program note that the operation will be executed with the positioning table before the rewriting The extended area is used when the setting values of the positioning table cannot be determined until...

Page 186: ... the operation will stop 14 1 5 Upper Limit of Speed The speed specified in the positioning unit RTEX is internally calculated using the following items to calculate the speed to instruct the servo AMP Unit setting Pulse number per rotation Movement amount per rotation Therefore the calculation may be failed depending on the above parameter setting as a result of the internal calculation even if t...

Page 187: ...Chapter 15 Errors and Warnings ...

Page 188: ...etails can be identified by the error warning codes 15 1 2 Error and Warning Logs There are log areas to store the error warning logs within the positioning unit RTEX Error log Max 7 error codes can be stored for each axis axes 1 to 8 Warnings log Max 7 warning codes can be stored for each axis axes 1 to 8 Once an error warning occurs the error warning code will be stored in the log area of the ax...

Page 189: ...leared by the error clear request flag or warning clear request flag of the I O allocated to the data monitor screen of Configurator PM or operation screen of each tool Note When an error occurred the axis that the error occurred will not be operated until the execution of the error clear Reference 17 4 10 Error Annunciation Clear Area 17 4 11 Warning Annunciation Clear Area 15 1 4 Error and Warni...

Page 190: ...s output from the AMP are decimal Also the AMP errors differ depending on the types of AMP For details of the processing for AMP errors refer to the manuals of servo amplifiers When an AMP error occurs the servomotor automatically becomes free Execute the servo on request again after clearing the error How to read AMP error codes For A6N A5N An AMP error is divided into a main code and sub code As...

Page 191: ...H 23 0 Encoder communication data error protection 0018H 24 0 Position deviation excess protection 0118H 24 1 Speed deviation excess protection 0019H 25 0 Hybrid deviation excess error protection 001AH 26 0 Over speed protection 011AH 26 1 2nd over speed protection 011BH 27 1 Absolute clear protection 041BH 27 4 Command error protection 1 051BH 27 5 Command generation error protection 061BH 27 6 O...

Page 192: ...ization error protection 002CH 44 0 Single turn counter error protection 002DH 45 0 Multi turn counter error protection 0030H 48 0 Encoder Z phase error protection 0031H 49 0 Encoder CS signal error protection 0032H 50 0 External scale connection error protection 0132H 50 1 External scale communication error protection 0033H 51 0 External scale status 0 error protection 0133H 51 1 External scale s...

Page 193: ... 3 External scale connection error protection 055DH 93 5 Parameter setting error protection 4 085DH 93 8 Parameter setting error protection 6 025EH 94 2 Home position return error protection 035EH 94 3 Home position return error protection 2 005FH 95 0 Motor automatic recognition error protection 015FH 95 1 Motor automatic recognition error protection 025FH 95 2 Motor automatic recognition error p...

Page 194: ... protection 0010H 16 0 Over load protection 0110H 16 1 Torque saturation error protection 0012H 18 0 Over regeneration load protection 0112H 18 1 Over regeneration Tr error protection 0015H 21 0 Encoder Communication disconnect error protection 0115H 21 1 Encoder Communication error protection 0017H 23 0 Encoder communication data error protection 0018H 24 0 Position deviation excess protection 01...

Page 195: ...tput function number error 1 protection 0521H 33 5 I F output function number error 2 protection 0821H 33 8 Latch input allocation error protection 0022H 34 0 Software limit protection 0024H 36 0 EEPROM parameter error protection 0124H 36 1 EEPROM parameter error protection 0224H 36 2 EEPROM parameter error protection 0025H 37 0 EEPROM check code error protection 0125H 37 1 EEPROM check code error...

Page 196: ...1 5 External scale status 5 error protection 0037H 55 0 A phase connection error protection 0137H 55 1 B phase connection error protection 0237H 55 2 Z phase connection error protection 0052H 82 0 RTEX node addressing error protection 0053H 83 0 RTEX communication error protection 1 0153H 83 1 RTEX communication error protection 2 0054H 84 0 RTEX time out error protection 0354H 84 3 RTEX sync and ...

Page 197: ...tection 005FH 95 0 Motor automatic recognition error protection 015FH 95 1 Motor automatic recognition error protection 025FH 95 2 Motor automatic recognition error protection 035FH 95 3 Motor automatic recognition error protection 045FH 95 4 Motor automatic recognition error protection 0162H 98 1 RTEX hardware error protection 1 0262H 98 2 RTEX hardware error protection 2 0362H 98 3 RTEX hardware...

Page 198: ...ter overflow protection 0022H 34 Software limit protection 0023H 35 External scale communication error protection 0024H 36 EEPROM parameter error protection 0025H 37 EEPROM check code error protection 0026H 38 Over travel inhibit input protection 0028H 40 Absolute system down error protection 0029H 41 Absolute counter over error protection 002AH 42 Absolute over speed error protection 002CH 44 Abs...

Page 199: ...58 External scale other error protection 0052H 82 Node addressing error protection 0053H 83 Communication error protection 0054H 84 Time out error protection 0056H 86 Cyclic data error protection 0057H 87 Compulsory alarm input protection 005FH 95 Motor automatic recognition error protection Other Other error ...

Page 200: ... An error occurred in the system processing due to any reason All axes A Check the settings If the setting values are correct and the error occurred repeatedly please contact us 1010H FROM writing error An error occurred when the positioning settings were written in the positioning unit All axes A Rewrite into the FROM again If the error occurred repeatedly please contact us 1020H Tool operation a...

Page 201: ... positioning unit RTEX and AMP and communication was cut off Each axis A Check the status of the AMP As information on the AMP cannot be obtained when communication is cut off an error on the AMP may not be obtained Check the communication cable 2004H AMP parameter control error A communication error occurred during an AMP parameter operation read write save or reset Each axis A Check the status o...

Page 202: ...imit minus side detection The movement amount of the motor exceeded the lower limit of the software limit Each axis A 3025H Command speed operation error 1 The internal calculation of command speed was overflowed Each axis A Slow down the setting speed Check the settings of the pulse number per rotation and movement amount per rotation 3026H Command speed operation error 2 3027H Command speed oper...

Page 203: ...tedly with the correct setting value please contact us 3044H Synchronous operation not settable In pulser operation The setting of the synchronous operation was changed during the pulser operation Each axis A Changing the setting of the synchronous operation should be performed when the pulser operation enabled signal is off 3045H Synchronous axis operation mismatch error The difference between th...

Page 204: ...ge Each axis A 4010H Software limit setting error The upper or lower limit value of software limit is out of the range Each axis A Check the setting value If the error occurred repeatedly with the correct setting value please contact us 4020H Limit stop deceleration time error The limit stop deceleration time is out of the range Each axis A 4021H Error stop deceleration time error The error stop d...

Page 205: ... error The target speed of the JOG positioning is out of the range Each axis A 4102H Home return target speed error The target speed of the home return is out of the range Each axis A 4105H Home return acceleration time error The acceleration time of the home return is out of the range Each axis A 4106H Home return deceleration time error The deceleration time of the home return is out of the rang...

Page 206: ...me is out of the range Each axis A 4303H Positioning starting table No error The specified table number is 0 or it exceeds the maximum table number Each axis A 4304H Table setting error The last table of the positioning setting tables is not point E Each axis A 4400H Positioning movement amount setting error The movement amount of the positioning operation is out of the range Each axis A 4401H Pos...

Page 207: ...g for AMP warnings refer to the manuals of servo amplifiers How to read AMP warning codes For A6N A5N The warning numbers of AMP are obtained by subtracting A000H from the warning codes of this unit Example When an overload protection occurred Warning code of this unit A0A0 H Subtract A000H from the warning code 00A0 H Warning number of AMP A0 H How to read AMP warning codes For A4N The warning nu...

Page 208: ...n error warning A0C1H C1 RTEX accumulated communication error warning A0C2H C2 RTEX_Update_Counter error warning A0C3H C3 Main power off warning AMP warning code table For A5N Warning code of FPΣ FP2 Positioning Unit RTEX Warning code Hex Warning name A0A0H A0 Overload protection A0A1H A1 Over regeneration alarm A0A2H A2 Battery alarm A0A3H A3 Fan alarm A0A4H A4 Encoder communication alarm A0A5H A...

Page 209: ...Decimal Warning function A010H 16 Overload warning A012H 18 Regenerative overload warning A028H 40 Battery warning A053H 83 Continuous communication error warning A054H 84 Communication error accumulated warning A056H 86 Update Counter warning A058H 88 Fan lock warning A059H 89 External scale warning ...

Page 210: ...red B031H J point speed change warning J point speed change contact was turned on when the J point positioning was not performed Each axis A Check the timing to turn on J point speed change contact B032H J point positioning start warning J point positioning start contact was turned on when the J point positioning was not performed Each axis A Check the timing to turn on J point positioning start c...

Page 211: ...eed judgment to Available annunciation method to Warning Each axis A Design the system within the range that the actual speed of the motor does not exceed the judgment value Check the actual speed judgment value B304H Recalculation error warning An error occurred when recalculation was performed Each axis A Even when the error occurred recalculation process in which no error occurs is executed Che...

Page 212: ...15 26 ...

Page 213: ...Chapter 16 Troubleshooting ...

Page 214: ...16 2 16 1 Cannot Communication With AMP ...

Page 215: ...Chapter 17 Specifications ...

Page 216: ...uding F E terminal Vibration resistance 10 to 55 Hz 1 cycle min Double amplitude of 0 75 mm 10 min each in the X Y Z directions Shock resistance Shock of 98 m s 2 or more 4 times in the X Y Z directions Noise immunity 1000 V P P with pulse widths 50ns and 1µs By noise simulator 1500 V P P with pulse widths 50ns and 1µs By noise simulator Operating environment Free of corrosive gases and excessive ...

Page 217: ... SX128 SY128 Restriction on installation A maximum of 2 units can be connected on the left side of the control unit regardless of number of axes FP2 Positioning unit RTEX individual specifications Item Description 2 axis type 4 axis type 8 axis type Product number AFP243610 AFP243620 AFP243630 Part number FP2 PN2AN FP2 PN4AN FP2 PN8AN Number of axes controlled 2 axes 1 system 4 axes 1 system 8 axe...

Page 218: ...h 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 182 3 degree degree 1 degree 1 073 741 823 to 1 073 741 823 degree Speed command range Pulse 1 to 32 767 000 pps µm 1 to 32 767 000 µm s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s Acceleration deceleration Linear acceleration deceleration S shaped acceleration deceleration Acceleration time 0 to 10...

Page 219: ...ration time of active operation Pause Decelerat ion time Stops in deceleration time of the control being operated and restarts the stopped control once the deceleration stop is reset Emergen cy stop Decelera tion time 0 to 10 000 ms can set in 1 ms Limit stop Decelera tion time 0 to 10 000 ms can set in 1 ms Error stop Decelera tion time 0 to 10 000 ms can set in 1 ms System stop Decelera tion tim...

Page 220: ... request contact Y_7 turns on the positioning data of the shared memory standard area will be restructured This contact will turn on after restructuring completes If the recalculation request contact Y_7 turns on again this contact will be off once Note It is used only when the positioning data has been rewritten by ladder programs X108 X8 1 axis Each axis connection confirmation Turns on when the...

Page 221: ...2D X2D 6 axis X12E X2E 7 axis X12F X2F 8 axis WX13 X130 WX3 X30 X131 X31 X132 X32 X133 X33 X134 X34 X135 X35 X136 X36 X137 X37 X138 X38 1 axis Near home Monitor contact for the near home input connected to the corresponding AMP X139 X39 2 axis X13A X3A 3 axis X13B X3B 4 axis X13C X3C 5 axis X13D X3D 6 axis X13E X3E 7 axis X13F X3F 8 axis WX14 X140 WX4 X40 1 axis Imposition Turns on when the positi...

Page 222: ...61 2 axis X162 X62 3 axis X163 X63 4 axis X164 X64 5 axis X165 X65 6 axis X166 X66 7 axis X167 X67 8 axis X168 X68 1 axis Warning annunciation Turns on when a warning occurs on the corresponding axis The contacts of all axes turn on if a warning occurs on all axes The details of the warning can be confirmed in the warning annunciation area of the shared memory X169 X69 2 axis X16A X6A 3 axis X16B ...

Page 223: ...ecifying the position control starting table number in the shared memory The operation is the edge type If this contact turns on during the Tool operation by Configurator PM a warning will be output Y111 Y91 2 axis Y112 Y92 3 axis Y113 Y93 4 axis Y114 Y94 5 axis Y115 Y95 6 axis Y116 Y96 7 axis Y117 Y97 8 axis Y118 Y98 1 axis Home return start up Requests the home return for the corresponding AMP T...

Page 224: ...s for the pulser operation are specified by Configurator PM or the pulser operation setting area in the shared memory The operation is the level type Y141 Y121 2 axis Y142 Y122 3 axis Y143 Y123 4 axis Y144 Y124 5 axis Y145 Y125 6 axis Y146 Y126 7 axis Y147 Y127 8 axis Y148 Y128 1 axis J point speed change contact The speed changes by turning on this signal during the J point operation to the targe...

Page 225: ...Y14E 7 axis Y16F Y14F 8 axis WY17 Y170 WY15 Y150 1 axis General purpose output 1 Contact for the general purpose output connected to the corresponding AMP The input status of this contact does not affect on the operation of the motor or positioning unit Y171 Y151 General purpose output 2 Y172 Y152 2 axis General purpose output 1 Y173 Y153 General purpose output 2 Y174 Y154 3 axis General purpose o...

Page 226: ...monitor area 7 axis Each axis information monitor area 8 axis Each axis information monitor area Each axis setting area 02H to 0BH 1 axis Parameter setting area Positioning data setting area Standard for 600 points Extended for 25 points 0CH to 15H 2 axis Parameter setting area Positioning data setting area Standard for 600 points Extended for 25 points 16H to 1FH 3 axis Parameter setting area Pos...

Page 227: ...of Common Area in Shared Memory 17 4 1 Configuration of Common Area The shared memory is composed of banks The common area is allocated in the bank 00H in the shared memory and is used for the common settings of each axis ...

Page 228: ...necessary to achieve the following Configurator PM operation by the ladder programs 1 Write 5555H in this area by the ladder program 2 The positioning unit checks 5555H and write 6666H over in the same area 3 Check 6666H by the ladder program and write AAAAH over Time out of 6666H is 30 seconds 4 The positioning unit copies the content of the shared memory into FROM 5 The positioning unit checks w...

Page 229: ...t belong to the group 1 Belong to the group An error occurs if more than 4 bits are set to 1 in the group or the same axis is set to 1 in another group 1 Group attribute of axis 2 0 2 Group attribute of axis 3 0 3 Group attribute of axis 4 0 4 Group attribute of axis 5 0 5 Group attribute of axis 6 0 6 Group attribute of axis 7 0 7 Group attribute of axis 8 0 15 to 8 0B1H Group B axis settings 0B2...

Page 230: ...s 4 0 4 Synchronous attribute of axis 5 0 5 Synchronous attribute of axis 6 0 6 Synchronous attribute of axis 7 0 7 Synchronous attribute of axis 8 0 15 to 8 0B9H Synchronous group 1 Slave axis 0BAH Synchronous group 2 Synchronous mode Sets the operation mode of the synchronous operation 00H Synchronous mode A 01H Synchronous mode B 0BBH Synchronous group 2 Master axis Turn on the corresponding bi...

Page 231: ...4 0 4 Current value update request for axis 5 0 5 Current value update request for axis 6 0 6 Current value update request for axis 7 0 7 Current value update request for axis 8 0 15 to 8 0C8H Current value update coordinate of axis 1 Stores the coordinate to update the current value of axis 1 0C9H 0CAH Current value update coordinate of axis 2 Stores the coordinate to update the current value of ...

Page 232: ...e of axis 7 Stores the torque limit value of axis 7 3000 1 to 5000 0 1 0E7H Torque limit value of axis 8 Stores the torque limit value of axis 8 3000 1 to 5000 0 1 17 4 8 Positioning Table Number Setting Area Used to specify the table number to start the position control The setting ranges are 1 to 600 in the standard area and 10001 to 10025 in the extended area Bank Offset address Name Descriptio...

Page 233: ... 10BH Positioning repeat count of axis 4 Stores the number of times for repeating the operation starting from the position control starting table number of the fourth axis until the E point When 255 is stored the positioning control is repeated unlimitedly until the operation is stopped 0 0 to 255 times 10CH Positioning repeat count of axis 5 Stores the number of times for repeating the operation ...

Page 234: ...xis 5 0 5 Error clear of axis 6 0 6 Error clear of axis 7 0 7 Error clear of axis 8 0 15 to 8 129H Number of error occurrences of axis 1 Announces the number of occurrences of errors at axis 1 Bit Name Default Description 15 to 0 No of error occurrences at axis 1 0 Announces No of errors of axis 1 currently occurred 12AH Error code annunciation buffer 1 of axis 1 Stores the latest error code from ...

Page 235: ...e when an error occurred 151H 152H Error code annunciation buffer 5 of axis 3 Announces the code when an error occurred 153H 154H Error code annunciation buffer 6 of axis 3 Announces the code when an error occurred 155H 156H Error code annunciation buffer 7 of axis 3 Announces the code when an error occurred 157H 159H Number of error occurrences of axis 4 Announces the number of occurrences of err...

Page 236: ...e when an error occurred 175H 176H Error code annunciation buffer 7 of axis 5 Announces the code when an error occurred 177H 179H Number of error occurrences of axis 6 Announces the number of occurrences of errors at axis 6 17AH Error code annunciation buffer 1 of axis 6 Announces the code when an error occurred 17BH 17CH Error code annunciation buffer 2 of axis 6 Announces the code when an error ...

Page 237: ...e when an error occurred 195H 196H Error code annunciation buffer 7 of axis 7 Announces the code when an error occurred 197H 199H Number of error occurrences of axis 8 Announces the number of occurrences of errors at axis 8 19AH Error code annunciation buffer 1 of axis 8 Announces the code when an error occurred 19BH 19CH Error code annunciation buffer 2 of axis 8 Announces the code when an error ...

Page 238: ...0 5 Warning clear of axis 6 0 6 Warning clear of axis 7 0 7 Warning clear of axis 8 0 15 to 8 1C1H Number of warning occurrences of axis 1 Announces the number of occurrences of warnings at axis 1 Bit Name Default Description 15 to 0 No of warning occurrences at axis 1 0 Announces No of warnings of axis 1 currently occurred 1C2H Warning code annunciation buffer 1 of axis 1 Stores the latest warnin...

Page 239: ...en a warning occurred 1E9H 1EAH Warning code annunciation buffer 5 of axis 3 Announces the code when a warning occurred 1EBH 1ECH Warning code annunciation buffer 6 of axis 3 Announces the code when a warning occurred 1EDH 1EEH Warning code annunciation buffer 7 of axis 3 Announces the code when a warning occurred 1EFH 1F1H No of warning occurrences of axis 4 Announces the number of occurrences of...

Page 240: ...en a warning occurred 20DH 20EH Warning code annunciation buffer 7 of axis 5 Announces the code when a warning occurred 20FH 211H No of warning occurrences of axis 6 Announces the number of occurrences of warnings at axis 6 212H Warning code annunciation buffer 1 of axis 6 Announces the code when a warning occurred 213H 214H Warning code annunciation buffer 2 of axis 6 Announces the code when a wa...

Page 241: ...en a warning occurred 22DH 22EH Warning code annunciation buffer 7 of axis 7 Announces the code when a warning occurred 22FH 231H No of warning occurrences of axis 8 Announces the number of occurrences of warnings at axis 8 232H Warning code annunciation buffer 1 of axis 8 Announces the code when a warning occurred 233H 234H Warning code annunciation buffer 2 of axis 8 Announces the code when a wa...

Page 242: ...ynchronous group 1 Synchronous operation difference value Difference threshold of the movement amounts of the master slave axes in synchronous group 1 that the synchronous operation is performed Verifies whether the difference value of the movement amounts of master slave axes exceed the threshold or not This difference value is specified in a unit used for the master axis Default 10000 2B9H 2BAH ...

Page 243: ...Not set AMP parameter 0 0 to 1 389Ｈ Deceleration stop operation 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 Performs the deceleration stop and restarts the positioning operation when turning Deceleration stop re...

Page 244: ... memory is composed of banks The each axis information area is allocated in the bank 01H in the shared memory Also the information on the axes 1 to 8 is allocated for each address in this area Note Firstly confirm that the link establishment annunciation flag is on when reading the axis information area using the ladder program ...

Page 245: ...e model code of AMP Each information is stored as ASCII code of 16 bytes Max 16 characters 0H 009H 00AH 00BH 00CH 00DH 00EH 00FH 010H System ID of axis 1 Version of firmware Stores the version of firmware of AMP Each information is stored as ASCII code of 16 bytes Max 16 characters 0H 011H 012H 013H 014H 015H 016H 017H 018H System ID of axis 1 Model code of motor Stores the model code of motor Eac...

Page 246: ...2H Torque command of axis 1 Stores the torque monitor value 0 to 5000 0 1 033H Actual speed of axis 1 Stores the actual speed monitor value 0 to 5000 0 1 rps or 0 1 rpm 034H Posiition deviation of axis 1 Stores the position deviation calculated by the unit 035H 038H Active table or execution done table of axis 1 Stores the number of active positioning table or when the operation completed 1 1 to 6...

Page 247: ...065H 066H 067H 070H Status indication of axis 2 Refer to the descriptions of axis 1 071H External terminal input monitor of axis 2 Refer to the descriptions of axis 1 072H Torque command of axis 2 Refer to the descriptions of axis 1 073H Actual speed of axis 2 Refer to the descriptions of axis 1 074H Posiition deviation of axis 2 Refer to the descriptions of axis 1 078H Active table or execution d...

Page 248: ...0A5H 0A6H 0A7H 0B0H Status indication of axis 3 Refer to the descriptions of axis 1 0B1H External terminal input monitor of axis 3 Refer to the descriptions of axis 1 0B2H Torque command of axis 3 Refer to the descriptions of axis 1 0B3H Actual speed of axis 3 Refer to the descriptions of axis 1 0B4H Posiition deviation of axis 3 Refer to the descriptions of axis 1 0B8H Active table or execution d...

Page 249: ...0E5H 0E6H 0E7H 0E0H Status indication of axis 4 Refer to the descriptions of axis 1 0E1H External terminal input monitor of axis 4 Refer to the descriptions of axis 1 0E2H Torque command of axis 4 Refer to the descriptions of axis 1 0E3H Actual speed of axis 4 Refer to the descriptions of axis 1 0F4H Posiition deviation of axis 4 Refer to the descriptions of axis 1 0E8H Active table or execution d...

Page 250: ...125H 126H 127H 130H Status indication of axis 5 Refer to the descriptions of axis 1 131H External terminal input monitor of axis 5 Refer to the descriptions of axis 1 132H Torque command of axis 5 Refer to the descriptions of axis 1 133H Actual speed of axis 5 Refer to the descriptions of axis 1 134H Posiition deviation of axis 5 Refer to the descriptions of axis 1 138H Active table or execution d...

Page 251: ...165H 166H 167H 170H Status indication of axis 6 Refer to the descriptions of axis 1 171H External terminal input monitor of axis 6 Refer to the descriptions of axis 1 172H Torque command of axis 6 Refer to the descriptions of axis 1 173H Actual speed of axis 6 Refer to the descriptions of axis 1 174H Posiition deviation of axis 6 Refer to the descriptions of axis 1 178H Active table or execution d...

Page 252: ...1A5H 1A6H 1A7H 1B0H Status indication of axis 7 Refer to the descriptions of axis 1 1B1H External terminal input monitor of axis 7 Refer to the descriptions of axis 1 1B2H Torque command of axis 7 Refer to the descriptions of axis 1 1B3H Actual speed of axis 7 Refer to the descriptions of axis 1 1B4H Posiition deviation of axis 7 Refer to the descriptions of axis 1 1B8H Active table or execution d...

Page 253: ...1E5H 1E6H 1E7H 1F0H Status indication of axis 8 Refer to the descriptions of axis 1 1F1H External terminal input monitor of axis 8 Refer to the descriptions of axis 1 1F2H Torque command of axis 8 Refer to the descriptions of axis 1 1F3H Actual speed of axis 8 Refer to the descriptions of axis 1 1F4H Posiition deviation of axis 8 Refer to the descriptions of axis 1 1F8H Active table or execution d...

Page 254: ...is setting area is allocated in the banks 02H to 51H in the shared memory The each axis setting area is used to store positioning parameters and positioning data and the setting values are allocated to every address from the axes 1 to 8 The positioning setting area of each axis is composed of 600 tables of the standard area and 25 tables of the extended area ...

Page 255: ...fault Description 31 to 0 Movement amount per rotation 1 Movement amount per rotation Setting range 1 to 32 767 Any other settings will be errors Interpretation is changed by the unit setting mm 1µm inch 1 10 000 inch degree 1 degree 005H 006H 007H 008H 009H 00AH 00BH Software limit enabled disabled setting Sets the software limit to be enabled or disabled for each control Bit Name Default Descrip...

Page 256: ...ets to enable or disable the limit input of the AMP and sets the moving direction and connection method Note This setting is should be written in the EEPROM within the AMP and the AMP should be rebooted after changing the setting Bit Name Default Description 0 Limit enabled disabled 0 0 Uses the input of limit signal 1 Ignores the input of limit signal 1 CW CCW moving direction 0 0 CW CCW 1 CCW CW...

Page 257: ...etting range 0 to 10 000 ms Any other settings will be errors 023H Home return deceleration time 024H Home return target speed Sets the target speed when performing the home return When there is no proximity input after starting the home return accelerates to the target speed Bit Name Default Description 31 to 0 Home return target speed 1 000 Setting range 1 to 32 767 000 Any other settings will b...

Page 258: ... 767 000 pps µm 1 to 32 767 000 µm s inch 0 001 to 32 767 000 inch s degree 0 001 to 32 767 000 rev s 02DH 02EH 02FH 030H 031H 032H 033H Emergency stop deceleration time When the emergency stop is requested by I O it will be valid and the deceleration operation will complete in this deceleration time Bit Name Default Description 15 to 0 Emergency stop deceleration time 100 Setting range 0 to 10 00...

Page 259: ...ded as a criterion for judging the home return once the torque value of the AMP exceeded this set value by the stop on contact Default 100 Unit Setting range 0 to 5 000 03EH Home return Stop on contact judgment time Used when the stop on contact method 1 or 2 has been specified for the home return method It is regarded as a criterion for judging the home return once this set time has passed after ...

Page 260: ...eed the operation is performed at the maximum speed Unit pulse s kHz Input range 0 to 32767000 pulse s Default 0 When zero is set in this area the operation is performed at the minimum speed 1 pulse s 1kHz as the maximum speed 049H 04AH Cooridnate origin Stores the value of coordinate origin after the home return 04BH 04CH 04DH 04EH 04FH Starting address of each positioning parameter Axis 1 Axis 2...

Page 261: ...n the shared memory 2 Turn on the output contact Y_7 recalculation request contact 3 Confirm the input contact X_7 recalculation done contact is on Confirm the completion of the recalculation If the data is not recalculated after rewriting the positioning table by the ladder program note that the operation will be executed with the positioning table before the rewriting The extended area is used w...

Page 262: ...tion Center point CCW direction X axis movement 52H Spiral interpolation Center point CW direction Y axis movement 53H Spiral interpolation Center point CCW direction Y axis movement 54H Spiral interpolation Center point CW direction Z axis movement 55H Spiral interpolation Center point CCW direction Z axis movement 60H Spiral interpolation Pass point X axis movement 61H Spiral interpolation Pass ...

Page 263: ...e 1 073 741 823 to 1 073 741 823 Any other settings will be errors The interpretation varies depending on the unit setting pulse 1 073 741 823 to 1 073 741 823 pulse µm 0 1µm 107 374 182 3 to 107 374 182 3 µm s µm 1µm 1 073 741 823 to 1 073 741 823 µm s inch 0 00001 inch 10 737 41823 to 10 737 41823 inch inch 0 0001 inch 107 374 1823 to 107 374 1823 inch degree 0 1 degree 107 374 182 3 to 107 374 ...

Page 264: ...arting address of table 25 1E0H Starting address of table 26 1F0H Starting address of table 27 200H Starting address of table 28 210H Starting address of table 29 220H Starting address of table 30 230H Starting address of table 31 240H Starting address of table 32 250H Starting address of table 33 260H Starting address of table 34 270H Starting address of table 35 280H Starting address of table 36...

Page 265: ...ss of table 87 1C0H Starting address of table 88 1D0H Starting address of table 89 1E0H Starting address of table 90 1F0H Starting address of table 91 200H Starting address of table 92 210H Starting address of table 93 220H Starting address of table 94 230H Starting address of table 95 240H Starting address of table 96 250H Starting address of table 97 260H Starting address of table 98 270H Starti...

Page 266: ...g address of table 151 1C0H Starting address of table 152 1D0H Starting address of table 153 1E0H Starting address of table 154 1F0H Starting address of table 155 200H Starting address of table 156 210H Starting address of table 157 220H Starting address of table 158 230H Starting address of table 159 240H Starting address of table 160 250H Starting address of table 161 260H Starting address of ta...

Page 267: ...g address of table 215 1C0H Starting address of table 216 1D0H Starting address of table 217 1E0H Starting address of table 218 1F0H Starting address of table 219 200H Starting address of table 220 210H Starting address of table 221 220H Starting address of table 222 230H Starting address of table 223 240H Starting address of table 224 250H Starting address of table 225 260H Starting address of ta...

Page 268: ...g address of table 279 1C0H Starting address of table 280 1D0H Starting address of table 281 1E0H Starting address of table 282 1F0H Starting address of table 283 200H Starting address of table 284 210H Starting address of table 285 220H Starting address of table 286 230H Starting address of table 287 240H Starting address of table 288 250H Starting address of table 289 260H Starting address of ta...

Page 269: ...g address of table 343 1C0H Starting address of table 344 1D0H Starting address of table 345 1E0H Starting address of table 346 1F0H Starting address of table 347 200H Starting address of table 348 210H Starting address of table 349 220H Starting address of table 350 230H Starting address of table 351 240H Starting address of table 352 250H Starting address of table 353 260H Starting address of ta...

Page 270: ...g address of table 407 1C0H Starting address of table 408 1D0H Starting address of table 409 1E0H Starting address of table 410 1F0H Starting address of table 411 200H Starting address of table 412 210H Starting address of table 413 220H Starting address of table 414 230H Starting address of table 415 240H Starting address of table 416 250H Starting address of table 417 260H Starting address of ta...

Page 271: ...g address of table 471 1C0H Starting address of table 472 1D0H Starting address of table 473 1E0H Starting address of table 474 1F0H Starting address of table 475 200H Starting address of table 476 210H Starting address of table 477 220H Starting address of table 478 230H Starting address of table 479 240H Starting address of table 480 250H Starting address of table 481 260H Starting address of ta...

Page 272: ...g address of table 535 1C0H Starting address of table 536 1D0H Starting address of table 537 1E0H Starting address of table 538 1F0H Starting address of table 539 200H Starting address of table 540 210H Starting address of table 541 220H Starting address of table 542 230H Starting address of table 543 240H Starting address of table 544 250H Starting address of table 545 260H Starting address of ta...

Page 273: ...ble 595 180H Starting address of table 596 190H Starting address of table 597 1A0H Starting address of table 598 1B0H Starting address of table 599 1C0H Starting address of table 600 1D0H 1E0H 1F0H 200H 210H 220H 230H 240H 250H 260H 270H Starting address of table 10001 280H Starting address of table 10002 290H Starting address of table 10003 2A0H Starting address of table 10004 2B0H Starting addre...

Page 274: ...D error 5H Parameter error 6H Request not executable state 0 0 to 6 003H A6N A5N parameter classification Specify the classification code of the parameter to be read written using A6N A5N No writing is required in this area when executing EEPROM write or AMP reset 0 0 to 8 024H Individual parameter No Specify the target parameter number for read write With A4N Specify the parameter number With A6N...

Page 275: ...Chapter 18 Dimensions ...

Page 276: ...18 2 18 1 FPSigma Positioning Unit RTEX ...

Page 277: ...18 3 18 2 FP2 Positioning Unit RTEX ...

Page 278: ...18 4 ...

Page 279: ...Chapter 19 Sample Programs ...

Page 280: ...sed contacts and data registers Number Descriptions R0 Request servo on R1 Request servo off R2 Request home return R3 Request positioning start R4 Request forward JOG for axis 1 R5 Request reverse JOG for axis 1 R6 Request forward JOG for axis 2 R7 Request reverse JOG for axis 2 R8 Request pulser operation for axis 1 R9 Request pulser operation for axis 2 R10 Error clear R11 Request setting value...

Page 281: ...s 2 Y110 Y90 Positioning start for axis 1 Y118 Y98 Home return for axis 1 Y119 Y99 Home return for axis 2 Y120 Y100 Forward JOG for axis 1 Y121 Y101 Reverse JOG for axis 1 Y122 Y102 Forward JOG for axis 2 Y123 Y103 Reverse JOG for axis 2 Y140 Y120 Pulser operation for axis 1 Y141 Y121 Pulser operation for axis 2 Y150 Y130 Servo off for axis 1 Y151 Y131 Servo off for axis 2 Y160 Y140 Error clear fo...

Page 282: ... the standard area with the Configurator PM 2 When setting the positioning data in the extended area using the ladder program 3 When setting the positioning data in the standard area using the ladder program Sample program The positioning start is the setting that has been already set in the standard area by the Configurator PM ...

Page 283: ...19 5 ...

Page 284: ...g Ladder Program Write positioning data in the extended area using the ladder program Recalculating the positioning data is not necessary as the extended area is used Replace the part of the positioning start program in the sample program Positioning start program ...

Page 285: ... Ladder Program Write positioning data in the standard area using the ladder program Recalculating the positioning data is necessary after setting the positioning data Replace the part of the positioning start program in the sample program Positioning start program ...

Page 286: ...19 8 ...

Page 287: ...9 OCT 2011 JUL 2013 OCT 2016 First edition Second edition Addition of functions Ver1 13 Third edition Change in Corporate name Fourth edition Fifth edition Addition of functions Ver 1 30 Supported MINAS A5N AMP parameter R W function Change of Corporate name Sixth edition Change in Corporate name Seventh edition Addition of functions Ver 1 40 Supported MINAS A6N Error correction ...

Page 288: ......

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