Panasonic FP-XH M8N16PD User Manual Download Page 192

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Automatic Operation (Position Control)

11-12

11.2 Interpolation Control

11.2.1 Interpolation Control Types



Operation types

•

Interpolation control includes 2-axis linear interpolation control, 2-axis circular interpolation

control, 3-axis linear interpolation control, and 3-axis spiral interpolation control. The

following methods are available to specify the operation of each interpolation control. Select

an appropriate method according to the application. The axes in the relation of interpolation

are called X-axis and Y-axis for the 2-axis interpolation, and are called X-axis, Y-axis, and Z-

axis for the 3-axis interpolation. X-, Y-, and Z-axes are automatically assigned in ascending

order of axis signal levels.

•

In each type of interpolation control, the E-point control that uses one table, P-point control

and C-point control that uses multiple tables can be combined arbitrarily as positioning data.

•

For example, using P-point control enables continuous interpolation control from 2-axis

linear control to 2-axis circular interpolation control. The acceleration time and deceleration

time can be specified individually. For P-point control and C-point control, an E point should

be set as the last table.

Type

Action designation mode

Necessary data

2 axis linear

interpolation

control

Resultant speed assignment

Resultant speed of the X-axis and Y-axis.

Long-axis Speed Assignment

Speed of the long-axis (axis with longer

moving distance)

2 axis arc

interpolation

control

Center point assignment/CW direction

X-axis and Y-axis coordinates of center

point

Center point assignment/CCW direction

X-axis and Y-axis coordinates of center

point

Passing point assignment

X-axis and Y-axis coordinates of passing

point on the arc

3 axis linear

interpolation

control

Resultant speed assignment

Resultant speed of the X-axis, Y-axis and Z-axis.

Long-axis Speed Assignment

Speed of the long-axis (axis with longer

moving distance)

3 axis spiral

interpolation

control

Center point assignment/CW direction/X-axis feeding

Y-axis and Z-axis coordinates of center

point

Center point assignment/CCW direction/

X-axis feeding

Y-axis and Z-axis coordinates of center

point

Center point assignment/CW direction/Y-axis feeding

X-axis and Z-axis coordinates of center

point

Center point assignment/CCW direction/

Y-axis feeding

X-axis and Z-axis coordinates of center

point

Center point assignment/CW direction/Z-axis feeding

X-axis and Y-axis coordinates of center

point

Center point assignment/CCW direction/

Z-axis feeding

X-axis and Y-axis coordinates of center

point

Passing point assignment/X-axis feeding

Y-axis and Z-axis coordinates of passing

point on the arc

Passing point assignment/Y-axis feeding

X-axis and Z-axis coordinates of passing

point on the arc

Passing point assignment/Z-axis feeding

X-axis and Y-axis coordinates of passing

point on the arc

Summary of Contents for FP-XH M8N16PD

Page 1: ......

Page 2: ...stics and performance ratings of relative products Do not decompose or transform it Otherwise it will lead to the excessive exothermic heat or smoke generation of the product Do not touch terminal blocks during power on Otherwise it may result in an electric shock Set an emergency stop and interlock circuit in the external devices Connect wires and connectors reliably Otherwise it may lead to the ...

Page 3: ...se refer to a relevant manual for the unit and purpose of your use The manuals can be downloaded on our website http industrial panasonic com ac e dl_center manual Unit name or purpose of use Manual name Manual code FP XH M8N16PD Control Unit FP XH M8N16PD Control Unit User s Manual WUME FPXHM8N16PD FP Series Instruction Manual ARCT1F313E Communication Function FP XH User Manual Communication Sect...

Page 4: ...ameplate on the side of the product body or on the menu of the tool software Marking of the product body 2 CPU versions are marked on the nameplate on the side of the product body Ver 1 00 Ver 1 00 Description The Main CPU version for overall operation is marked The Motion CPU version for motion control is marked ...

Page 5: ...the tool software The version of the Main CPU can be confirmed according to Status Display of FPWIN GR7 The version of Motion CPU can be confirmed via the Status Display dialog box of Configurator PM7 The dialog box displays the firmware version ...

Page 6: ...the A6N A5N side two outputs of marks EX OUT1 and EX OUT2 are allocated By default the RTEX operation output mark EX OUT1 is allocatd to the terminal on the servo amplifier side To use the RTEX operation output mark EX OUT2 it is necessary to change the parameter on the servo amplifier side RTEX general purpose output On the FP XH M8N Control Unit the two RTEX operation outputs connected to the A6...

Page 7: ...XH M8N16PD Control Unit 1 6 1 3 2 FP X Expansion Unit 1 6 1 3 3 FP X Expansion FP0 Adapter 1 7 1 3 4 FP X Add on Cassette Communication Cassette 1 7 1 3 5 FP X Add on Cassette Function Cassette 1 7 1 3 6 Options 1 7 1 3 7 Repair Parts 1 8 1 4 Restrictions on Unit Combinations 1 9 1 4 1 Restrictions on FP X Expansion Units 1 9 1 4 2 Restrictions on FP X Expansion Adapter 1 11 1 4 3 Restrictions on ...

Page 8: ... O Allocation 3 1 3 1 Basic I O Assignment 3 2 3 1 1 Counting Method of I O Numbers 3 2 3 1 2 I O Number Assignment Method 3 2 3 2 List of I O Numbers for Units 3 4 3 2 1 FP XH M8N Control Unit General purpose I O Part 3 4 3 2 2 FP XH M8N Control Unit Motion Control Part 3 5 3 2 3 FP X Expansion Unit 3 7 3 2 4 FP X Function Cassette 3 8 3 3 Assignment of FP0 Expansion Units 3 9 3 3 1 I O Number As...

Page 9: ...irmation of FP X Expansion Cables 4 7 4 4 3 Connecting FP X expansion unit 4 8 4 5 Connecting FP0 Expansion Unit 4 9 4 5 1 Connecting FP0 Expansion Unit 4 9 4 5 2 Connecting FP X Expansion FP0 Adapter 4 10 4 6 Installation 4 11 4 6 1 Installation and Removal for DIN Rail 4 11 4 6 2 Mounting with Screws 4 12 5 Wiring of Power Supply and General purpose I O Parts 5 1 5 1 Terminal Arrangement 5 2 5 1...

Page 10: ... Diagram 6 2 6 2 Settings on Servo Amplifier 6 3 6 2 1 Checking Rotary Switches 6 3 6 2 2 Connection of Limit Input and Near Home Input 6 4 6 2 3 Combination of Parameters and Home Return Methods 6 5 6 2 4 Connection of General purpose Monitor Input 6 6 6 2 5 Connection of RTEX Operation Output 6 6 6 3 Connection of Network 6 7 6 3 1 Wiring Method 6 7 6 3 2 Precautions on Wiring 6 7 6 4 Pulse Inpu...

Page 11: ... 7 3 5 Checking the rotation movement direction and distance 7 7 8 Steps Before Running 8 1 8 1 Before Turning on the Power 8 2 8 1 1 Check Items 8 2 8 1 2 Steps Before Running 8 3 8 2 Offline Editing of the Program 8 4 8 2 1 Program Elements 8 4 8 2 2 Settings of the System Register 8 4 8 2 3 Setting of Position Control Parameters 8 5 8 3 Program Download and Run 8 6 8 3 1 Before Turning on the P...

Page 12: ...ngs 9 9 9 4 Creating Positioning Data Table 9 10 9 4 1 Structure of the position control data table 9 10 9 4 2 Select type of position control data setting area 9 11 9 4 3 Data table No and position control startup 9 12 9 4 4 Running Mode and Data table 9 13 9 5 Saving and Managing Files 9 14 9 5 1 File Type 9 14 9 5 2 Saving Parameters as Part of Project File 9 14 9 5 3 Saving Parameters as Param...

Page 13: ...ea 10 21 10 5 2 Reading of the current value 10 21 11 Automatic Operation Position Control 11 1 11 1 Basic Operations 11 2 11 1 1 Position Control Method 11 2 11 1 2 Setting and Operation of E point Control 11 4 11 1 3 Setting and Operation of P point Control 11 5 11 1 4 Setting and Operation of C point Control 11 6 11 1 5 Setting and Operation of J point Control 11 7 11 1 6 Sample Program E point...

Page 14: ...ons When Canceling or Starting Synchronous Control 12 8 12 4 Electronic Gear Function 12 12 12 4 1 Outline of Electronic Gear Function 12 12 12 4 2 Types and Contents of Setting Parameters 12 13 12 4 3 Gear Ratio Changes while in Operation 12 14 12 5 Electronic Clutch Function 12 16 12 5 1 Electronic Clutch Function 12 16 12 5 2 Types and Contents of Setting Parameters 12 17 12 5 3 Trigger Types f...

Page 15: ...of Pulse Input Applications 15 3 15 1 3 Input mode of pulse input 15 4 15 1 4 Monitoring of Pulse Input Values 15 6 15 1 5 Pulse Input Value Change Function 15 6 15 2 Setting and Operation of Pulsar 15 8 15 2 1 Overview 15 8 15 2 2 Settings for Pulsar Operation 15 9 15 2 3 Operation of Pulsar 15 10 15 3 Pulse Input High speed Counter Function 15 12 15 3 1 Overview 15 12 15 3 2 Settings When Using ...

Page 16: ...ation upon Movement Change during Operation 17 6 17 4 Coordinate Origin 17 7 17 5 Current Value Update 17 9 17 6 Target Speed Change Function 17 11 17 6 1 Overview 17 11 17 6 2 Setting Procedures and Operations Speed Direct Specification Method 17 12 17 6 3 Setting Procedures and Operations Ratio Specification Method 17 15 17 7 Movement Amount Change Function 17 17 17 7 1 Overview 17 17 17 7 2 Set...

Page 17: ...3 Monitoring Procedure 17 43 18 Instruction Reference 18 1 18 1 Motion Control Instructions 18 2 18 1 1 F384 PTBLR Positioning parameter read instruction 18 2 18 1 2 F385 PTBLW Positioning parameter write instruction 18 3 18 1 3 F386 PSET Positioning start data table setting 18 4 18 1 4 F387 PSTRD Axis status acquisition 18 5 18 1 5 F388 PERRD Positioning error warning acquisition 18 7 18 1 6 F389...

Page 18: ...3 AMP Communication Errors 2000H 19 15 19 3 4 Axis Operation Errors 3000H 19 16 19 3 5 Set Value Errors 4000H 19 18 19 3 6 Setting value errors of synchronous parameters 5000H 19 22 19 4 Table of Warning Codes 19 25 19 4 1 AMP Warnings A000H 19 25 19 4 2 Unit Warning B000H 19 26 20 Troubleshooting 20 1 20 1 Self diagnosis Function 20 2 20 1 1 Status display LED of the Control Unit 20 2 20 1 2 Stat...

Page 19: ... 21 1 21 1 Memory Backup 21 2 21 1 1 Program Memory Backup 21 2 21 1 2 Operation Memory Backup 21 2 21 1 3 Operation Memory Backup When Battery Installed 21 3 21 1 4 Alarm Battery Error Setting of the Hold area 21 4 21 2 RAM ROM Transfer Function 21 6 21 2 1 Outline of function 21 6 21 2 2 Operations Using Tool Software 21 6 21 3 Functions of Master Memory Cassette 21 7 21 3 1 Outline of Functions...

Page 20: ...y 23 2 23 1 1 High speed counter Function Summary 23 2 23 1 2 Counting Range and Elapsed Value Current Value Area 23 2 23 1 3 When using the high speed counter function 23 3 23 1 4 Type of Input Mode 23 4 23 1 5 Minimum Input Pulse Width 23 5 23 2 Settings of the System Registers 23 6 23 2 1 Settings of System Registers 23 6 23 3 General purpose Input High speed Counter Related Instruction 23 8 23...

Page 21: ...r Using Backup Battery 25 2 25 1 1 Backup Battery Replacement 25 2 25 1 2 Backup Battery Lifetime and Replacement Time 25 3 25 2 Inspection 25 4 26 Specifications 26 1 26 1 Control Unit Specifications 26 2 26 1 1 General Specifications 26 2 26 1 2 Performance Specifications 26 3 26 1 3 Performance Specifications of Motion Control Part 26 5 26 2 Communication Specifications 26 8 26 2 1 Communicatio...

Page 22: ...tting Area Memory Area No 5 26 57 26 4 8 AMP Parameter Control Area Memory Area No 6 26 58 26 5 Table of System Registers 26 59 26 6 Table of Special Internal Relays 26 65 26 7 Table of Special Data Registers 26 78 26 8 Table of Error Codes 26 91 26 8 1 Table of Syntax Check Errors 26 91 26 8 2 Table of Self diagnostic Errors 26 92 26 8 3 Table of MEWTOCOL COM Communication Errors 26 94 26 9 Dimen...

Page 23: ...1 System Structure ...

Page 24: ...quipped with genera purpose inputs and outputs The general purpose I O of 8 point inputs and 8 point outputs and RS 232C port are equipped as the standard equipment in addition to the I F for network servo Pulse input function usable for high speed counter and manual pulsar A maximum of four channel inputs are available and can be used for the high speed counter and pulsar operation Can use variou...

Page 25: ...on max 8 axes Synchronous control Master axis real axis Max 4 axes Combination of real and virtual axes Max 4 axes Combination of master and slave axes Max 8 axes Master axis virtual axis Max 2 axes Slave axis Max 8 axes Note 1 The pulse input can be used as the input of the synchronous control master axis Communication specifications of motion control part Item Specification Physical layer 100BAS...

Page 26: ...r supply 24 VDC Output General output part transistor PNP output RTEX I F port for motion control RX45 x 2 ports RX TX 1 2 2 FP X Expansion Unit Divided into the following types according to points power supply and output type Can be used with the old models FP X FP X Expansion Unit Points 14 points for output 16 points for input 16 points 30 points Power supply No power supply 100 240 VAC or 24 V...

Page 27: ...ication pattern RS 232C 5 wire 1ch RS 232C 3 wire 2ch RS 485 RS 422 1ch RS 485 1ch RS 232C 3 wire 1ch RS 485 2ch Ethernet 1ch RS 232C 3 wire 1ch 1 2 5 FP X Add on Cassette Function Cassette Divided into the following types according to the output type and function Analog input and output Analog input 2ch Analog output 2ch Analog input 2ch analog output 1ch Digital input and output Input 8 points t...

Page 28: ...ion I O unit DC input 8 points relay output 8 points AFPX E16R DC input 8 points transistor output NPN 8 points AFPX E16T DC input 8 points transistor output PNP 8 points AFPX E16P FP X E30 expansion I O unit DC input 16 points relay output 14 points 100 240 VAC AFPX E30R 24 VDC AFPX E30RD DC input 16 points transistor output NPN 14 points 100 240 VAC AFPX E30T 24 VDC AFPX E30TD DC input 16 points...

Page 29: ...X AD2 FP X analog output cassette Analog output insulated 2 channels insulated between channels AFPX DA2 FP X analog I O cassette Analog input insulated 2 channels non insulated between channels analog output insulated 1 channel AFPX A21 FP X thermocouple cassette Thermocouple input insulated 2 channels insulated between channels AFPX TC2 FP X temperature measuring resistor cassette Temperature me...

Page 30: ...pansion FP0 adapters 1 m long AFP0581 Note 1 The FP X expansion unit and high function unit include 8 cm expansion cables The total length of the expansion cables should be within 160 cm Note 2 when using long expansion cables I O checking error may occur due to noises and other effects In this case it is recommended to take measures such as using ferrite cores ...

Page 31: ...P XH M8N control unit FP X Expansion Unit Maximum Control I O Points Type of Control Unit I O Points for Single Control Unit I O Points for FP X E30 Expansion FP XH M8N control unit 16 points note Maximum 256 points Note Points mentioned in the table above means the I O points of the general I O part Expansion Cable Combination Limitations Please limit the total length of the expansion cable to le...

Page 32: ...X E16T E16P Ver 3 0 or above Expansion I O unit without built in power supply FP X Expansion I O Unit E30 Expansion I O unit with built in power supply In the FP X expansion I O unit continuously connecting two units in group 2 shown in the above table is not possible However it can be expanded on the right side of the expansion I O unit with built in power supply 1 2 4 2 3 2 3 4 1 In the unit wit...

Page 33: ...sion bus can only connect with one FP X expansion FP0 adapter Please expand on the right side of FP X expansion units 2 3 4 1 FP XH M8N Control Unit FP X Expansion Unit FP X Expansion FP0 Adapter FP0 Expansion Unit High Function Unit Expansion sequence of FP0 expansion unit FP0 high functional unit Please connect the FP0 thermocouple input unit to the right side of the other FP0 units Connecting t...

Page 34: ...te installation part 2 Add on cassette installation position 2 Function and communication cassette can be overlapped and installed into the same cassette installation part In this case make sure the communication cassette is installed over the function cassette Communication cassette Function cassette Number of add on cassettes that can be Installed Up to 2 function cassettes and 2 communication c...

Page 35: ...ut cassette AFPX IN8 A A Output cassette AFPX TR8 A A Output cassette AFPX TR6P A A Input output cassette AFPX IN4T3 A A Pulse input output cassette AFPX PLS Note 4 Note 4 Master memory cassette AFPX MRTC C note 5 C note 5 Note 1 When installed with the function cassette together mount it over the function cassette Note 2 RS CS control available for AFPX COM1 Note 3 When installing the function ca...

Page 36: ...re RS 232C the RS CS control can be enabled for the RS 232C port of the AFPX COM1 Note 2 Choose either of the RS 485 or RS 422 when using AFPX COM3 It can be shifted by the switch on the communication cassette Note 3 AFPX COM4 can use RS 485 1 channel and RS 232C 3 wire 1 channel Note 4 AFPX COM5 can use Ethernet 1 channel and RS 232C 3 wire 1 channel Function of the communication port A Available...

Page 37: ...tion setup unit select Pr5 04 Over travel inhibit input setup 1 Use setting value 1 Over travel inhibit input is disabled Pr5 21 Selection of torque limit 1 The FP XH M8N Control Unit automatically changes this parameter 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 ...

Page 38: ...uch as a stopper A A Stop on contact method 2 Home Z phase A A Data set method A A Pattern A Factory default setting Parameter no X4 connector Parameter value HEX Pin assign setting Revised items Terminal name Terminal no Pr 4 00 SI1 5 00323232H SI MON5 A contact Pr 4 01 SI2 7 00818181H POT B contact A Pr 4 02 SI3 8 00828282H NOT B contact A Pr 4 03 SI4 9 002E2E2EH SI MON1 A contact Pr 4 04 SI5 10...

Page 39: ...2 Control Unit Specifications ...

Page 40: ...Control Unit Specifications 2 2 2 1 Parts Name and Funcations 2 1 1 Control Unit 7 1 2 4 3 14 10 11 19 8 16 18 12 6 9 13 17 15 5 ...

Page 41: ...pulse input function can be used Pulse inputs of 4 channels are laid out Input terminal Connect with input devices Power supply terminals Connected to the drive control unit power supply Battery holder When using the clock calendar function it is used to install a special battery when expanding the backup area of memory area for operation The special Battery AFPXHBATT is required to purchase separ...

Page 42: ...ptions program operation stagnation and monitoring timer operation Flashes Flashing when detecting errors through self diagnosis ⓒ COM0 SD Green Flashes when COM0 port is sending data RD Green Flashes when COM0 port is receiving data ⓓ RTEX I F STATUS Green On Network establishment Flashes Waiting for network establishment LINK Green Flashes Normal connection The TX of the sending node and the RX ...

Page 43: ...r supply terminal for supplying power to the GT02 GT02L series programmable display Terminal arrangement Controller Display Description COM 0 SD Send data unit external device General purpose 3 wire RS 232C port RD Receive data external device unit SG Signal ground OUT 5V As power supply for GT series display 5 VDC output 0V ...

Page 44: ...tage 24 VDC Voltage regulation range 21 6 to 26 4 VDC Inrush current 12 A or less at 25 C Momentary power off time 10 ms Internal power supply part Guaranteed life 30 000 h at 55 C Fuse Built in Cannot be replaced Insulation system Non isolated Terminal screw M3 List of consumption current When using 24 VDC 200 mA or less ...

Page 45: ...input current Approx 4 7mA Input points per common 8 points COM polarity of the input power supply are both allowable Minimum ON voltage minimum ON current 19 2 VDC 3 mA Maximum OFF voltage maximum OFF current 2 4 VDC 1 mA Input impedance Approx 5 1 kΩ Response time OFF ON 135 µs or less general input 50 µs or less high speed counter pulse catch interrupt input setting ON OFF Ditto Operating mode ...

Page 46: ...C Allowable load voltage range 4 75 26 4 VDC Rated load current 0 5 A Max inrush current 1 5 A Off state leakage current 1 µA or less ON state max voltage drop 0 3 VDC or less Output points per common 8 points common Response time OFF ON 1 ms or less ON OFF 1 ms or less Surge absorber Zener diode Operating mode indicator LED Internal circuit diagram ...

Page 47: ... OFF voltage maximum OFF current 1V DC 0 5 mA Input impedance Approx 720Ω Response time OFF ON 0 5 µs or less ON OFF 0 5 µs or less Operating mode indicator LED Internal circuit diagram R2 R1 A1 A3 A5 A7 Pls A B2 B4 B6 B8 Pls B B1 B3 B5 B7 Pls A A2 A4 A6 A8 Pls B R3 R1 Approx 360Ω R2 Approx 360Ω R3 Approx 2 7kΩ Terminal layout diagram Pin no B1 B2 B3 B4 B5 B6 B7 B8 Signal name PlsA PlsB PlsA PlsB ...

Page 48: ...Control Unit Specifications 2 10 ...

Page 49: ...3 I O Allocation ...

Page 50: ...ted as X0 X9 XA XF For external output represented as Y0 Y9 YA YF 3 1 2 I O Number Assignment Method I O numbers of control unit I O numbers are assigned a fixed area I O numbers of expansion unit The starting number assigned to each expansion unit will change depending on the installation location I O number assigned to each function cassette Depending on the installation location I O number assi...

Page 51: ...30 WY39 2nd expansion X400 X49F WX40 WX49 Y400 Y49F WY40 WY49 3rd expansion X500 X59F WX50 WX59 Y500 Y59F WY50 WY59 4th expansion X600 X69F WX60 WX69 Y600 Y69F WY60 WY69 5th expansion X700 X79F WX70 WX79 Y700 Y79F WY70 WY79 6th expansion X800 X89F WX80 WX89 Y800 Y89F WY80 WY89 7th expansion X900 X99F WX90 WX99 Y900 Y99F WY90 WY99 8th expansion X1000 X109F WX100 WX109 Y1000 Y109F WY100 WY109 Motion...

Page 52: ...t of I O Numbers for Units 3 2 1 FP XH M8N Control Unit General purpose I O Part I O numbers list General purpose input and output part Input Output Input Points I O Number Output Points I O Number 8 points X0 X7 8 points Y0 Y7 ...

Page 53: ...ary contact X1190 X1191 X1192 X1193 X1194 X1195 X1196 X1197 Limit X1200 X1202 X1204 X1206 X1208 X120A X120C X120E Limit X1201 X1203 X1205 X1207 X1209 X120B X120D X120F Error annunciation X1230 X1231 X1232 X1233 X1234 X1235 X1236 X1237 Warning annunciation X1240 X1241 X1242 X1243 X1244 X1245 X1246 X1247 RTEX general purpose input 1 X1250 X1252 X1254 X1256 X1258 X125A X125C X125E RTEX general purpos...

Page 54: ...r input enabled Y1200 Y1201 Y1202 Y1203 Y1204 Y1205 Y1206 Y1207 J point speed change Y1210 Y1211 Y1212 Y1213 Y1214 Y1215 Y1216 Y1217 J point positioning start Y1220 Y1221 Y1222 Y1223 Y1224 Y1225 Y1226 Y1227 Error clear request Y1230 Y1231 Y1232 Y1233 Y1234 Y1235 Y1236 Y1237 Warning clear request Y1240 Y1241 Y1242 Y1243 Y1244 Y1245 Y1246 Y1247 RTEX general purpose output 1 Y1250 Y1252 Y1254 Y1256 Y...

Page 55: ... O Number E16 8 points X300 X307 8 points Y300 Y307 E30 16 points X300 X309 X30A X30F 14 points Y300 Y309 Y30A Y30D E16X 16 points X300 X309 X30A X30F E14YR 14 points Y300 Y309 Y30A Y30D Note I O numbers in the above table represent the I O number for expansion units connected to the first unit The I O number varies from the installation order ...

Page 56: ...WY20 WY21 Analog input and output cassette A21 2ch WX20 WX21 1ch WY20 TC2 thermocouple input cassette 2ch WX20 WX21 RTD input cassette RTD2 2ch WX20 WX21 I O numbers list digital input and output cassettes Installation Location Type Input Output Input Points I O Number Output Points I O Number Cassette mounting part 1 Input cassette IN8 8 points X100 X107 Output cassette TR8 8 points Y100 Y107 Out...

Page 57: ...of FP0 Expansion Units Expansion Unit 1 Expansion Unit 2 Expansion Unit 3 Input Output Input Output Input Output 1st expansion X300 X31F Y300 Y31F X320 X33F Y320 Y33F X340 X35F Y340 Y35F 2nd expansion X400 X41F Y400 Y41F X420 X43F Y420 Y43F X440 X45F Y440 Y45F 3rd expansion X500 X51F Y500 Y51F X520 X53F Y520 Y53F X540 X55F Y540 Y55F 4th expansion X600 X61F Y600 Y61F X620 X63F Y620 Y63F X640 X65F Y...

Page 58: ...X32 X320 X32F WX34 X340 X34F Input 16 points CH1 3 5 7 WX31 X310 X31F WX33 X330 X33F WX35 X350 X35F Output 16 points Range setting WY30 Y300 Y30F WY32 Y320 Y32F WY34 Y340 Y34F Output 16 points Averaging setting WY31 Y310 Y31F WY33 Y330 Y33F WY35 Y350 Y35F FP0R analog output unit AFP0RDA4 Input 32 points Status WX30 X300 X30F WX32 X320 X32F WX34 X340 X34F WX31 X310 X31F WX33 X330 X33F WX35 X350 X35...

Page 59: ...21 Input 16 points CH0 WX30 X300 X30F WX32 X320 X32F WX34 X340 X34F Input 16 points CH1 WX31 X310 X31F WX33 X330 X33F WX35 X350 X35F Output 16 points WY30 Y300 Y30F WY32 Y320 Y32F WY34 Y340 Y34F FP0 A D converter unit FP0 thermocouple unit FP0 A80 FP0 TC4 FP0 TC8 Input 16 points CH0 2 4 6 WX30 X300 X30F WX32 X320 X32F WX34 X340 X34F Input 16 points CH1 3 5 7 WX31 X310 X31F WX33 X330 X33F WX35 X350...

Page 60: ... unit with the axis group setting request contact Y1105 turned ON after making setting changes in the axis group with the program The contact turns ON after the completion of the setting changes X1106 X1107 All axes Recalculation done Starts the reconfiguration of positioning data standard area in the positioning memory when the recalcuclation request contact Y1107 turns ON This contact turns OFF ...

Page 61: ... Axis 5 X1135 Axis 6 X1136 Axis 7 virtual X1137 Axis 8 virtual X1138 X113F WX114 X1140 Axis 1 Operation done Turns on when an operation command for the corresponding axis is completed Turns ON when the operation for all the tables completed for P point control and C point control of the automatic operation After this contact turns ON the ON state will continue until the next control is activated X...

Page 62: ...connected to the corresnponding AMP As for X1176 and X1177 they are always OFF when they are allocated to the virtual axes X1171 Axis 2 X1172 Axis 3 X1173 Axis 4 X1174 Axis 5 X1175 Axis 6 X1176 Axis 7 virtual X1177 Axis 8 virtual X1178 X117F WX118 X1180 Axis 1 Each axis connection confirmation Turns on when the corresponding axis exists As for X1186 and X1187 they are always ON when they are alloc...

Page 63: ...mit X1209 Limit X120A Axis 6 Limit X120B Limit X120C Axis 7 virtual Limit X120D Limit X120E Aixs 8 virtual Limit X120F Limit WX121 X1210 X121F WX122 X1220 X122F WX123 X1230 Axis 1 Error annunciation Turns on when an error occurs on the corresponding axis The contacts of all axes turn on if all axes have errors The details of the error can be confirmed in the error annunciation area of the position...

Page 64: ...ory X1241 Axis 2 X1242 Axis 3 X1243 Axis 4 X1244 Axis 5 X1245 Axis 6 X1246 Axis 7 virtual X1247 Axis 8 virtual X1248 X124F WX125 X1250 Axis 1 RTEX general purpose input 1 Monitor contact for the RTEX general purpose input connected to the corresnponding AMP The input status of this contact does not affect on the operations of the motor and FP XH M8N Control Unit X1251 RTEX general purpose input 2 ...

Page 65: ...ynchronous operation axes cannot be executed if this contact is ON for the axes X1281 Axis 2 X1282 Axis 3 X1283 Axis 4 X1284 Axis 5 X1285 Axis 6 X1286 Axis 7 virtual X1287 Axis 8 virtual X1288 X128F WX129 X1290 X129F WX130 X1300 X130F WX131 X1310 Axis 1 Slave axis gear ratio change annunciation Makes gear ratio changes with the slave axis gear ratio change request contact Y1310 to Y1317 The contac...

Page 66: ... Axis 1 Positioning speed change request reception annunciation Starts the speed change operation when the positioning speed change request contact Y1380 to Y1387 turns ON The contact for the corresponding axis turns ON when he request is accepted X1381 Axis 2 X1382 Axis 3 X1383 Axis 4 X1384 Axis 5 X1385 Axis 6 X1386 Axis 7 virtual X1387 Axis 8 virtual X1388 X138F Note 1 When using the virtual axe...

Page 67: ...ted X1391 Axis 2 X1392 Axis 3 X1393 Axis 4 X1394 Axis 5 X1395 Axis 6 X1396 Axis 7 virtual X1397 Axis 8 virtual X1398 X139F WX140 X1400 X140F WX141 X1410 X141F Note 1 When using the virtual axes the I O numbers allocated vary according to the number of virtual axes When selecting virtual 1st axis The I O number of Axis 8 virtual in the above table is allocated to virtual 1st axis When selecting vir...

Page 68: ... number will be rewritten when this signal turns ON After the completion of the rewriting cam tables the cam table rewriting done contact X1103 turns ON Y1104 Y1105 All axes Axis group setting change request This contact will turn ON after the axis group settings are changed Y1106 Y1107 All axes Recalculation request Turn on this signal when each positioning data standard area in the positioning m...

Page 69: ...135 Axis 6 Y1136 Axis 7 Y1137 Axis 8 Y1138 Y113F WY114 Y1140 Axis 1 Positioning start Requests the positioning control of the corresponding axis The starting table is specified in the area for specifying the position control starting table number in the positioning memory The operation is the edge type If this contact turns ON while the positioning unit is in tool operation a warning will be outpu...

Page 70: ...g will be output Y1161 Reverse JOG Y1162 Axis 2 Forward JOG Y1163 Reverse JOG Y1164 Axis 3 Forward JOG Y1165 Reverse JOG Y1166 Axis 4 Forward JOG Y1167 Reverse JOG Y1168 Axis 5 Forward JOG Y1169 Reverse JOG Y116A Axis 6 Forward JOG Y116B Reverse JOG Y116C Axis 7 virtual Forward JOG Y116D Reverse JOG Y116E Axis 8 virtual Forward JOG Y116F Reverse JOG WY117 Y1170 Y117F Note 1 When using the virtual ...

Page 71: ...1193 Axis 4 Y1194 Axis 5 Y1195 Axis 6 Y1196 Axis 7 virtual Y1197 Axis 8 virtual Y1198 Y119F WY120 Y1200 Axis 1 Pulsar input enabled Requests the permission for the pulsar operation of the corresponding axis The operation is the level type Y1201 Axis 2 Y1202 Axis 3 Y1203 Axis 4 Y1204 Axis 5 Y1205 Axis 6 Y1206 Axis 7 virtual Y1207 Axis 8 virtual Y1208 Y120F Note 1 When using the virtual axes the I O...

Page 72: ... Axis 5 Y1225 Axis 6 Y1226 Axis 7 virtual Y1227 Axis 8 virtual Y1228 Y122F WY123 Y1230 Axis 1 Error clear request Requests the error clear of the corresponding axis The processing to recover from errors is performed and the error logs are cleared by turning on this signal Note Unrecoverable errors cannot be recovered even if this signal turned on Y1231 Axis 2 Y1232 Axis 3 Y1233 Axis 4 Y1234 Axis 5...

Page 73: ...s 3 RTEX general purpose output 1 Y1255 RTEX general purpose output 2 Y1256 Axis 4 RTEX general purpose output 1 Y1257 RTEX general purpose output 2 Y1258 Axis 5 RTEX general purpose output 1 Y1259 RTEX general purpose output 2 Y125A Axis 6 RTEX general purpose output 1 Y125B RTEX general purpose output 2 Y125C Axis 7 RTEX general purpose output 1 Y125D RTEX general purpose output 2 Y125E Axis 8 R...

Page 74: ...chronous state turn OFF this contact Y1281 Axis 2 Y1282 Axis 3 Y1283 Axis 4 Y1284 Axis 5 Y1285 Axis 6 Y1286 Axis 7 virtual Y1287 Axis 8 virtual Y1288 Y128F WY129 Y1290 Y129F WY130 Y1300 Y130F WY131 Y1310 Axis 1 Slave axis gear ratio change request A gear ratio change is made with the contact for the corresponding axis turned ON while the positioning unit is in synchronous operation The operation i...

Page 75: ...e synchronous operation turns on No axes start unless the clutch is used Set the operation to rising edge or falling edge These signals will be disabled while the slave axis clutch ON request signal is set to level type Y1341 Axis 2 Y1342 Axis 3 Y1343 Axis 4 Y1344 Axis 5 Y1345 Axis 6 Y1346 Axis 7 virtual Y1347 Axis 8 virtual Y1348 Y134F WY135 Y1350 Y135F WY136 Y1360 Y136F WY137 Y1370 Y137F Note 1 ...

Page 76: ...n the contact for the corresponding axis during the positioning operation The operation is the edge type Y1391 Axis 2 Y1392 Axis 3 Y1393 Axis 4 Y1394 Axis 5 Y1395 Axis 6 Y1396 Axis 7 virtual Y1397 Axis 8 virtual Y1398 Y139F WY140 Y1400 Y140F WY141 Y1410 Y141F Note 1 When using the virtual axes the I O numbers allocated vary according to the number of virtual axes When selecting virtual 1st axis Th...

Page 77: ...4 Installation ...

Page 78: ...environments Do not use it in the following environments Direct sunlight Sudden temperature changes causing condensation Inflammable or corrosive gas Excessive airborne dust metal particles or saline matter Benzine paint thinner alcohol or other organic solvents or strong alkaline solutions such as ammonia or caustic soda Direct vibration shock or direct drop of water Influence from power transmis...

Page 79: ...nce and other equipment with large heat radiation Installation space Leave at least 50mm of space between the wiring ducts of the unit and other devices to allow heat radiation and unit replacement To avoid being affected by the radiation the surface of each unit and the power line or electromagnetic switches should be separated by 100 mm or more when installing Make sure it separated with other d...

Page 80: ...2 Insert the backup battery into the battery holder 3 Connect the battery connector 4 Close the operating unit cover and battery cover When removing the backup battery push the push rod portion KEYPOINTS Backup battery is used for clock calendar function and the expansion of the backup area of the operation memory As for the role of the backup battery its battery life and setup of memory area plea...

Page 81: ...ing with the control unit is powered ON will cause failure Do not touch the back of the add on cassette and connector Otherwise IC may be damaged due to static electricity 4 3 2 Communications Cassette Installation The communication cassette can be installed on the control unit or function cassette Mounted on the control unit Connect the connector on the back of the communication cassette and the ...

Page 82: ...e Function cassette Function card Communication card Remove the outer cover Fixed at 2 positions Deep groove processing 4 3 3 Function Cassette Installation The communication cassette can be installed on the control unit Mounted on the control unit Connect the connector on the back of the function cassette and the connector of the control unit cassette installation part fix the function cassette w...

Page 83: ...P X expansion units and FP X expansion FP0 adapters are connected to the control unit via a dedicated expansion cable FP X expansion units and FP X expansion FP0 adapters come with an 8 cm type expansion cable AFPX EC08 When setting the unit on the upper and lower part a long expansion cable must be used please order 30 cm type AFPX EC30 or 80 cm type AFPX EC80 separately Please limit the total le...

Page 84: ...on steps PROCEDURE 1 Remove the control unit the expansion unit expansion cover 2 Install an expansion connector cable on the control unit expansion connector portion and expansion I O unit expansion connector portion left 3 Units should be close together to ensure that the expansion cable is housed between the units 4 Install expansion cover ...

Page 85: ...ters When the unit is expanded use the FP0 right connector for expansion and the expansion hook on the side of the unit Installation steps PROCEDURE 1 Please use a screwdriver to move the expansion hook 2 Install after the lug bosses on the expanded unit side are aligned Please make the connector tightly fitted to eliminate the gap between the units 3 Please lift the expansion hook according to st...

Page 86: ...nstall an expansion connector cable on the control unit expansion connector portion and FP X expansion FP0 adapter expansion connector portion left 3 Units should be close together to ensure that the expansion cable is housed between the units 4 Install expansion cover KEYPOINTS The expansion FP0 adapter has no terminal setting switch but the terminal is set inside it Set the terminal setting swit...

Page 87: ...into the DIN rail 3 Embed the lower part of the unit installing part into the DIN rail while pushing the unit installing part into the DIN rail 4 Push up the DIN rail mounting stem on the back of the unit and lock until you hear a click sound Removal steps PROCEDURE 1 Pull out all DIN rail mounting stems on the back of the unit from underside 2 Pull the lower side of the unit toward you 3 Remove i...

Page 88: ...Installation 4 12 4 6 2 Mounting with Screws Please use M4 screws for mounting REFERENCE For installation dimensions refer to 26 9 2 Installation Dimensions ...

Page 89: ...5 Wiring of Power Supply and General purpose I O Parts ...

Page 90: ...COM COM COM GND X0 X3 X4 X1 X2 X5 X6 X7 NC NC NC NC NC Y0 Y3 Y4 Y1 Y2 Y5 Y6 Y7 NC 1 2 3 4 5 No Name Description AC power supply terminal input Unused No connection is allowed Input terminal All COM terminals of the input side are connected internally Unused No connection is allowed Output terminal All terminals of the input side are connected internally ...

Page 91: ...nce Take the power sequence into consideration and cut off the PLC power supply before the power supply for input and output is shut off If the input and output power is shut off before cutting off the PLC power supply the control unit may sometimes detect the change of the input value and cause an unexpected sequence of actions 5 2 2 Grounding To obtain adequate anti interference performance plea...

Page 92: ...ge Model Rated input voltage Allowable voltage range Rated frequency Allowable frequency range DC Power Supply Type 24 VDC 21 6 26 4 VDC Power supply cables To reduce the voltage drop use a wire that is at least 2 mm 2 AWG14 To reduce the influence of interference the power cable shall be stranded strand processing Applicable wires Applicable wires Tightening torque AWG22 14 0 3 mm2 2 0 mm2 0 5 0 ...

Page 93: ...5 2 Wiring of Power Supply 5 5 If the voltage or frequency of the power supply exceeds the allowable range or a wire outside the specified range is used the power unit of the PLC may fail ...

Page 94: ...on circuit reinforced insulation or double insulation wire The built in regulator of the unit uses a non insulated type In order to simultaneously start the power supply the power of the expansion FP0 adapter shall be supplied by a service power supply for FP XH control unit input Supply voltage Please confirm that the voltage of the power supply to be connected is within the allowed range Rated i...

Page 95: ... change of the input value and cause an unexpected sequence of actions Operation Power sequence ON FP0 power FP XH M8N power expansion FP0 adapter input and output power OFF FP XH M8N power expansion FP0 adapter FP0 power input and output power Grounding of the FP X expansion FP0 adapter and FP0 expansion unit The functional grounding wire green of the included cable shall be grounded Depending on...

Page 96: ...e conduit or tie them up The input wire output wire power line and high voltage line shall be separated by at least 100 mm Wire selection When wiring the input line and output line select the wire diameter according to the current capacity Power supply Switch off the PLC power supply before wiring The control units expansion units and all cassettes shall be connected with the power supply switched...

Page 97: ...LC Input terminal COM terminal Internal circuit NPN Open Collector Output Type Input terminal COM terminal Sensor Sensor output Vcc 0 V PLC Input power Internal circuit Voltage Output Type Input terminal COM terminal Input power Sensor Sensor output Vcc 0 V PLC Internal circuit Two Wire Output Type Sensor output Input terminal COM terminal Input power Sensor PLC Internal circuit ...

Page 98: ... when using a two wire sensor When using a two wire photoelectric sensor or proximity sensor if cutting off the input current flowing to PLC is not possible due to the leakage current connect the bleeder resistor as shown in the left chart Input terminal COM terminal Bleeder resistor R PLC Two wire sensor Internal circuit Precautions when using a limit switch with LED When using a limit switch wit...

Page 99: ...t terminal Load Surge suppressor COM terminal R C Example of surge suppressor Resistance at 50Ω Capacity 0 47 μF PLC Output terminal Load Non linear resistor COM terminal PLC For DC load Output terminal Load Diode COM terminal Diode Higher than 3 times the rated load voltage Greater than the load current Reverse voltage Average rectified current PLC Precautions on using capacitive loads When conne...

Page 100: ...d for the terminals Please use the following crimp terminals to connect terminals When using round terminals remove the terminal block cover before operating Fork type terminal Ring type terminal 3 2mm or more 6mm or less 3 2mm or more 6mm or less 5 4 2 Terminal Block Cover When using round terminals remove the terminal block cover before operating To prevent electric shock make sure to install th...

Page 101: ...ved Removal of the terminal block Loosen the 2 mounting screws to remove the terminal block The screws are fixed on the terminal block they cannot be removed Installation of the terminal block Tighten the screws when the terminal block is lifted up After tightening the screws the terminal box is fixed Please set tightening torque to 0 25 0 35N m ...

Page 102: ...mergency stop circuit to the PLC externally to turn off the power supply of the output device Start up sequence The PLC should be operated after all of the outside devices are energized To keep this sequence the following measures are recommended Turn on the PLC with the mode selector set to the PROG mode and then switch to the RUN mode Program the PLC so as to disregard the inputs and outputs unt...

Page 103: ...r failure for the DC power supply that supplies power to the expansion FP0 adapter Supply the power to it from the service power supply for the input of the FP XH M8N control unit When using the expansion unit with a built in power supply E30 expansion FP0 adapter depending on the duration of the momentary power failure either one unit may be without electricity momentarily and the I O verify erro...

Page 104: ...Wiring of Power Supply and General purpose I O Parts 5 16 ...

Page 105: ...6 Wiring of Motion I O Parts ...

Page 106: ...otion I O part has two interfaces 1 2 No Name Description Network RTEX connector RJ45 connector x 2 Perform the loop connection via the servo amplifier and RTEX network Pulse input connector Input of four channels are available Encoders and pulsars can be connected ...

Page 107: ...ce of the left switch One place of the right switch 0 31 0 3 0 9 Set numbers in decimal Range 01 08 KEYPOINTS The node address of the RTEX network is determined by the setting of the rotary switches regardless of the connection order In the following cases errors occur Error code State 2020 The same unit number exists in the same network 2030 A unit number is set to 0 2030 A unit number larger tha...

Page 108: ... It is used as limit SI3 8 CCW over travel inhibit input NOT B contact It is used as limit SI4 9 General purpose monitor input 1 SI MON1 A contact SI5 10 Near home input HOME A contact It is used as a near home input SI6 11 External lutch input 2 EXT2 A contact SI7 12 External lutch input 3 EXT3 A contact SI8 13 General purpose monitor input 4 SI MON4 A contact Note 1 The above table shows the all...

Page 109: ...anism such as a stopper A A Stop on contact method 2 Home Z phase A A Data set method A A Pattern A Factory default setting Parameter no X4 connector Parameter value HEX Pin assign setting Revised items Terminal name Terminal no Pr 4 00 SI1 5 00323232H SI MON5 A contact Pr 4 01 SI2 7 00818181H POT B contact A Pr 4 02 SI3 8 00828282H NOT B contact A Pr 4 03 SI4 9 002E2E2EH SI MON1 A contact Pr 4 04...

Page 110: ...he FP XH M8N Control Unit in combination with the servo amplifier A6N A5N up to two RTEX operation outputs can be used The RTEX operation output is connected to the servo amplifier I O connector X4 The RTEX opration outputs EX OUT1 and EX OUT2 connected to the servo amplifier can be controlled in the output area WY125 of the FP XH M8N Control Unit For controling the genera purpose output connected...

Page 111: ...tance between each node should be within 100 m and the total length should be within 200 m 6 3 2 Precautions on Wiring Always use shielded twisted pair STP cables that are compatible with category 5e or higher Turn off the power supply of the system before wiring cables To prevent the cable from coming off securely connect the connector of the cable to the network connector RJ45 connector of the u...

Page 112: ...en collector Type Power supply 5V DC GND Phase A Phase B Encoder and pulse generator side Connection Control unit side Pulse input A Pulse input A Pulse input B Pulse input B A1 A3 A5 A7 B1 B3 B5 B7 A2 A4 A6 A8 B2 B4 B6 B8 360 360 360 360 6 4 3 Transistor Resistor Pulling Up Type Power supply 5V DC GND Phase A Phase B Encoder and pulse generator side Connection Control unit side Pulse input A Puls...

Page 113: ...rol codes Note please use pulse input A and pulse input B signals within the following specifications When pulse input A and pulse input B are used in 2 phase It is 2 phase input when used as pulsar input T X1 X2 X3 X4 Pulse input A Pulse input B T 1μs X1 X4 0 2μs Max 1MHz per phase When pulse input A and pulse input B are used as direction detection input T X1 Pulse input A Pulse input B T 1μs X1...

Page 114: ...ered cable connector need not to be peeled off the insulation layer Connect them with special tools Applicable wires stranded wire Specification Nominal cross section area Insulation layer O D Rated current AWG 22 0 3 mm2 φ1 5 φ1 1 3 A AWG 24 0 2 mm2 Scattered cable connector unit accessories Manufacturer Parts composition Quantity The company Enclosures 40P 1PC 2 sets Half open enclosures 40P 2PC...

Page 115: ...o the tool 2 Insert the wire with the insulation layer directly into the contact piece slightly grip the tool for crimping 3 Insert the wire into the terminal box after the crimping 4 Close the cover after insertion of the wire KEYPOINTS Contact pull pin can be used for correction in case of wrong wiring Wrong wiring or wrong crimping of wire can be corrected with the attached contact pull pin ...

Page 116: ...Wiring of Motion I O Parts 6 12 ...

Page 117: ...7 Power On Off and Check Items ...

Page 118: ...etween the servo amplifier and over limit switches Check the installation condition of the over limit switches Confirm the sequence setting of turning on the power supply Please verify whether the steps for turning on the power supply are set according to the requirements of the Steps for Turning on the Power Supply Setting of configuration data Check if the parameters and positioning data are con...

Page 119: ...unexpected actions PROCEDURE 1 Turn on the power supplies for input and output devices connected to the PLC 2 Turn on the power supply for the servo amplifier 3 Turn on the power supply of the PLC 7 2 2 Procedure for Turning Off the Power PROCEDURE 1 Check and 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 servo am...

Page 120: ...eck the connection between the servo amplifier and over limit switches Check the installation condition of the over limit switches Check if the over limit switch is loaded as the limit input of FP XH M8N Control Unit and activated properly by performing JOG operation Check the near home input Check the connection between the servo amplifier and near home input Check the installation condition of t...

Page 121: ...Control Unit in this order Step 2 Check if the operation status display LEDs on the FP XH M8N Control Unit is in the following state STATUS On LINK On Points to check If the STATUS LED is blinking the network is not established If the LINK LED is off the connection between the RX receiver and the TX of the AMP sender is not electrically correct ...

Page 122: ...ut by the tool operation function of Configurator PM7 or performing the JOG operation with a program Step 3 Using the JOG operation check to see if the over limit switch is functioning properly Limit Input Operation Conditions Direction Limit Status Operation When JOG operation is executed Forward rotation Limit input ON Not executable Error occurs Limit input ON Executable Reverse rotation Limit ...

Page 123: ...op at the origin without offset Step 4 If the mobile station doesn t exactly stop at the origin change the position of the near origin input or reduce the home return speed to make it accurately stop at the origin 7 3 5 Checking the rotation movement direction and distance Step 1 Check whether the rotation and movement direction is correct through the JOG operation or automatic acceleration and de...

Page 124: ...Power On Off and Check Items 7 8 ...

Page 125: ...8 Steps Before Running ...

Page 126: ...evice list as designed Mounting screws on the unit are securely tightened No looseness 2 Wiring The terminal screws are securely tightened No looseness Wiring and signal names of the terminals are consistent Wire specifications fully fit the current size 3 Cable connection Cables are securely connected 4 Mode setting The mode toggle switch is set to PROG mode 5 Others Please carefully confirm the ...

Page 127: ...he Totally Check Project of the tool software to check for syntax errors 3 Confirm the output wiring Use the mandatory input output function etc to check the output wiring 4 Confirm the input wiring Check the input wiring through the input display LED or the monitoring function of the tool software 5 Test run 1 Set the mode toggle switch to RUN mode confirm that the RUN LED is lit 2 Confirm the se...

Page 128: ...speed counter when using pulse output function Position control parameter Position control data table data Set via the Configurator PM7 Save the position control parameters and position control data table information to be set as partial program files You can export or import it via the Configurator PM7 and save only the position control related data as other file 8 2 2 Settings of the System Regi...

Page 129: ...ut and output signal and channel when using HSC High Speed Counter Interruption pulse catch setting Specify the inputs allocated when using interrupt input or pulse catch input When the input is interrupted an effective pulse edge can be selected Interrupt edge setting Time constant setting of CPU input Assign a input for time constant filter when the input is set as active COM port setting Set th...

Page 130: ...ntrol unit upload to your computer If the program and other required data are not written in the control unit turn on the power via PROG mode When the power is turned on in the RUN mode When the power is turned on transmit the datum saved in the control unit s internal memory F ROM to the control unit memory then start running When the program and other required data have been saved turn on the po...

Page 131: ...ted by the tool software can be downloaded to the control unit The downloaded program are saved to the program memory F ROM It can be saved even in case of power outage System register Position control parameter Comments Program PLC Program memory F ROM Operational memory F ROM data area RAM ...

Page 132: ...ox is displayed 4 Click the Yes button Perform the download In addition the information dialog box for confirming whether to switch the mode displays 5 Click Yes or No button Click Yes to switch to RUN mode Click No to switch to monitoring mode KEYPOINTS When you switch to RUN mode switch it after confirming that there will be no danger even the PLC is in motion When you switch to RUN mode the ERR...

Page 133: ...ify that the power of the control unit is switched on 2 Verify that the computer and the control unit are connected via a USB cable 3 Select Online Communication Settings from the menu bar The Communication Settings dialog is displayed 4 Confirm the port number and click OK button Make sure the computer and the control unit can communicate ...

Page 134: ...Steps Before Running 8 10 KEYPOINTS Port No can be confirmed through the computer s device manager ...

Page 135: ... menu bar The Totally Check Project dialog box is displayed 3 Click the Execute button The check result is displayed When there is an error click the Jump button to jump to the appropriate location 8 3 4 Program Verify To confirm that the program being edited on the computer is the same as that on the control unit check it when necessary Explain it as below assuming that the FPWIN GR7 has been sta...

Page 136: ...Check result Check contents Example in case of inconsistency System register Shows inconsistent error when the Settings of the system register are not consistent Position control data table Shown as inconsistent error when the position control parameters and position control data table are different PB1 Displays inconsistent program block numbers KEYPOINTS When switching from offline to online if ...

Page 137: ...ster A N A Rewriting is only possible in PROG mode To rewrite in RUN mode it will show a confirmation message box to switch to PROG mode Position control data A N A Rewriting is only possible in PROG mode To rewrite in RUN mode it will show a confirmation message box to switch to PROG mode Note 1 In case of online editing although the entered comments show you can not save them to the memory of th...

Page 138: ...rform PB conversion The confirmation dialog box is displayed 2 Click the Yes button The confirmation dialog box for comment change is displayed 3 Click the Yes button At the end of the normal conversion the information is displayed in the status bar KEYPOINTS The line comment is connected with the Boolean address of the program and managed within the PLC When changing the program online download t...

Page 139: ...online by FPWIN GR7 PROCEDURE 1 In the menu bar select Option System Register Settings The PLC Configuration dialog box is displayed 2 Change any system register and click OK button The confirmation dialog box is displayed 3 Click the Yes button The information indicating system register writing is completed shows in the PLC KEYPOINTS Please change the system register No 0 in PROG mode ...

Page 140: ... limit Execution sequence of PBs The PBs are executed as a program after being combined Please describe only 1 ED instruction at the end of the main program Programs before the ED instruction will be executed circularly Please set the secondary programs interruption programs subprograms after the ED instruction Match not established error and instruction position error will be displayed in case of...

Page 141: ...hat the 3 PBs has been compiled PROCEDURE 1 Double click Change execution order from the project tree The Change PB Execution Order dialog box is displayed 2 Select the PB for which the execution sequence is to be changed click the Up or Down button 3 Click the Yes button The name of the PB is displayed on the project tree according to the changed execution ...

Page 142: ...Steps Before Running 8 18 ...

Page 143: ...9 Setting of Position Control Parameters ...

Page 144: ... the Positioning table from the project tree The Configurator PM7 configuration menu is started 2 Select Axis Settings Change Axis from the menu bar The dialog box of for setting of the axis to be used appears 3 When using the virtual axes for the synchronous control select from the drop down list When selecting V Axis 1 Axis 8 changes to V Axis 1 When selecting V Axis 1 through V Axis 2 Axis 7 ch...

Page 145: ...ording to the set group KEYPOINTS After setting the interpolation group settings for the movements of the X axis Y axis or Z axis and the interpolation operations will be added to the data table and displayed on the tab as group A and B Virtual axes and slave axes under synchronized control cannot be set to the interpolation operation groups The master axis of the synchronous control can be set as...

Page 146: ...remise PROCEDURE 1 Select Axis Settings Parameter Settings from the menu bar The dialog box of Parameter Settings appears 2 Set the necessary parameters according to the purpose and press OK After displaying the message Updating data display the screen returns to the base screen of Configurator PM7 3 Select File Apply Settings from the menu bar The parameters set in Configurator PM7 are applied as...

Page 147: ... error occurs For performing infinite rotation set the both software limits to 0 Setting range 2 147 482 624 2 147 482 624 Software limit upper limit value Auxiliary output mode Set the timing when auxiliary output contact turns ON and the output timing of auxiliary output code In With mode auxiliary output is reflected in operation In Delay mode auxiliary output is reflected when the table moves ...

Page 148: ...riterion for judging the home return once the torque value of the AMP exceeded this set value by the stop on contact Setting range 0 5000 Default 100 Home return Stop on contact judgment time ms Set the judgement time for using the stop on contact method for home return The position when this set time elapses after the AMP torque value exceeds the stop on contact torque is regarded as a decision c...

Page 149: ...range 0 10000 Default 100 ms Error stop deceleration time ms When an error occurs the deceleration operation is complete in this deceleration time Setting range 0 10000 Default 100 ms J point Operation setting code Set the acceleration deceleration method when performing the J point control Select from the following items 0 Linear acceleration deceleration 1 S shaped acceleration deceleration 11 1...

Page 150: ...m the menu bar The dialog box of Synchronization Parameter Settings appears 2 Set the necessary parameters according to the purpose and press OK 3 Select File Apply Setting from the menu bar The parameters set in Configurator PM7 are applied as the project data being edited KEYPOINTS In the case of synchronous control basic parameters related to I O operate according to 9 2 Parameter settings Clos...

Page 151: ...m pattern settings appears 2 Set the necessary parameters according to the purpose and press OK 3 Select File Apply Setting from the menu bar The parameters set in Configurator PM7 are applied as the project data being edited REFERENCE For setting of synchronous control parameters please refer to Chapter 12 Automatic Operation Synchronous Control KEYPOINTS The saved parameters can be read on the C...

Page 152: ...X axis The movement unit system is specified via parameter setting Acceleration deceleration method Select the acceleration deceleration method Acceleration time ms Set the acceleration time Set the unit to ms Deceleration time ms Set the deceleration time Set the unit to ms Target speed Set the target speed Set the units to pps µm s inch s and rev s Dwell time ms Set the time from the completion ...

Page 153: ...a user program to make the operations available to start Recalculation request is not required Characteristics Compared with using the extension area starting by presetting the position control data via the Configurator PM7 is faster Compared with using the standard area starting by setting the position control data via user program is faster Usage Applications where position control data like mov...

Page 154: ...trol according to the settings in the data table X1100 Start enabled condition X1104 Tool operation X1230 Axis 1 error R10 R2 Position control start F386 PSET K1 Specify axis no and table no R2 Position control start R10 Start enable flag X1130 Axis 1 BUSY Y1140 Start enable flag Axis 1 positioning start Positioning start K0 Axis no Table no DF DF R0 Servo ON Servo ON R1 Servo OFF Y1130 Axis 1 ser...

Page 155: ... the Configurator PM7 and select E point Control for the operation pattern for the final data table Specify the starting data table No of each control in the program Eg During P point control speed change control Create 3 position control data tables and select E End Point for the final data table In addition start the initial data table No from the user program Speed f pps E point table P point t...

Page 156: ...s set by Configurator PM7 in csv format They can be used for checking parameters Export to CSV 9 5 2 Saving Parameters as Part of Project File Parameters set by Configurator PM7 can be saved as part of project data The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select File Apply Setting from the menu bar A confirmation message box is...

Page 157: ...e Save Settings from the menu bar The Save As dialog box is displayed 2 Enter the save path and file name and press Save Parameter information and position control data table information are saved as files with an extension pm7r KEYPOINTS The files saved by the above operations contain the information on all parameters and positioning tables set on the Configurator PM7 The information can be read ...

Page 158: ...bles can be exported in csv format It is possible to open the csv files and check the settings of each parameter and positioning table PROCEDURE 1 Select File Export to CSV from the menu bar The Export to CSV dialog box is displayed 2 Enter a file name and press the OK button CSV files with given file names are saved for each parameter ...

Page 159: ...10 Transfer to Unit and Commissioning ...

Page 160: ...dition that the Configurator PM7 has already started PROCEDURE 1 Select Debug Check Parameters and Data Values from the menu bar A message box will be displayed to show the check result If there is an error in the settings for the positioning data tables an error message will appear and the cursor will move to the corresponding error position ...

Page 161: ...ct Debug Verify File or PLC from the menu bar After selecting the file the Select a file to verify dialog box appears After selecting PLC the parameters being edited and configuration information saved in the PLC can be compared in Configurator PM7 and then the results are displayed 2 Select the file from the Select a file to verify dialog box and click the OK button Compare the parameters being e...

Page 162: ...edited and the screen returns to the base screen of the FPWIN GR7 3 Select Online Download to PLC Entire Project from the menu bar A confirmation message dialog box is displayed 4 Press the Yes button Downloading the project is executed A message dialog box to confirm whether to switch the mode or not is displayed 5 Press the Yes or No button Press Yes to change to the RUN mode Press No to continu...

Page 163: ...x to confirm whether to switch the mode or not is displayed 3 Press the Yes or No button Press Yes to change to the RUN mode Press No to continue the PROG mode When changing the RUN mode the configuration information is valid in the unit and the test run using I O signals or the Configurator PM7 can be performed 4 Select Options Positioning Table Settings in the menu bar The Configurator PM7 is ac...

Page 164: ...onitor The connection state of each axis and input state of external terminals can be monitored The following procedure is explained on the condition that Configurator PM7 has already started PROCEDURE 1 Select Online Status Display from the menu bar The Status monitor dialog box is displayed ...

Page 165: ... is locked Free gray Indicates that the servo is free Status Displays the operation state of each axis Operating green The motor is running Stopped gray The motor stops gray No motor is connected Completion width Displays the state whether the deviation counter is in the imposition range or not Within range green It is in the imposition state Out of range gray It is not in the imposition state Ext...

Page 166: ...tion state of each axis and input state of external terminals can be monitored The following procedure is explained on the condition that Configurator PM7 has already started PROCEDURE 1 Select Online Data Monitor from the menu bar The Data monitor dialog box is displayed ...

Page 167: ...It returns to 0 on the completion of home return 17 4 Coordinate 17 5 Current Value Update Unit conversion current value Displays the feedback pulse value after the unit conversion of the servo amplifier It returns to 0 on the completion of home return When the home coordinate has been set it will be preset to the home coordinate on the completion of home return Torque command Monitors the torque ...

Page 168: ...according to the specified parameter Positioning Moves from the start table number according to the set contents of the positioning table JOG operation The specified axis can be moved to the specified direction at the specified speed while the operation command is on Teaching Controls the axis manually like JOG operation and reflects the resulting positioning address on the data editing screen KEY...

Page 169: ...ervo ON OFF dialog box is displayed 3 Press the ON OFF button of any axis The Servo ON Servo OFF status is switched 4 Confirm the Servo ON OFF of any axis and press the Close button It returns to the Tool Operation dialog box KEYPOINTS If the servo ON OFF has been controlled using ladder programs the servo lock or servo free state before the start of the tool operation is kept and the operation sh...

Page 170: ...tion that the Configurator PM7 has already started PROCEDURE 1 Select Online Tool Operation from the menu bar The Tool Operation dialog box is displayed 2 Select JOG operation from the Tool Operation dialog box The Tool operation Jog operation is displayed 3 Press the or button in the field of JOG It executes JOG operation 4 Press Exit button to terminate the JOG operation KEYPOINTS This dialog bo...

Page 171: ...isplay the value input dialog box which allows change of the current value 17 5 Current Value Update Unit Displays the unit of the position command of each axis set in parameter settings JOG target speed Monitors and displays the target speed of JOG operation Click the Change button to change the target speed of JOG operation 13 1 Setting and Operation of JOG Operation JOG Click the button to exec...

Page 172: ... program The following procedure is explained on the condition that the Configurator PM7 has already started PROCEDURE 1 Select Online Tool Operation from the menu bar The Tool Operation dialog box is displayed 2 Select Home Return from the Tool Operation dialog box The Tool operation Return to home position dialog box is displayed 3 Click the Start button of the axis to be subject home return It ...

Page 173: ...alue after home return 17 4 Coordinate 17 5 Current Value Update Unit Displays the unit of the position command of each axis set in parameter settings Home return mode Displays the content of the home return setting code registered in the positioning setting data 14 1 Type of Home Return Start stop Executes Start Stop operation of origin Click the Start button to execute home return and the button...

Page 174: ... The Tool Operation dialog box is displayed 2 Select Positioning from the Tool Operation dialog box The Tool operation Positioning dialog box is displayed 3 Press the Change button under the target start table number field The starting table no setting dialog box is displayed 4 Enter the starting table number 5 Press the Operation button Positioning starts from the specified start table number 6 P...

Page 175: ...pdate Unit Displays the unit of the command of each axis set in parameter settings Table number executing Displays the table number during the operation or when it completes 9 4 Creating Positioning Data Table Start table number Start table No of position control Click the Change button to change the start table no Operation Stop Operates stops operation of position control Click the Operation but...

Page 176: ...tion starts by pressing the Operate button of any axes however a warning message is displayed when the Operate button other than that for the smallest axis number is pressed This dialog box cannot be closed during the operation When conditions are changed during the tool operation the positioning memory will be updated temporarily and the operation will be performed however the changed conditions ...

Page 177: ...eration Teaching dialog box is displayed 3 Stop at the positioning point by the JOG operation 4 Press the Teaching button 5 Enter the table number where the desired positioning information is registered and click the OK button The current value is registered for the amount of movement of the table number specified Also if the axis that the teaching operation is performed is an interpolation axis t...

Page 178: ...f JOG operation Click the Change button to change the target speed of JOG operation 13 1 Setting and Operation of JOG Operation JOG Click the button to execute JOG forward running JOG Click the button to execute JOG backward running Table no Displays the table no of teaching an press the Teaching button to change the data table No of teaching and register the current value 9 4 Creating Positioning...

Page 179: ... Instruction Format R0 S2 D n S1 F384 PTBLR Operand Settings Specify reading of the elapsed value area S1 Specify the axis number and positioning memory area H1 Specify the axis information area of axis 1 H101 Specify the axis information area of axis 2 H201 Specify the axis information area of axis 3 H301 Specify the axis information area of axis 4 H401 Specify the axis information area of axis 5...

Page 180: ...lue based on the mechanical origin and is saved in the unit of pulse reset to 0 upon home return The value will not be updated even if the Update Current Value function is executed H3E Unit pulse µm inch degree Saves the current value based on the electrical origin Save the value converted to the selected unit system pulse µm inch and degree in the setting area of different axes After home return ...

Page 181: ...11 Automatic Operation Position Control ...

Page 182: ...he pass point is called P point Control Use this method for the 2 speed acceleration and deceleration control When the P point control is started it will be switched to the E point control after the pulse output is performed based on the specified movement amount A A C point Control t ms f Hz C E t ms f Hz C E C Controlling via the continuance point is called C point Control Use this method for tw...

Page 183: ...on of the position control operation pattern Select the position control operation pattern with the Configurator PM7 Enter the mode in 1 line of the E point control During continuous input of data tables with P point control C point control and J point control executes combined input to make the final data table adopt E point control KEYPOINTS When using P passing point C continuance point J the n...

Page 184: ...me ms 100 ms Target speed 10000 pps Operation diagram 100 100 f pps 10000 t ms 30000 20000 10000 pulses Positioning start contact Y1140 Current value Operation done flag X1140 BUSY flag X1130 Operation of each contact The BUSY flag X1130 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when the operation completes The operation done fl...

Page 185: ...eration time ms 10 ms 20 ms 150 ms Target speed 10 000 pps 20 000 pps 5 000 pps Operation diagram 100 150 f pps 10000 20000 5000 200 150 t ms 38000 20000 Table 1 5000 pulses Table 2 10000 pulses Table 3 3000 pulses Positioning start contact Y1140 Current value Operation done flag X1140 BUSY flag X1130 Operation of each contact The BUSY flag X1130 which indicates that the motor is running will turn...

Page 186: ...near Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10 000 pps 20 000 pps 5 000 pps Operation diagram 100 f pps 10000 20000 5000 200 10 20 30 150 t ms 38000 20000 Table 1 5000 pulses Table 2 10000 pulses Table 3 3000 pulses Positioning start contact Y1140 Current value Operation done flag X1140 BUSY flag X1130 Operation of each contact The BUSY flag X...

Page 187: ...100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10 000 pps 20 000 pps 5 000 pps J point running setting code Linear acceleration deceleration J point acceleration time ms 10 ms J point deceleration time ms 10 ms J point target speed 30 000 pps KEYPOINTS Specify parameters in the position control data table at the beginning of operation Specify parameters upon speed change ...

Page 188: ...o any action from the next position control JOG operation home return and pulsar operation for startup The target speed is changed when the contact Y1210 of the J point speed change is in ON The speed change contact is valid in the pulse edge of OFF ON Start the position control action when starting points Y1220 of the J point position control are in ON Actions with the speed change contact in ON ...

Page 189: ...386 PSET K1 Specify axis no and table no R2 Position control start R10 Start enable flag X1130 Axis 1 BUSY Y1140 Start enable flag Axis 1 positioning start Positioning start K0 Axis no Table no DF DF R0 Servo ON Servo ON R1 Servo OFF Y1130 Axis 1 servo OFF request Servo OFF Axis 1 servo ON request DF DF Y1120 X1180 Axis1 connection confirmation X1120 Axis 1 servo lock Link establishment annunciati...

Page 190: ...oint positioning start Y1220 Axis 1 J point positioning start J point positioning start Positioning start R2 Position control start R10 Start enable flag X1130 Axis 1 BUSY Y1140 Axis 1 J point positioning start F386 PSET K1 K0 DF DF DF DF X1180 X1120 R0 Servo ON Servo ON R1 Servo OFF Y1130 Servo OFF DF DF Y1120 Tool operation Axis 1 error Start enable flag Axis1 connection confirmation Axis 1 serv...

Page 191: ...start contact and flag number varies depending on the number of axes Operation at limit input Conditions Direction Limit Status Operation At each control start Forward rotation Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs Reverse rotation Limit input ON Not executable Error occurs Limit input ON Not executable Error occurs During each type of control Forwar...

Page 192: ...peed of the X axis and Y axis Long axis Speed Assignment Speed of the long axis axis with longer moving distance 2 axis arc interpolation control Center point assignment CW direction X axis and Y axis coordinates of center point Center point assignment CCW direction X axis and Y axis coordinates of center point Passing point assignment X axis and Y axis coordinates of passing point on the arc 3 ax...

Page 193: ...11 2 Interpolation Control 11 13 ...

Page 194: ...Automatic Operation Position Control 11 14 Note When the X axis and Y axis is the moving axes each axis in the above diagram is replaced ...

Page 195: ...ode and unit as pulse Y axis X axis 10 000 pulses 5 000 pulses Settings Item Setting Example Operation pattern E end point Interpolation operation 0 Linear resultant speed Control method I increment X axis movement amount 10 000 pulse X axis auxiliary point 0 Y axis movement amount 5 000 pulse Y axis auxiliary point 0 Acceleration deceleration method L linear Acceleration time ms 100 ms Decelerati...

Page 196: ... X1141 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG operation home return or pulsar operation starts Programming precautions To start the interpolation control trun ON the positioning start contact of the axis with the smalles number in the same group The values of the X axis auxiliary...

Page 197: ... 000 pulses 20 000 pulses Settings Position control data and parameters are set via the tool software Unit set to pulse Item Setting Example Operation pattern E end point Interpolation operation S arc center point CW direction Control method I increment X axis movement amount 0 pulse X axis auxiliary point 0 pulse Y axis movement amount 20 000 pulse Y axis auxiliary point 10 000 pulse Acceleration...

Page 198: ... with the smallest number in the same group In the case of the center point specification 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 the 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 will be increment coordina...

Page 199: ...X axis 20 000 pulses 5 000 pulses 10 000 pulses Settings Item Setting Example Operation pattern E end point Interpolation operation 0 Linear resultant speed Control method I increment X axis movement amount 10 000 pulse X axis auxiliary point 0 Y axis movement amount 5 000 pulse Y axis auxiliary point 0 Z axis movement amount 20 000 pulse Z axis auxiliary point 0 Acceleration deceleration method L...

Page 200: ... and X1142 indicating the state that an operation completed will turn ON when the JOG operation is completed and they will be held until the next positioning control JOG operation home return or pulser operation starts Programming precautions 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 auxi...

Page 201: ...20 000 pulses Center X axis 0 Y axis 10000 Settings Item Setting Example Operation pattern E end point Interpolation operation E spiral center point CCW direction Z axis feeding Control method I increment X axis movement amount 0 pulse X axis auxiliary point 0 pulse Y axis movement amount 20 000 pulse Y axis auxiliary point 10 000 pulse Z axis movement amount 5 000 pulse Z axis auxiliary point 0 A...

Page 202: ...utions For X Y plane in the case of the center point specification 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 the case of the pass point each pass point is set as the pass point of X axis and Y axis These settings are the same for Y Z plane and X Z plane When the control method is increment both the center point and pass...

Page 203: ... Axis 3 BUSY R11 R12 F 386 PSET K1 K0 Axis no Table no DF DF R1 Servo OFF Servo OFF Y1130 Axis 1 Servo OFF request Y1131 Axis 2 Servo ON request Y1132 Axis 3 Servo ON request DF X1180 X1120 X1181 X1121 X1182 X1122 R0 Servo ON Servo ON Y1120 Axis 1 Servo ON request Y1121 Axis 2 Servo ON request Y1122 Axis 3 Servo ON request DF Tool ope ration Link establish ment annunciation Axis 1 error Axis1 conn...

Page 204: ...n of the position control for 3 times When the dwell is set to 0 with the E point control of the end position control the control unit processes E point control as P point control and repeats the position control for 3 times without stopping the operation before ending the operation When the pause is set to a value other than 0 with the E point control of the end position control the control unit ...

Page 205: ...tioning memory offset address Name Description Initial value Setting Range Unit H108 Positioning repeat count of axis 1 Saves the times of repetition from the no of the position control start data table to the E point If set to 255 the operation will be repeated infinitely before the operation is stopped 0 0 255 Times H109 Positioning repeat count of axis 2 H10A Positioning repeat count of axis 3 ...

Page 206: ...op after performing the repetitive position control N 2 times E E E E N 1 N N 1 N 2 Deceleration stop request Repetition times Deceleration stop request signal Busy Operation completion Stop completion When continuously executing multiple position control data tables When the control unit detects the deceleration stop it will stop after performing the repetitive position control N 1 times N 1 N N ...

Page 207: ...ample Table 1 Table 2 Table 3 Operation pattern P Passing Point P Passing Point E end point Control method I increment I increment I increment X axis movement amount 5 000 pulse 10 000 pulse 3 000 pulse Acceleration deceleration method L linear L linear L linear Acceleration time ms 100 ms 200 ms 30 ms Deceleration time ms 10 ms 20 ms 150 ms Target speed 10 000 pps 20 000 pps 5 000 pps Dwell time ...

Page 208: ...ntrol JOG operation home return or pulser operation starts Sample program X1100 Start enabled condition X1104 X1230 R10 R2 Specify axis no and table no R2 R10 X1130 Y1140 Positioning start DF DF Specify repeat count F386 PSET K1 K0 F0 MV DT100 K3 Repeat count Specify repeat count setting area DT100 H108 K1 1 word Axis 1 repeat count setting area H0 F385 PTBLW Common area R0 Servo ON R1 Y1130 Servo...

Page 209: ...12 Automatic Operation Synchronous Control ...

Page 210: ... control will come to a stop Therefore you can easily increase the safety of the positioning unit Outline of synchronous control The synchronous control provides the following functions These functions are executed in order and the slave axes operate according to the operation result of each function Function Outline Electronic gear The number of pulses multiplied by the preset electronic gear rat...

Page 211: ... Control 12 3 Execution Order of Synchronous Control and Setting Procedure The following section provides information on the outline of functions achieved by synchronous control and setting procedures for the functions ...

Page 212: ...e action to make the pulse input value of the input unit as the master axis It is used when connecting external devices on the bases of synchronous control such as external encoder When pulse input is used as the master axis the slave axis operates according to the pulse input Therefore special attention must be paid when stating or stopping operations via the control unit Types and restrictions o...

Page 213: ...d arbitrarily 12 2 2 Selection of Slave Axes and Settings Selection of Slave Axes The 1st to 8th axes are available as slave axes The virtual axis can be used only as the master axis When Synchronous master axis is selected in the synchronous parameter dialog box of the Configurator PM7 the corresponding axis will operate as a salve axis for the specified master axis Up to eight slave axes can be ...

Page 214: ...synchronous control can be started again with the sync cancel request signal turned OFF The synchronous control can be cancelled while a master axis is activated I O signal assignment Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 virtual Axis 8 virtual Operation Synchronous cancel request Y1280 Y1281 Y1282 Y1283 Y1284 Y1285 Y1286 Y1287 On Cancel synchronous control Off Execute synch...

Page 215: ...lation will be executed upon request if the master axis is the start axis of interpolation The slave axes operate in synchronization with the master axis Yes Interpolation will be executed upon request if the requested axis is the start axis of interpolation Stop functions System stop All the axes come to a stop regardless of the synchronization settings Emergency stop Yes The master axis comes to...

Page 216: ...hese conditions are not met the unit does not become the synchronous state and the synchronous control cancel active annunciation relay does not turn off If the synchronous cancel request kept off while the conditions are not met the synchronous control will start once the condition to start the synchronous control is met Phase when starting synchronous control It is calculated from the current va...

Page 217: ...equest by a user program 8 The unit starts the synchronous operation of slave axes when the synchronous slave clutch connection state annunciation turns on ON OFF t t ON OFF ON OFF ON OFF ON OFF Master axis output speed Slave axis BUSY Slave axis output speed Synchronous state cancel request Synchronous cancel active announciation Synchronous slave clutch ON request Synchronous slave clutch connec...

Page 218: ...f slip method When the synchronous slave clutch ON request is on when the synchronous control start processing is executed ON OFF t t ON OFF ON OFF ON OFF ON OFF Master axis output speed Slave axis BUSY Slave axis output speed Synchronous state cancel request Synchronous cancel active announciation Synchronous slave clutch ON request Synchronous slave clutch connection state annunciation Slip time...

Page 219: ...iately as the clutch is not connected synchronous slave clutch connection state annunciation OFF when the synchronous control starts synchronous cancel active annunciation OFF 2 Slave axes start the operation by the synchronous slave clutch ON request I O Allocation Signal name Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 virtual Axis 8 virtual Synchronous cancel request Y1280 Y1281 Y1282 Y128...

Page 220: ...for using the electronic gear function The use of the electronic gear function makes it possible to set the slave axes to a desired speed relative to the master axis The movement amount of the slave axes however is obtained from the following formula Therefore the movement amount of the master axis does not coincide with that of the slave axes Movement amount of slave axes Movement amount of maste...

Page 221: ...lectronic gear is not used and the operation of the master axis will be input as it is into the electronic clutch Gear ratio numerator Determines the gear ratio of the electronic gear Electronic gear ratio is determined by the following formula Output speed of electronic gear Operating speed of master axis x Gear ratio numerator Gear ratio denominator Gear ratio denominator Gear ratio change time ...

Page 222: ...w and write a user program in the case of changing the gear ratio while the positioning unit is in operation 1 Change the gear ratio Change the gear ratio numerator and denominator of the electronic gear in the setting area for the electronic gear The gear ratio at the time of starting the positioning unit is set for this area It is recommended to save the initial gear ratio before change so that ...

Page 223: ...12 4 Electronic Gear Function 12 15 REFERENCE For details about the gear ration setting area please refer to Chapter 26 4 Positioning Memory ...

Page 224: ...ter axis will be separated from the slave axes and the slave axes not in synchronization with the master axis will come to a stop When the electronic clutch is engaged the master axis and slave axes will operate in synchronization Synchronized Stop Electronic gear output Electronic clutch output Speed V Output speed ON OFF Clutch Input speed Time T Keep in mind that the slave axes may come to a su...

Page 225: ...operate in synchronization with the slave axes Clutch ON Trigger type Set an I O clutch ON request as a trigger to be detected Edge selection Select the method of trigger signal detection from Level Rising edge or Falling edge Method Select Direct or Slip for the engagement of the clutch Slip time If Slip is selected set the slip time Clutch OFF Trigger type Set an I O clutch OFF request or I O Ph...

Page 226: ...1335 X1336 X1337 ON Engaged OFF Disengaged ON OFF Master axis operation Slave axis operation Clutch request signal Note The above shows an example of the direct method selected for the engagement of the clutch Edge selection Edge selection Operation Level The clutch operation is switched by turning on or off the slave axis clutch ON request Y1330 Y1337 The slave axis clutch OFF request signal is n...

Page 227: ...s In the direct method the speed of the slave axes with the clutch engaged or disengaged coincides with the operating speed of the master axis with the acceleration and deceleration time set to 0 Main station axis operation Slave station axis operation Clutch request signal ON OFF Slip method This method detects the engagement or disengagement of the clutch and set the slip time to acceleration ti...

Page 228: ...Clutch is OFF I O Y clutch ON request Master axis Current value after unit conversion Phase Using the phase specification clutch off function turns a clutch off when the phase reaches the set phase after the clutch off request by the I O signal OFF ON 100 0 0 50 t t It does not turn OFF until the phase after clutch control reaches the set value Clutch OFF setting phase Current value Phase after cl...

Page 229: ...nnection state annunciation Disconnected Connected I O Y clutch ON request Master axis Current value after unit conversion Phase When the clutch off trigger signal is detected at a phase larger than the set clutch off setting ratio 0 to 99 the clutch will be off at the next time the signal reaches the set phase OFF ON t t I O clutch OFF detection cycle Next cycle When the clutch OFF signal was det...

Page 230: ...ch phase rotation angle is defined on the Configurator screen Electronic clutch output Slave axis output Input axis phase Output axis displacement Input value Current value L Time T Time T Time T Cam pattern Cam pattern The cam pattern uses one rotation of the master axis as an operation reference based on which the displacement of the slave axes in each phase rotation angle is defined The cam pat...

Page 231: ...dwell modified trapezoid m 2 3 One dwell modified trapezoidal Ferguson One dwell modified sine One dwell trapecloid No dwell modified trapezoid NC2 curve Asymmetric cycloid Asymmetric modified trapezoid Adjustment function Function to adjust the displacement of desired point data 1 000 points max in units of cam data Shift function Phase shift in created cam data 0 to 100 Indication Displacement S...

Page 232: ...ed on the preset cam curves and resolutions Cam control master axis period Set the number of pulses corresponding to the total phase of the cam pattern used one rotation data on the master axis Cam pattern number to use Specify the cam pattern number to be used from cam patterns created Cam stroke Set the number of pulses corresponding to the total displacement 100 of the cam pattern to use Advanc...

Page 233: ...is settings Cam pattern settings from the toolbar of the setting tool for click the following icon The Cam Pattern Settings screen is displayed A blank screen will be displayed for a new file and settings for cam pattern 1 will be displayed if data already exists Resolution setting Click the Resolution button from the cam pattern menu After the resolution settings menu is displayed select the reso...

Page 234: ... cam patterns available for setting after the resolution is changed the resolution will not be changed Please delete the cam patterns and change the resolution again Creating copying cam patterns Click the Add button in the Cam field to start the cam no selection menu Select the cam no and click the OK button Cam patterns can also be copied Click Copy to select the target and source cam pattern no...

Page 235: ...ton In the initial status the cam pattern is only set as a section of the 0 100 phase It is allowed to divide the above section into multiple sections by setting the starting phase Selected sections are on white background and unselected sections are on gray background The starting phase may fail to reach the designated phase due to resolution ...

Page 236: ...hanges according to the settings KEYPOINTS The termination phase cannot be set The termination phase will be changed automatically if the staring phase is changed Do not make a radical displacement change of set cam curves There is a possibility that the motor cannot keep up with the output in the case of rapid displacement Similarly make settings that a phase of 0 and that of 100 are the same in ...

Page 237: ...ay information on the following items besides the displacement Display item Outline Displacement An item set on the cam table Speed The operating speed of the cam table for the amount of displacement that has been set is displayed The relative value is displayed Acceleration The acceleration in each phase is displayed Pay attention to points of significant acceleration changes which involve radica...

Page 238: ... The adjustment screen is displayed The Adjustment screen displays the tables corresponding to the numbers of the designated sections out of all the sections 0 to 100 divided by the resolution Select the data on the target phases control points and change the corresponding displacement data The adjustments will be reflected by selecting OK and the set adjustment data will be cleared by selecting A...

Page 239: ...ution 1024 Current coordinate position after the clutch In the case of setting coordinate 0 to 0 phase 0 1024 Current coordinate system after the clutch Current coordinate system after the clutch In the case of setting coordinate 0 to 80 phase 819 1024 To what value the phase of coordinate 0 is set Select the shift from Interval and set the shift amount The created cam pattern moved by 10 with the...

Page 240: ...he cam table 2 Procedure of creating a new cam pattern 1 Write parameters of created cam pattern data in the cam pattern editing area 2 Execute rewriting the cam pattern data No n No 3 No 2 No 1 Rewriting cam tables Cam pattern editing area Cam pattern edit no Number of set sections Start phase for sections 1 to n Displacement Cam curve no User program Changing parameters Shift amount Reading cam ...

Page 241: ...ns off the cam pattern reading completion annunciation flag X1102 ON OFF ON OFF Cam table edit no Cam table reading request Y1102 Cam table reading completion annunciation X1102 0000h Nomal completion Read cam pattern no The cam table data of the specified number is stored in the cam pattern editing area Cam pattern editing area No of sections Section n Start phase Displacement Cam curve no Cam ta...

Page 242: ...result Once the cam table rewriting request Y1103 turns off the unit turns off the cam pattern rewriting completion annunciation flag X1103 ON OFF ON OFF Cam table rewriting result Cam table rewriting request Y1103 Cam table rewriting done annunciation X1103 0000h Nomal completion Store necessary setting parameters in the cam pattern editing area Cam pattern editing area Cam pattern edit no Sectio...

Page 243: ...s Execute the synchronous cancel operation is executed for all the slave axes axes 2 to 8 Confirm if all slave axes axes 2 to 8 are not in the synchronous control and all axes are not activated Read the cam table and change and rewrite the parameters R0 X1100 Y1281 Y1282 Y1283 Y1284 X1281 R1 X1131 X1132 X1133 R2 X1282 X1283 X1284 X1134 X1135 R3 DF R1 R2 X1102 Y1102 1 F0 MV DT100 K2 DT100 H0 K1 H3 ...

Page 244: ...e in cam table editing area Edits the cam table data in the section 3 after the completion of reading the cam table In this example start phase 5 displacement 50 and cam curve are set to constant acceleration ⓔ Cam table rewriting start Performs the rewriting to a specified cam pattern data Code Content specified by program Value specified in program Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis ...

Page 245: ...sible to confirm whether the cam pattern has been rewritten to the data of positioning parameters by a cam pattern update flag When performing a reading request specifying an unregistered cam pattern number all the read data will be 0 When performing a rewriting request while no cam is registered a resolution is undetermined rewriting will be performed considering the resolution as 1024 Cam adjust...

Page 246: ...amount is 0 set a phase shift amount When reading and writing settings the closest phase amount will be automatically calculated within the unit from the resolution For rewriting the cam pattern set on the tool software Configurator PM7 to a user program perform the following procedure 5 Record the phase shift amount specified on Configurator PM7 6 The phase shift amount has been added to the star...

Page 247: ...ically calcuated using an active master axis input speed The advance angle correction amount is calculated by the following formula Advance angle correction amount Master axis input speed Advance angle correction reference amount Advance angle correction reference speed Master axis input speed Speed information after clutch control Internal processing of advance angle correction The phase of the m...

Page 248: ...ecimal point position is based on unit systems Parameter change time Setting range 1 to 10000 ms Setting with user programs The following examples shows the case that the advance angle correction reference value of 1st axis is changed to 50 and the advance angle correction reference speed to 3000 R1 DF R0 DF F1 DMV DT100 K50 DT100 H56 K2 H4 F385 PTBLW F0 MV DT102 K3000 DT102 H58 K2 H4 F385 PTBLW C...

Page 249: ...ection parameter change time Advance angle correction amount Advance angle correction parameter change time 100ms Advance angle correction reference speed and Advance angle correction reference amount are signed 32 bit data If they are changed by 16 bit 1 word unit they may be changed to uninteded values Always perform the rewriting by 32 bit 2 word unit When changing an advance angle correction r...

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

Page 251: ...13 Manual Operation JOG Operation ...

Page 252: ...celeration time ms 100 ms Deceleration time ms 100 ms Target speed 10000 pps Operation diagram 100 100 f pps 10000 100 100 t ms Forward Reverse Operation done flag X1140 Forward JOG contact Y1160 Reverse JOG contact Y1161 BUSY flag X1130 Operation of each contact The BUSY flag X1130 which indicates that the motor is running will turn ON when the positioning control starts and it will turn OFF when...

Page 253: ...0 X1180 X1120 Tool operation Axis 1 error Position control start Start enable flag Axis1 connection confirmation Axis 1 servo lock Link establishment annunciation Forward JOG Reverse JOG Start enable flag Axis 1 BUSY Reverse OFF edge Programming precautions The starting point and flag number vary with the axis number Operation at limit input Condition Direction Limit status Operation When JOG oper...

Page 254: ...re written to the unit memory by the program Deceleration time 2 ms 150 ms Target speed 2 20000 pps Operation diagram 100 f pps 10000 20000 200 150 t ms Writing the target speed 2 Operation done flag X1140 JOG forward contact Y1160 BUSY flag X1130 Operation of each contact The BUSY flag X1130 which indicates that the motor is running will turn ON when the Jog operation starts and it will turn OFF ...

Page 255: ...etting area R0 Servo ON R1 Y1130 Servo OFF DF DF Y1120 X1180 X1120 Servo ON Servo OFF Tool operation Axis 1 error Axis1 connection confirmation Axis 1 servo lock Link establishment annunciation Forward JOG Start enable flag Axis 1 BUSY Forward OFF edge Forward JOG Forward OFF edge Axis 1 Servo OFF request Axis 1 Servo ON request Start enable flag JOG deceleration time 2 Programming precautions To ...

Page 256: ...Manual Operation JOG Operation 13 6 ...

Page 257: ...14 Manual Operation Home Return ...

Page 258: ...The starting point is between the near home switch and limit input including limit input The starting point is between the near home switch and limit input The starting point is on the near home switch Limit input Z phase Target speed Home return creep speed Home return creep speed Home return creep speed Target speed Target speed Target speed Target speed Home return deceleration time Home return...

Page 259: ...r home switch The starting point is on the limit input DOG method 3 Edge detection of near home switch Falling edge of home position as reference The falling edge of the near home switch DOG is detected The first rising edge Z phase of the home switch in the home return direction becomes the start point Limit input Limit input Near home switch Home return direction The starting point is between th...

Page 260: ...e detection of limit switch Detects the rising edge of the limit switch in the home return direction and stops That point becomes the start point Limit input Limit input Home return direction Target speed The starting point is any points other than the limit input The starting point is on the limit input Home return creep speed Home return creep speed Target speed Home return deceleration time Z p...

Page 261: ... return direction Stopper etc Stop on contact method 2 Performs the reverse operation after the stop by a stopper and stops at the position where the first home position Z phase is detected although the operation is similar to the stop on contact method This position is set as a home position Home return direction Z phase Stoppe r etc Home return creep speed Home return creep speed Data setting mo...

Page 262: ...me return are set in the position control menu of the programming tool Item Setting Example Reset setting code 0 DOG mode 1 Reset direction 0 Reset direction Acceleration time ms 100 ms Deceleration time ms 100 ms Target speed 10 000 pps Reset creep speed 1000 pps ON time of the deviation counter removal signal 1000 pps Operation diagram Target speed Detect Home return creep speed Home return star...

Page 263: ... flag Home return Y1150 Axis 1 home position start R10 X1130 Start enable flag Axis 1 BUSY Start enabled condition Home position start DF R0 Servo ON R1 Y1130 Axis 1 Servo OFF request Servo OFF Axis 1 Servo ON request DF DF Y1120 X1180 X1120 Servo ON Servo OFF Tool operation Axis 1 error Axis1 connection confirmation Axis 1 servo lock Link establishment annunciation Programming precautions The sta...

Page 264: ...Manual Operation Home Return 14 8 ...

Page 265: ...15 Pulse Input Function ...

Page 266: ...ation Input object Description Pulsar Set when using the manual pulsar The pulsar of a specific axis can be specified with the pulsar operation setting code High speed counter Set when used for the general purpose counter input Various input methods 2 phase input direction detection input individual input The unit stores the number of input pulses in the monitor area Combination restrictions based...

Page 267: ...e input application 0 Pulsar 0 Pulsar 2 High speed counter Pulse input rotation direction 0 Forward 0 Forward 1 Reverse Pulse input method 0 2 phase input 0 2 phase input 1 Direction detection input Pulse Sign 2 Individual input CW CCW Pulse input multiplication 2 Multiply by 4 0 Multiply by 1 1 Multiply by 2 2 Multiply by 4 Input time constant 0 No input time constant 0 No input time constant 1 0...

Page 268: ... over Phase B electronic angle at 90 add the counted value and if Phase A lags behind Phase B electronic angle at 90 subtract the counted value Direction detection Input A Input A Incremental encoder or pulse generator Pulse input Counting direction Sensor or switch Unit During direction detection input counting signal is connected with input A signal The counting direction is controlled by the le...

Page 269: ...0 0 12 5 4 9 8 8 9 10 11 1 0 3 2 7 6 Input B OFF ON ON Input A OFF Counting operation for individual input Multiple Time chart Addition Subtraction 1 X 0 1 2 3 2 1 0 Input A Input B ON OFF ON OFF 2 X 0 1 2 3 4 5 6 5 0 4 3 2 1 Input A OFF ON Input B OFF ON Counting operation for direction detection input Multiple Time chart Addition Subtraction 1 X 2 1 0 ON Input A OFF 0 1 2 3 ON Input B OFF 2 X 0 ...

Page 270: ...alues saved in the positioning memory according to the user program Pulse counting control area positioning memory area no 0 Offset Address Hex Name Description H3A9 Request flag for pulse count change When the bit corresponding to each axis turns from 0 to 1 change the pulse input value to the preset pulse count change value This symbol is a pulse edge trigger Please remember to turn 0 to 1 befor...

Page 271: ...B0 K2 H0 F385 PTBLW ⓒ F0 MV DT102 H1 DT102 H3A9 K1 H0 F385 PTBLW R9010 ⓐ H3C0 DT0 K2 H0 F384 PTBLR Symbols Specified content of program Specified value of program CH1 CH2 CH3 CH4 Common area H0 Area in which pulse input values are stored H3C0 H3C2 H3C4 H3C6 Change value Any value Common area H0 Pulse count value change value area H3B0 H3B2 H3B4 H3B6 Set value for the pulse count value change reque...

Page 272: ...the pulsar is directly reflected to the actual operation Speed restriction pulse hold The input speed of the pulsar will be held at the preset max speed if is to exceed the max speed Hold the number of pulses inputted by the pulsar Because pulses that cannot be outputted will also be maintained the pulses will still be outputted even if there s no input of the pulsar The speed unit is the set unit...

Page 273: ...ly by 4 can be set Parameter settings menu For the item of the pulsar operation code of the axis on which the pulsar operation is performed select the channel number of the connected pulse input The movement amount per an 1 pulse signal from the pulsar can be changed by setting the ratio numerator and ratio denominator for the input signal of the pulsar Item Setting example Settable range Operatio...

Page 274: ...t The BUSY flag X1130 indicating the state that a motor is running will turn ON when the pulser operation permit contact turns ON and will turn OFF when the contact turns OFF The operation done flag X1140 indicating the state of operation completion will turn ON when the pulser operation permit contact is turned OFF and the flag will be maintained until the next positioning control JOG operation h...

Page 275: ...Servo ON Servo OFF Tool operation Axis 1 error Axis1 connection confirmation Axis 1 servo lock Link establishment annunciation Programming precautions The starting point and flag number vary with the axis number Limit Input Operation Condition Direction Limit status Operation When Pulsar operation is executed Forward rotation Limit input ON Not executable Error occurs Limit input ON Executable Rev...

Page 276: ...ulse input function as the high speed counter make the setting in the pulse input dialog box of Configurator PM7 Pulse input setting Select High speed counter from the items of pulse input application Item Setting example Settable range Pulse input application 2 High speed counter 2 High speed counter Pulse input rotation direction 0 Forward 0 Forward 1 Reverse Pulse input method 0 2 phase input 0...

Page 277: ...value can be stopped arbitrarily While the count of the pulse input value stoaps the current pulse input value is held The setting to disable enable the count of pulse inputs is made by writing to the following area with user programs Program example The following shows the example which disables the pulse input of the first axis when the execution condition R0 is ON R0 F0 MV DT100 H1 DT100 H3A8 K...

Page 278: ...Pulse Input Function 15 14 ...

Page 279: ...16 Stop Function ...

Page 280: ...igurator PM7 Limit stop E Limit stop deceleration time When the limit input and limit input Y1200 Y120F are set to ON stop the operation of the corresponding axis Set the deceleration time of limit stop to be set in the settings of the parameters for deceleration Software limit stop E Error stop deceleration time When the software limit function is enabled if the software limit range is exceeded t...

Page 281: ...ion setting area of the positioning memory and switch the operations with the user program I O signal assignment Signal name I O number Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis Axis 7 virtual Axis 8 virtual System stop Y1100 Emergency stop The operation is the level type Y1180 Y1181 Y1182 Y1183 Y1184 Y1185 Y1186 Y1187 Deceleration stop The operation is the level type Y1190 Y1191 Y1192 Y1193 Y1194 Y...

Page 282: ... case of the same priorities the axes will stop at the stop time previously occurred Dwell time setting The dwell time setting is invalid in the stop operations regardless of patterns However the dwell time setting is invalid in the positioning operation after a pause Flag processing In the case of system stop the busy signal turns off and the operation done signal turns on In the cases of emergen...

Page 283: ...anceled if an emergency stop or system stop is executed while the positioning unit is not operating and the positioning unit will go into the emergency stop or system stop state 16 3 2 Pause Settings Deceleration stop and pause set the system operation setting area of the positioning memory positioning memory area no 0 Address H389 and switch the operations with the user program System operation s...

Page 284: ... e Description Value specified in program Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 virtual Axis 8 virtual Parameter values for switching operations H0 Deceleration stop operation H1 Pause operation Common area H0 System stop H389 Deceleration stop The operation is the level type Y1190 Y1191 Y1192 Y1193 Y1194 Y1195 Y1196 Y1197 ⓐ Switch the operation to pause when the deceleration stop conta...

Page 285: ...17 Auxiliary Function ...

Page 286: ...ely and the dwell time will be invalid For the last table E point like E point control dwell time is a period required from the completion of the position reference until the operation done flag turns ON C point control BUSY flag Action Completion Dwell time Dwell time Dwell time The dwell time is the waiting time for executing the next table from the completion of the positioning table decelerati...

Page 287: ...ware limit Upper limit value of software limit If the operating range of the motor exceeds the setting range of the software limit upper and lower limit values an error will occur and the deceleration stop will be executed It is necessary to clear the error and move the motor into the range of the software limit using an operation such as JOG operation after the stop Table side side Lower limit va...

Page 288: ... 2H 1H 2H Busy flag Operation done flag Auxiliary output data Auxiliary output data Auxiliary contact flag Auxiliary contact flag Auxiliary contact flag Delay mode With mode Delay rate Delay rate Auxiliary output ON time ms Auxiliary output ON time ms Auxiliary output ON time ms Auxiliary output ON time ms Auxiliary output modes include the With mode and the Delay mode Auxiliary output mode auxili...

Page 289: ...iliary contact flag assigned to corresponding axis in the I O area is turned ON However when the auto operation is set to J point control the operation is the same to that in the With mode Auxiliary output ON time Sets the auxiliary output contact ON time 0 255 ms Initial value at 10 ms Auxiliary output Delay ratio sets the ratio of the delay to the auxiliary output contact is turned ON when the a...

Page 290: ...es of axis 1 and axis 2 to DT0 DT1 is given below R9010 H39 DT0 K1 H1 F384 PTBLR H39 DT1 K1 H101 F384 PTBLR Code Content specified by program Value specified by program Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 virtual Axis 8 virtual Axis no and each information area H1 H101 H201 H301 H401 H501 H601 H701 Area in which auxiliary output codes are stored H39 17 3 4 Operation upon Movement Chan...

Page 291: ...n The coordinate origin for each axis can be set in the Parameter Settings dialog box of Configurator PM7 Sample program An example of reading the current value of axis 1 after unit system conversion and setting it the coordinate origin is given below R0 DF DT100 H4A K2 H2 F385 PTBLW H3E DT100 K2 H1 F384 PTBLR Code Description Value specified in program Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Ax...

Page 292: ...Auxiliary Function 17 8 KEYPOINTS The coordinate origin will be set to be equal to the integral value after unit system conversion E g when the unit is µm 0 1 µm 1 000 0 µm is set as 10000 ...

Page 293: ...resetting any value K100000 in the positioning memory area to update the current value after conversion of unit system of axis 1 is given below In the first line of the program read the current value after conversion of unit system of axis 1 to the data registers DT0 DT1 for monitoring R2 DF R1 DF ⓑ F1 DMV DT100 K100000 DT100 HC8 K2 H0 F385 PTBLW ⓒ F0 MV DT102 H1 DT102 HC0 K1 H0 F385 PTBLW R9010 ⓐ...

Page 294: ...uest of axis 2 0 2 Current value update request of axis 3 0 3 Current value update request of axis 4 0 4 Current value update request of axis 5 0 5 Current value update request of axis 6 0 6 Current value update request of virtual axis 7 0 7 Current value update request of virtual axis 8 0 15 8 HC8 HC9 Current value update coordinate of axis 1 Saves the preset coordinates as the current value HCA ...

Page 295: ...ed cannot be changed during the deceleration in the C point control The speed cannot be changed during the dwell time in the C point control For the J point control use J point speed change contact to change the speed P point A C point A J point N A Repetition control A JOG operation N A For the JOG operation change JOG operation target speed directly to change the speed Home return N A Speed chan...

Page 296: ... The acceleration time to the change speed and the deceleration time from the change speed follows the setting values of the active table Note 2 The movement amount does not change when the speed change is performed Setting parameters of speed direct specification method The following parameters are used in the target speed change function of the speed direction specification method Positioning op...

Page 297: ...s ON B Only the speed of the table 1 is changed to 150 000 pps C The speeds of the table 2 and 3 do not change Example of operation 2 Speed direct specification Active table to E point table until the completion of the operation Parameter Setting value Change mode selection 0001H Active table to E point table Change speed 150 000 pps f t f t 100 000pps 150 000pps A 1 2 3 1 2 3 B A Speed change req...

Page 298: ...ed of the active table in an active repeat period is changed f t 100 000pps 1 2 3 1 2 3 1 2 3 Repeat 1st time Repeat 2nd time Repeat 3rd time A B 150 000pps f t 100 000pps 1 2 3 1 2 3 1 2 3 Repeat 1st time Repeat 2nd time Repeat 3rd time A Only the speed of the table 1 in the first repeat period is changed to 150 000 pps B The speeds of the table 1 in the second and third repeat periods are not ch...

Page 299: ...from the change speed follows the setting values of the active table Note 2 The movement amount does not change when the speed change is performed Setting parameters of ratio specification method The following parameters are used in the target speed change function of the ratio specification method Positioning operation change setting area Positioning memory area No 5 Offset address Hex Name Defau...

Page 300: ... 100 to 150 Parameter Setting value Ratio specification 100 to 150 f t 100 000pps f t 150 000pps 100 000pps A B 150 000pps 200 000pps 300 000pps 200 000pps 225 000pps 150 000pps A The ratio specification is changed from 100 to 150 B All consecutive tables follow the set ratio ...

Page 301: ...Separate axis control A In the case of the synchronous control the movement amount can be changed only for the master axis Slave axes operate according to the master axis Interpolation control N A Synchronous Control A Operation pattern E point A The movement amount can be changed more than once in one table The movement amount cannot be changed during the deceleration in accordance with the stop ...

Page 302: ... the Speed change request contact turns OFF the Speed change done annunciation also turns OFF f t 150 000pls Change movement amount Movement amount change request Positioning movement amount change done annunciation Positioning movement amount Before change 100 000pls Setting parameters The following parameters are used in the movement amount change function Positioning operation change setting ar...

Page 303: ...sitioning movement amount After change 7 000 pls 10 000pls f t f t 7 000pls A A Movement amount change request contact ON Example of operation 2 When reducing the movement amount Change movement amount Current value Parameter Setting value Control method Incremental Positioning movement amount Before change 10 000 pls Positioning movement amount After change 1 000 pls 10 000pls F t f t 1 000pls A ...

Page 304: ...t amount change request contact ON B Because of the increment setting the stop position of the table 2 also changes Example of operation 4 When a continuous table operation is performed Absolute Parameter Setting value Control method Absolute First table positioning movement amount Before change 5 000 pls First table positioning movement amount After change 8 000 pls f t f t 1 2 1 2 A 8 000pls 5 0...

Page 305: ...e Repeat 2nd time Repeat 3rd time A Only the movement amount of the table 1 in the first repeat period is changed to 8 000 pls B The movement amounts of the table 1 in the second and third repeat periods are not changed Auxiliary output when changing movement amounts Even if the movement amount is changed when the auxiliary output is set in the delay mode the auxiliary contact turns ON at the posi...

Page 306: ...t instruction is used read and update external inputs during operation When direct input instruction is used turn ON OFF external inputs during operation It is valid for controls with requirement for high speed response Types of instructions Direct input instruction DST Direct start DST Direct start NON DAN Direct AND DAN Direct AND NON DOR Direct OR DOR Direct OR NON Direct output instruction DOT...

Page 307: ...tion via the options in the function bar The function bar is used as direct instruction Select the direct input output instruction to be used Select DKP instruction via Instruction Input Press Esc or Shift f11 the function key bar returns to the common input output instruction keys ...

Page 308: ... be specified Model Device Range FP XH M8N control unit X0 X7 X1100 X141F Note Note When designating X1100 X141F the input area of the motion control part is read and reflected Latter diagram flag X0 D R0 X1 D R1 R10 R2 R12 R4 X4 R13 R5 X5 DST DOR DOR X2 D D D R11 R3 X3 D DST DAN DAN REFERENCE Please refer to the Instruction Word Reference to instructions for details about the instructions ...

Page 309: ...act Range that can be specified Model Device Range FP XH M8N control unit Y0 Y7 Y1100 Y141F Note Note When designating Y1100 Y141F the input area of the motion control part is read and reflected Latter diagram flag R0 Y0 R1 D Y1 R2 Y2 R4 DOT D R3 D DSET DRST DKP SET RST DKP Y3 REFERENCE Please refer to the reference to instructions for details about the instructions ...

Page 310: ... limit enable flag H0 Sets whehter to enable or disable the execution of the torque limit for each axis Executes the torque limit when the bit corresponding to each axis turns on bit Name Defaul t Description 0 Torque limit of axis 1 0 0 Torque limit disabled default 1 Torque limit enabled 1 Torque limit of axis 2 0 2 Torque limit of axis 3 0 3 Torque limit of axis 4 0 4 Torque limit of axis 5 0 5...

Page 311: ... Start enable flag DF Forward JOG R11 Forward OFF edge Start enabled condition R3 DF Reverse JOG R12 Reverse OFF edge R2 R10 X1130 R11 Y1160 Start enable flag Axis 1 BUSY Forward OFF edge Axis 1 forward JOG Forward JOG Y1160 Axis 1 forward JOG Axis 1 forward JOG start DF R3 R10 X1130 R12 Y1161 Axis 1 reverse JOG Reverse JOG Y1161 Axis 1 reverse JOG Axis 1 reverse JOG start DF R0 Servo ON R1 Y1130 ...

Page 312: ...m Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Torque limit enable flag area setting value H1 H2 H4 H8 H10 H20 H40 H80 Common area H0 Torque limit enable flag area HD8 Torque limit value Arbitrary value Torque limit value area HE0 HE1 HE2 HE3 HE4 HE5 HE6 HE7 ...

Page 313: ...or Torque judgment value Error stop deceleration time Error annunciation flag Note The above figure shows an operation diagram when error is set Parameter Settings in Configurator PM7 Parameter name Default Description Monitor error Torque judgment N Disabled Select the operation of the control unit when the torque value of the amplifier exceeds the judgement value N Disabled E Enabled Error W Ena...

Page 314: ...al turns off and the the deceleration stop is complete Home return The home return operation is complete stops at the home position When an arbitrary stop operation such as the deceleration stop emergency stop or error stop is executed during an operation the operation done flag turns on when the stop operation is complete The range of the completion width regarded as the completion of operation i...

Page 315: ...gurator PM7 Monitoring by the FP XH M8N Control Unit The position deviation of the first axis is read and written to DT0 to DT1 and monitored R100 H34 DT0 K2 H1 F384 PTBLR Code Content specified by program Value specified by program Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 Axis 8 Axis no and each axis information area H1 H101 H201 H301 H401 H501 H601 H701 Deviation H34 KEYPOINTS As the dev...

Page 316: ...ea of the FP XH M8N Control Unit Note 1 Writing AMP parameters Writes the values stored in the positioning memory AMP parameter control area of the FP XH M8N Control Unit to the AMP Saving AMP parameters EEPROM write Writes the parameters set in the AMP to the EEPROM built in the AMP Resetting AMP Restart Resets the AMP Note 2 Note 1 Reading parameters cannot be executed during home return Note 2 ...

Page 317: ... the status of the AMP parameter control area memory area no 6 address H2 is H2 normal end If any error occurs H4 to H6 area stored Read the parameter values from the AMP parameter control area memory area no 6 address H26 H27 and written to an arbitrary area Program example The following sample program shows the case when the AMP parameter Pr 1 01 of the first axis is read R600 AMP control start ...

Page 318: ...check H2 DT1020 K1 H6 F384 PTBLR AMP parameter area SET Status acquisition R620 RST Control start R610 RST R620 Parameter area Status 1 1 1 DT1020 H2 H2 DT1110 K1 H6 F384 PTBLR AMP parameter area Abnormal end Status acquisition R620 RST R610 RST R620 Status 1 R610 Control start H1 DT1010 K1 H6 F384 PTBLR Control flag Control start Status acquisition Status acquisition Control start ...

Page 319: ...onfirm if the status of the AMP parameter control area memory area no 6 address H2 is H2 normal end If any error occurs H4 to H6 area stored Program example The following sample program shows the case when the AMP parameter Pr 1 01 of the first axis is written R600 AMP control start R500 AMP read flag AMP control start DF R600 X1180 Axis 1 connection confirmation X1130 Axis 1 BUSY AMP ID no settin...

Page 320: ...4 PTBLR AMP parameter area SET Status acquisition R620 RST Control start R610 RST Status acquisition R620 Status 1 1 1 DT1020 H2 H2 DT1110 K1 H6 F384 PTBLR AMP parameter area Abnormal end Status acquisition R620 Status acquisition RST Control start R610 RST Status acquisition R620 Status 1 R610 Control start H1 DT1010 K1 H6 F384 PTBLR Control flag ...

Page 321: ...tatus of the AMP parameter control area memory area no 6 address H2 is H2 normal end If any error occurs H4 or H6 area stored Program example The following sample program shows the case when the AMP parameters of the first axis are saved R600 AMP control start R610 Control start R500 AMP read flag AMP control start DF R600 X1180 Axis 1 connection confirmation X1130 Axis 1 BUSY H1 DT1010 K1 H6 F384...

Page 322: ...rmal end R620 Status acquisition RST Control start R610 RST Status acquisition R620 1 1 DT1020 H2 H2 DT1110 K1 H6 F384 PTBLR AMP parameter area Abnormal end Status acquisition R620 RST R610 RST R620 Status 1 Status acquisition Control start ...

Page 323: ... control area memory area no 6 address H2 is H2 normal end If any error occurs H4 or H6 area stored Program example The following sample program shows the case when the AMP of the first axis ID is reset R600 AMP control start R610 Control start R500 AMP read flag AMP control start DF R600 X1180 Axis 1 connection confirmation X1130 Axis 1 BUSY H1 DT1010 K1 H6 F384 PTBLR Control flag AMP ID no setti...

Page 324: ...ion R620 1 1 DT1020 H2 H2 DT1110 K1 H6 F384 PTBLR AMP parameter area Abnormal end Status acquisition R620 Status acquisition RST Control start R610 RST Status acquisition R620 Status 1 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 ...

Page 325: ...nit are as follows Type Code HEX Name Type Code HEX Name 01 Position deviation 31 Inertia ratio 02 Encoder resolution 32 Automatic motor recognition 04 Internal command position after filtering 33 Cause of no revolution 05 Actual speed 34 Warning flags 06 Torque 41 Mechanical angle Single turn data 07 Actual position 42 Electrical angle 08 Internal command position beforer filtering 43 Multi turn ...

Page 326: ...Auxiliary Function 17 42 Note Refer to the latest instruction manual and technical materials of the servo amplifier ...

Page 327: ...rmal end 4 Read the monitor data Program example When monitoring the encoder temperature type code 63 of the first axis R600 AMP monitor start R610 Control start R500 AMP monitor flag AMP monitor start DF R600 X1180 Axis 1 connection confirmation X1130 Axis 1 BUSY H391 DT1010 K1 H0 F384 PTBLR Control flag AMP ID no setting F0 MV DT1001 H1 DT1001 H390 K1 AMP ID no H0 F385 PTBLW Common area Monitori...

Page 328: ...1 H0 F384 PTBLR Abnormal end Status acquisition R620 RST R610 RST R620 Status 1 H394 DT1100 K2 H0 F384 PTBLR Common area Normal end Monitor value acquisition RST Control start R610 RST Status acquisition R620 Monitor data 1 Status acquisition Common area Control start Status acquisition ...

Page 329: ...18 Instruction Reference ...

Page 330: ...ll be saved offset address or memory for computation in which initial address will be saved n Read the number of words D Save the operation memory of the read data Note 1 The setting of axis number is invalid when reading common area Please specify H0 is S1 Note 2 Designate the operand S1 via the hex combination For the axis information area of axis number 3 it is designated to H201 Memory area ty...

Page 331: ... the positioning memory to which data is saved offset address or memory for computation in which initial address will be saved Note 1 The setting of axis number is invalid when being written to common area Please specify H0 is S1 Note 2 Designate the operand S1 via the hex combination For the axis setting area of axis number 3 it is designated to H202 Memory area type that can be specified A Avail...

Page 332: ...t Index modifier K H S1 A A A A A A A A A A A A S2 A A A A A A A A A A A A Operation description Sets position control data table to start When the startup contact of corresponding axis is ON start position control operation according to the data set in the positioning memory position control data table area in advance Precautions for programming When the number of operations exceeds the specified...

Page 333: ...will be turned ON during tools running with Configurator PM7 irrelevant to the designated axis Error annunciation ON when the designated axis is in error Warning annunciation ON when the designated axis is in warning BUSY ON when the designated axis is operating Operation done ON when the operation of the designated axis is completed Home return done ON when the designated axis is subject to home ...

Page 334: ...it Status information Axis 1 Value 0 Tool operation X1104 0 1 Error annunciation X1230 0 Stored value 2 Warning annunciation X1240 0 H0008 3 BUSY X1130 1 4 Operation done X1140 0 5 Home return done X1150 0 Precautions for programming When the number of operations exceeds the specified range operating error will occur ...

Page 335: ...type that can be specified A Available Not available Operand WX WY WR WL SV EV DT LD I Constant Index modifier K H S A A A A A A A A A A A A D A A A A A A A A A Operation description Reads codes saved in error annunciation buffer warning buffer of the designated axis to any device D saves error codes and D 1 saves warning codes Precautions for programming When the number of operations exceeds the ...

Page 336: ...LR Positioning error warning clearing Clears codes saved in error annunciation buffer warning buffer Instruction format R0 F389 UCLR Operation description Clears position control error annunciations area and warning annunciations area contents ...

Page 337: ...t contact and then take this contact as normally open NO contact a contact and perform logic operation DST Instruction read specified external input reflect it to the input contact and then take this contact as normally closed NC contact b contact and perform logic operation Example During the above procedure When external input X0 flag is ON R0 flag will be ON When external input X1 flag is OFF R...

Page 338: ... instruction DST instruction is more suitable for requirement for high speed response than ST instruction For ST instruction Ladder diagram X0 R0 Time chart n 1 scanning n scanning n 1 scanning External input X0 R0 CPU input time constant setting None Execute ST X0 ...

Page 339: ...18 2 Direct Input Instruction 18 11 For DST instruction Ladder diagram X0 R0 Time chart n 1 scanning n scanning n 1 scanning External input X0 R0 Execute DST X0 D CPU input time constant setting None ...

Page 340: ...ected in a line A A DAN Normally closed NC contacts connected in series A A Operation description Read specified external input and reflect it to output contact and then perform logic multiply operation with the current result calculated with contacts connected in series Example During the above procedure When R0 flag is ON and external input X0 flag is ON R10 flag will be ON When R1 flag is ON an...

Page 341: ... instruction DAN instruction is more suitable for requirement for high speed response than AN instruction For AN instruction Ladder diagram R0 X0 R10 Time chart n 1 scanning n scanning n 1 scanning R0 External input X0 R10 CPU input time constant setting None Execute AN X0 ...

Page 342: ...Instruction Reference 18 14 For DAN instruction Ladder diagram R0 X0 R10 Time chart n 1 scanning n scanning n 1 scanning R0 External input X0 R10 CPU input time constant setting None D Execute DAN X0 ...

Page 343: ...onnected in parallel A A DOR Normally closed NC contacts connected in parallel A A Operation description Read specified external input and reflect it to output contact and then perform logic add operation with the current result calculated with contacts connected in parallel Example During the above procedure When R0 flag is ON or external input X0 flag is ON R10 flag will be ON When R1 flag is ON...

Page 344: ...truction DOR instruction is more suitable for requirement for high speed response than OR instruction For OR instruction Ladder diagram R0 R10 X0 Time chart n 1 scanning n scanning n 1 scanning R0 External input X0 R10 CPU input time constant setting None Execute OR X0 ...

Page 345: ...2 Direct Input Instruction 18 17 For DOR instruction Ladder diagram R0 R10 X0 Time chart n 1 scanning n scanning n 1 scanning R0 External input X0 R10 CPU input time constant setting None Execute DOR X0 D ...

Page 346: ...on description DOT Instruction reflect operation result to specified output contact external input flag will be On OFF Example During the above procedure When R0 flag is ON external output Y0 flag will be ON When R0 flag is OFF external output Y0 flag will be OFF Range that can be specified Model Device Range FP XH M8N control unit Y0 Y7 Y1100 Y141F Note Note When designating Y1100 Y141F the input...

Page 347: ... OT instruction and DOT instruction DOT instruction is more suitable for requirement for high speed response than OT instruction For OT instruction Ladder diagram R0 Y0 Time chart n 1 scanning n scanning n 1 scanning R0 Y0 External input Execute OT Y0 ...

Page 348: ...Instruction Reference 18 20 For DOT instruction Ladder diagram R0 Y0 Time chart n 1 scanning n scanning n 1 scanning R0 Y0 External input D Execute DOT Y0 ...

Page 349: ...ardless of the change of state of execution condition DRST Instruction when execution condition is ON the specified output contact flag will be OFF and external output flag will be OFF Hold the OFF state regardless of the change of state of execution condition DSET DRST Instruction can designate output on the same coil for many times No syntax error may occur even if total check is performed Examp...

Page 350: ...ruction and DSET instruction DSET instruction is more suitable for requirement for high speed response than SET instruction For SET instruction Ladder diagram R0 Y0 SET Time chart n 1 scanning n scanning n 1 scanning R0 Y0 External input Execute SET Y0 ...

Page 351: ...18 3 Direct Output Instruction 18 23 For DSET instruction Ladder diagram R0 Y0 SET Time chart n 1 scanning n scanning n 1 scanning R0 Y0 External input Execute DSET Y0 D ...

Page 352: ...ruction and DRST instruction DRST instruction is more suitable for requirement for high speed response than RST instruction For RST instruction Ladder diagram R0 Y0 RST Time chart n 1 scanning n scanning n 1 scanning R0 Y0 External input Execute RST Y0 ...

Page 353: ...18 3 Direct Output Instruction 18 25 For DOT instruction Ladder diagram R0 Y0 RST Time chart n 1 scanning n scanning n 1 scanning R0 Y0 External input Execute DRST Y0 D ...

Page 354: ...gardless of ON OFF state of set input When set input and reset input is ON simultaneously the reset input will be performed preferentially Example During the above procedure When R0 flag is ON external output Y0 flag will be ON and the ON state will be held When R1 flag is ON external output Y0 flag will be OFF and the OFF state will be held Range that can be specified Model Device Range FP XH M8N...

Page 355: ...instruction and DKP instruction DKP instruction is more suitable for requirement for high speed response than KP instruction For KP instruction Ladder diagram R0 KP R1 Y0 Time chart n 1 scanning n scanning n 1 scanning R0 R1 Y0 External input Execute KP Y0 ...

Page 356: ...Instruction Reference 18 28 For DKP instruction Ladder diagram R0 DKP R1 Y0 Time chart n 1 scanning n scanning n 1 scanning R0 R1 Y0 External input Execute DKP Y0 ...

Page 357: ...19 Error Warning Annunciation Function ...

Page 358: ... and the running motor will keep running Relationship with self diagnosis error when error or warning occurs it will be detected as a self diagnosis error error code position control operation error Operation mode of control unit is set by using the system register No 24 when position control operation error occurred The default setting sets the operation to continue so the operation of motion con...

Page 359: ...ruction UCLR Error Warning cleared F389 UCLR R100 Unit clearing request DF Clear for each axis via the I O signal When the Error Warning clear request flag assigned to I O area is ON the Error Warning of each axis can be cleared individually The following is the program for clearing the error R100 Clear error request Axis 1 error clearing flag X1230 Axis 1 error notification flag Y1230 DF Y1230 Ax...

Page 360: ...code annunciation buffer 3 Error code annunciation buffer 4 Error code annunciation buffer 5 Error code annunciation buffer 6 Error code annunciation buffer 7 No of occurrences of warnings Warning code annunciation buffer 1 Warning code annunciation buffer 2 Warning code annunciation buffer 3 Warning code annunciation buffer 4 Warning code annunciation buffer 5 Warning code annunciation buffer 6 W...

Page 361: ...h Error code and Warning code R0 DF H129 DT100 K1 H0 F384 PTBLR H12A DT101 K14 H0 F384 PTBLR R1 DF H1C1 DT200 K1 H0 F384 PTBLR H1C2 DT201 K14 H0 F384 PTBLR Code Content specified by program Value specified by program Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Axis 7 virtual Axis 8 virtual Common area H0 No of occurrences of errors H129 H139 H149 H159 H169 H179 H189 H199 Starting address of error co...

Page 362: ...o state when the error occurs State when the error occurs Description Recoverable state Yes The moving axis stops after the error occurs The control unit can recover the error at any time after the error occurs Unrecoverable state No Error when severe abnormalities appeared in the system of control unit Reconnect the power in case of unrecoverable error ...

Page 363: ...ly becomes free Execute the servo on request again after clearing the error How to read AMP error codes An AMP error is divided into a main code and sub code The error codes stored in the error annunciation area of the FP XH M8N Control Unit are hexadecimal 4 digit codes For confirming error codes on the AMP convert the hexadecimal codes to decimal codes Example When the encoder communication erro...

Page 364: ...on 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 Operation command contention protection 071BH 27 7 Position information initial...

Page 365: ...er CS signal error protection 0032H 50 0 External scale connection error protection 0132H 50 1 External scale communication data error protection 0033H 51 0 External scale ST error protection 0 0133H 51 1 External scale ST error protection 1 0233H 51 2 External scale ST error protection 2 0333H 51 3 External scale ST error protection 3 0433H 51 4 External scale ST error protection 4 0533H 51 5 Ext...

Page 366: ...or 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 protection 035FH 95 3 Motor automatic recognition error protection 045FH 95 4 Motor automatic recognition error protection 0260...

Page 367: ...ybrid 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 Operation command contention protection 071BH 27 7 Position information initialization error protection 001CH 28 0 Limit of pulse replay error protection 011...

Page 368: ...emental multi turn counter error protection 002FH 47 0 Absolute status error protection 0030H 48 0 Incremental encoder Z phase error protection 0031H 49 0 Incremental encoder CS signal error protection 0032H 50 0 External scale connection error protection 0132H 50 1 External scale communication error protection 0033H 51 0 External scale status 0 error protection 0133H 51 1 External scale status 1 ...

Page 369: ... 025DH 93 2 Parameter setting error protection 2 035DH 93 3 External scale connection error protection 055DH 93 5 Parameter setting error protection 4 025EH 94 2 Home position return error protection 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 recog...

Page 370: ...ons All axes Check the settings If this error continues while there are no abnormal settings please contact our company 1015H System start error Reading positioning setting data failed at the time of the system startup All axes Turn off the power supply and turn it on again If an error occurs repeatedly consult your Panasonic representative 1020H Tools running Abnormal completion Error occurs in t...

Page 371: ...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 Check the state of the AMP Check that the control mode of the AMP is correctly set The speed control mode and torque control mode cannot be used 2010H Excessive no of AMP cocnnections The number of t...

Page 372: ...propriate mode such as JOG operation Check the set values of the software limit 3021H Software limit negative side detection The movement amount of the motor has exceeded the lower limit of the software limit Each axis 3025H Command speed operation error 1 The internal operation of command speed failed due to overflow Each axis Lower the set speed Check the settings of the pulse number per rotatio...

Page 373: ...ng of the stopped axis If an error occurs repeatedly with the correct set values consult your Panasonic representative 3044H Synchronous operation not settable In pulser operation The setting of the synchronous operation was changed while the positioning unit is in pulser operation Each axis Changing the setting of the synchronous operation should be performed when the pulser operation enabled sig...

Page 374: ...ings pulse µm inch degree 4004H Pulse number error per rotation The pulse number is out of the range Each axis Check the set value If the set value is out of the range reduce it by the following formula Pulse number per rotation Movement amount per rotation 4005H Movement amount error per rotation The movement amount is out of the range Each axis 4010H Software limit setting error The upper or low...

Page 375: ...ng error The pulsar input mode is incorrect The pulsar operation method is incorrect The maximum speed for the pulsar operation is incorrect Each axis Check the set value If the error occurs repeatedly with the correct set values please contact us 4043H Pulsar disabled error The pulse input application of the axis which the uplsar input is enabled is not set to pulsar Each axis Check the pulse inp...

Page 376: ...eturn creep speed error The creep speed of the home return is out of the range Each axis 4111H Home return returning direction error The moving direction of the home return is incorrect Each axis 4112H Home return limit error The limit switch is disabled It occurs when the home return method is set to the limit method 1 or 2 Each axis 4115H Home return stop on cotnact torque value error The home r...

Page 377: ...ing movement amount setting error The movement amount of the positioning operation is out of the range Each axis 4401H Positioning acceleration deceleration method error The acceleration deceleration method of the positioning operation is incorrect Each axis 4402H Positioning acceleration time error The acceleration time of the positioning operation is out of the range Each axis 4404H Positioning ...

Page 378: ...e axis is set as the master of another axis The master axis is set as the slave axis of another axis Its own axis slave axis belongs to the interpolation group Each axis 5006H Synchronous slave single deceleration stop deceleration time The setting for the synchronous slave single deceleration stop time is incorrect Each axis Synchronous parameters Electronic gear related errors 5100H Code Name De...

Page 379: ...ect Each axis 5207H Clutch Clutch ON method setting error The setting for the clutch ON method is incorrect Each axis 5208H Clutch Clutch ON slip method setting error The setting for the clutch ON slip method is incorrect Each axis 5209H Clutch Clutch ON slip time setting error The setting for the clutch ON slip time is incorrect Each axis 5210H Clutch Clutch ON slip curve selection setting error ...

Page 380: ...umber setting error The cam pattern set number is out of the range Each axis 5402H Cam pattern section function setting error The setting for the cam pattern section function is out of the range Each axis 5403H Cam pattern control start position setting error The setting for the cam pattern control start position is out of the range Each axis 5404H Cam pattern start phase setting error The start p...

Page 381: ...from the AMP are written in hexadecimal when using A6N A5N The AMP warnings differ depending on the types of AMP For details of the processing for AMP warnings refer to the manual 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 ...

Page 382: ...he positioning unit is in operation Deceleration stop request flag each axis Emergency stop request flag each axis System stop request flag all axes B030H J point simultaneous start warning The J point speed change contact and J point positioning start contact turn ON simultaneously during the JOG positioning J point operation The J point contact are turned ON while the system is accelerating or d...

Page 383: ...d change disabled warning except positioning The speed change request contact turns ON before the position control operates Each axis Please check the time for speed change request ON B062H Positioning speed change disabled warning during J point operation The speed change request contact turns ON during J point operation Each axis B063H Positioning speed change disabled warning Synchronous slave ...

Page 384: ...rning Synchronous slave axis The movement change request contact of the slave axis of synchronization turns ON Each axis B074H Positioning movement amount change disabled warning positioning output done The movement change request contact turns ON upon completion of position control output Each axis B075H Positioning movement amount change disabled warning during positioning stop opration Movement...

Page 385: ...attern reading result area of the positioning memory B1111H Cam pattern table rewriting error warning The operation for the cam pattern table rewriting request ended abnormally as an incorrect value was set or the execution condition was not satisfied All axes Confirm the setting values of the parameters required for rewriting cam patterns Confirm if any axes are in synchronous operation If any ca...

Page 386: ...Error Warning Annunciation Function 19 30 ...

Page 387: ...20 Troubleshooting ...

Page 388: ...f the control unit is as shown in below table Self diagnosis related LED display LED display Description Run RUN PROG ERR Normal In normal operation Run Prog mode In prog mode even if forcible output is performed LED does not blink Stop In RUN mode during forcible input output RUN and PROG LEDs will blink one by one Run Excepti on Self diagnosis error in operation Run Self diagnosis error being st...

Page 389: ...wer of the control unit is turned on the connected FP0 expansion unit detached The data access between the expansion FP0 adapter and the FP0 FP0R expansion unit failed due to interference The expansion FP0 adapter power is turned on after the control unit ON Blink off on or off 20 1 3 Operation mode in case of exception When an error occurs the system usually stops running Depending on various typ...

Page 390: ...sis error occurs Handling method PROCEDURE 1 Use the programming tool to confirm the error code When a PLC error occurs during programming and commissioning the Show Status dialog box will be displayed automatically Please confirm the contents of self diagnosis errors 2 Confirm the error code and modify the error reason ...

Page 391: ...n error with a code above 43 occurs press the Clear Error button in the status display dialog box to clear the error status In PROG mode connecting to power supply again also can clear an error However contents of the computation memory except data for keeping will be cleared When a computation error code 45 occurs the address in which an error occurred is saved to special data register DT90017 an...

Page 392: ...ain If the ERR LED lights again it may be due to abnormal unit If off it may be caused by interference and other temporary reasons 2 Switch to RUN mode If the ERR LED lights up after switching to RUN mode it means that the program has timed out Rerun the program 3 Check the surrounding environment to confirm if there is interference If the program itself is OK it may be due to the surrounding envi...

Page 393: ...his operation it may be due to insufficient power supply capacity Redesign the power supply 20 2 5 When Protection Error Message Shows Situation It may be due to the master memory cassette used or a password is set Handling method when using the master memory cassette In the case of using the master memory cassette the program cannot be edited Turn off the power supply and remove the master memory...

Page 394: ...o an abnormality in the unit s output 4 Use the tool software to monitor the output status If the monitor state is ON it may be due to a dual output is used 5 Use the forcible input output function of the tool software to force the corresponding outputs turn to ON OFF When the unit output LED is lit make further checks on the input side If not lit it may be due to abnormal unit output part Handlin...

Page 395: ...ruction 3 Check if the allocation of the I O mapping is consistent with the installation state 20 2 7 When Expansion Units are Not Operated Situation The setting of the expansion unit may be incorrect PROCEDURE 1 Verify if the expansion unit terminal is set correctly Verify if the terminal setting of several units is made 2 Verify if the expansion FP0 adapter is attached to the end When the FP X e...

Page 396: ...setting of the system register Verify if the setting corresponding to the communication port number assigned is correct When selecting the inter PLC link verify if the connection area is repeated 2 Verify if the CS signal is ON When using 3 wire type set the connection RS signal and CS signal to ON When using 5 wire type verify the RS signals of the communication cassette LED and the matched devic...

Page 397: ...Connections and settings may be incorrect PROCEDURE 1 Confirm the setting of the system register Verify if the setting corresponding to the communication port number assigned is correct When selecting the inter PLC link verify if the connection area is repeated 2 Verify if the terminal station is connected properly 3 Verify if the transmission cable is securely connected to the data send terminal ...

Page 398: ...ROCEDURE 1 Confirm the setting of the system register Verify if the setting corresponding to the communication port number assigned is correct When selecting the inter PLC link verify if the connection area is repeated 2 Verify if the terminal station is connected properly Do not set the unit outside both sides of the network as the terminal exchange 3 Verify if the transmission cable is securely ...

Page 399: ...sing the HUB during connection verify if the power of the HUB has been connected 4 Verify if the LINK ACT LED is lit If not lit it indicates that the LAN cable is not connected properly 5 Verify the IP address and the IP address of the other end of the connection 6 Verify if the transmission mode and speed of the COM1 port of the control unit are consistent with the communication environment setti...

Page 400: ...epeatedly occurs please contact us Turn on the power supply of the system again If the similar error repeatedly occurs please contact us Turn on the power supply of the system again If the similar error repeatedly occurs please contact us Check if the network cable is normal Check if the length of the network cable is the regulation size Check the error code of FP XH M8N and take appropriate measu...

Page 401: ...s locked When attempting to activate an axis that is not in the servo locked state the not servo ready error 3000H occurs R0 Y1120 Solution 2 Review the program Point to check Check to make sure the I O numbers are appropriate Check non rewriting of the start flag in the program Check the input valid logic of the over limit switch In this case the ERR LED is on ...

Page 402: ...Troubleshooting 20 16 ...

Page 403: ...21 Memory Master Memory Cassette ...

Page 404: ...ode switching RUN PROG maintain the previous operational data Automatic backup in case of an outage Type Hold Area Counter 16 points C1008 C1023 Counter elapsed value area 16 words EV1008 EV1023 note 1 Internal relay 128 points R5040 R511F Data register 315 words Note 2 DT11970 DT12284 When 40k step program capacity is selected DT32450 DT32764 When 32k step program capacity is selected DT65218 DT6...

Page 405: ...elapsed value area Internal relay Data register Step ladder diagram Link relay Link register Special data register Clock calendar Monitoring area DT90053 hour min read only Setting motoring area DT90054 min sec DT90055 day hour DT90056 year month DT90057 week Note 1 If detects that the battery is running out when the power is on the operation memory of the hold area will be cleared to 0 Backup bat...

Page 406: ...ry Error Setting of the Hold area Setting of alarm battery error If a backup battery installed select the System Register No 4 Alarm Battery Error check box When the battery capacity is low the ERR LED of the control unit flashes and an error alarm occurs ...

Page 407: ...ration memory areas set the system register no 6 no 14 KEYPOINTS If the Alarm Battery Error is not set the ERR LED will not blink even if a battery error is detected The setting of the system register no 6 no 14 are only effective when the backup battery is installed Use the initial valuesdirectly when the battery is not installed ...

Page 408: ... 2 2 Operations Using Tool Software Explain it as below assuming that the FPWIN GR7 has been started PROCEDURE 1 Select Online Switch to Online Mode from the menu bar 2 Select Tools ROM RAM Transfer from the menu bar The ROM RAM Transfer dialog box is displayed 3 Select the transfer direction and click the Execute Button For ROM RAM transfer transfer from the F ROM area to the data register area F...

Page 409: ...cond week Accuracy 0 Month error in 104 seconds or less 25 Month error in 51 seconds or less 55 Month error in 155 seconds or less Master memory function Memory capacity Flash ROM 512kB Storable data System register ladder diagram program position control data and comment data 200kB F ROM data area security function password upload prohibited 21 3 2 Setting of Master Memory Unit Setting of the Fun...

Page 410: ...formation upload prohibited comment data F ROM data area note 1 note 2 Operations Using the Tool Software Data must be transmitted Ladder diagram program system register position control data safety information password Data selected via dialog boxes note 3 comment data F ROM data area Switch to RUN mode Power ON in RUN mode All contents written into the master memory unit are transferred to the i...

Page 411: ...egister data data register to the memory of the control unit Data saved in the control unit before powering on will be overwritten When the required data program comments system register data data register has already saved to the master memory turn on the power in RUN mode KEYPOINTS Perform the installation of the master memory cassette and the data transmission from the control unit to the maste...

Page 412: ...se steps to transfer data to the master memory cassette from the control unit Operate via FPWIN GR7 Explain it as below assuming that the FPWIN GR7 has been started PROCEDURE 1 Select Online Switch to Online Mode from the menu bar 2 Select Tools Internal Memory Master Memory from the menu bar The Internal Memory Master Memory dialog box is displayed 3 Select the transfer direction and click the Ex...

Page 413: ...conversion range Block No DT number conversion range 0 DT0 DT2047 16 DT30768 DT32815 1 DT2048 DT4095 17 DT32816 DT34863 2 DT4096 DT6143 18 DT34864 DT36911 3 DT6144 DT8191 19 DT36912 DT38959 4 DT8192 DT10239 20 DT38960 DT41007 5 DT10240 DT12287 21 DT41008 DT43055 6 DT12288 DT14335 22 DT43056 DT45103 7 DT14336 DT16383 23 DT45104 DT47151 8 DT16384 DT18431 24 DT47152 DT49199 9 DT18432 DT20479 25 DT492...

Page 414: ...ming that the FPWIN GR7 has been started PROCEDURE 1 Select Online Switch to Online Mode from the menu bar 2 Select Tools Internal Memory Master Memory from the menu bar The Internal Memory Master Memory dialog box is displayed 3 Change the transfer direction to Master memory Internal Memory click the Execute button The message is displayed at the end of the transmission KEYPOINTS After the transf...

Page 415: ...played when there is no comment data saved in the master memory unit F ROM data area data register The data saved in the master memory cassette is transfered to the F ROM data area of the control unit when the check box is selected The check box is not displayed when there is no data saved in the master memory unit 21 4 5 Using Master Memory Cassette with Other Models The master memory unit create...

Page 416: ...ds or less 55 Month error in 155 seconds or less Areas used via the clock calendar Special DT number Data content R W High byte Low byte DT90053 Time data H00 H23 Minute data H00 H59 DT90054 Minute data H00 H59 Second data H00 H59 DT90055 Day data H00 H31 Time data H00 H23 DT90056 Year data H00 H99 Month data H00 H12 DT90057 Week data H00 H06 Note 1 Specifies any week data within the range of H00 ...

Page 417: ...ock calendar real time clock function to output 1 second Y0 signal at 8 30 am every day In this example the hour minute data stored in the special data register DT90053 are used to output signal regularly In DT90053 the hour data and minute data are respectively stored in the high 8 bytes and low 8 bytes in the form of BCD When compare this hour minute data and the value of any time BCD use the sp...

Page 418: ...Memory Master Memory Cassette 21 16 ...

Page 419: ...22 Security Functions ...

Page 420: ...ters of the 0 to 9 and A to F 16 characters can be used 8 digit password You can use 8 or less half width alphanumeric characters case sensitive and symbols 32 digit password You can use 32 or less half width alphanumeric characters case sensitive and symbols Never forget your password You can not read the program if you forget your password This is not possible even you ask for help from our comp...

Page 421: ...ssword is set no access xx digits Available to access note A password is set allow access Password input is completed the program can be accessed Retry number Namely the maximum number for consecutive password input Each time the password is entered incorrectly the retry number decreased up to 3 times If there has been three consecutive failed password attempts you can not access the program To re...

Page 422: ...layed 2 Set the items in the table below click Set button Item Settings Digits Please set the digits Operation mode Select Protect 4 8 32 digit password Enter any password to be set 3 In order to confirm enter the password again click the OK button The following information is displayed when entering a state protected state that is forbidden to write read 4 Click the OK button ...

Page 423: ... displayed 2 Set the items in the table below click Set button Item Settings Digits Please set the digits Operation mode Select Access 4 8 32 digit password Enter a set password When allowing access the following information is displayed 3 Click the OK button When the Access status stays unchanged if the PLC power supply is set to OFF ON it will become password protection status again ...

Page 424: ...ams and security information Delete all also delete upload prohibited setting 1 Select Tools PLC Security Settings Set PLC Password from the menu bar The Set PLC Password dialog box is displayed 2 Set the items in the table below click Set button Item Settings Digits Please set the digits Operation mode Select Unprotect 4 8 32 digit password Enter a set password After the password removal is compl...

Page 425: ...med in the Allow Access status Compulsory removal method programs and security information all deleted 1 Select Tools PLC Security Settings Set PLC Password from the menu bar The Set PLC Password dialog box is displayed 2 Click the Force Cancel button The confirmation message is displayed ...

Page 426: ...Security Functions 22 8 3 Confirm the message and click the Yes button The current status is displayed as Password is not set All programs and security information have been deleted ...

Page 427: ...egisters and password information will be deleted when the setting is cancelled Editing the files that are controlled with a PC can be carried out online using the programming tool However the programs will be broken if the programs are not absolutely matched When using this function store ladder programs as files without fail Interaction with the password protect function The password setting can...

Page 428: ...e screen switches to Online Monitor 2 Select Tools PLC Security Settings Upload Protection from the menu bar The dialog box of Disable Uploading appears 3 Select Disable uploading for the PLC and click the Execute button Compulsory removal based on FPWIN GR7 In the Disable Uploading dialog box select Forcibly cancel the uploading disabled state and then press the Execute key ...

Page 429: ...ssword 8 digit password 32 digit password Sets cancels Upload protection A A A A 4 digit password A A N A N A 8 digit password A A N A N A 32 digit password A A N A N A A Available N A Not available When a master memory cassette is installed Security status Security function is not set Upload prohibited 4 digit password 8 digit password 32 digit password Sets cancels Upload protection N A N A N A ...

Page 430: ...Security Functions 22 12 ...

Page 431: ...23 General purpose Input High speed counter Function ...

Page 432: ...otor Encoders Inverter Input the encoder output to the high speed counter Cutter Tap Wire Cutter Blade Control Signal START STOP Signal 23 1 2 Counting Range and Elapsed Value Current Value Area The high speed counter s elapsed value is stored in the special data register as 2 word 32 bit data When the power turns to OFF the elapsed value area is reset It is held when the RUN mode is switched to t...

Page 433: ...T90329 DT90330 DT90331 2 phase Phase difference input Individual input Direction detection CH0 X0 X1 X6 R9110 DT90300 DT90301 DT90302 DT90303 Mid speed input 100 µs 10kHz CH2 X2 X3 X7 R9112 DT90308 DT90309 DT90310 DT90311 CH4 X4 X5 No R9114 DT90316 DT90317 DT90318 DT90319 CH6 X6 X7 No R9116 DT90324 DT90325 DT90326 DT90327 Note 1 X6 can be used for either CH6 count input or CH0 reset input X7 can b...

Page 434: ...ubtraction input n 1 n 2 n 3 n 4 3 2 1 0 n ON OFF X0 X1 X7 Counting 2 phase input n 1 0 1 2 n n 3 n 1 n n 2 2 1 ON OFF ON OFF ON OFF ON OFF X0 X2 X4 X6 X1 X3 X5 X7 X0 X2 X4 X6 X1 X3 X5 X7 Counting Counting Individual input 1 2 3 2 3 4 3 0 3 2 4 1 ON OFF ON OFF X0 X2 X4 X6 X1 X3 X5 X7 Counting Direction detection input 3 2 1 0 2 0 4 3 1 ON OFF ON OFF X0 X2 X4 X6 X1 X3 X5 X7 Counting ...

Page 435: ...al purpose Input High speed counter Function Summary 23 5 23 1 5 Minimum Input Pulse Width For cycle T below input pulse width is needed as a minimum Min input pulse width For single phase input For 2 phase input ...

Page 436: ...elect Options System Register Settings The PLC Configuration dialog box is displayed 2 Select Controller input settings 1 HSC or Controller input settings 2 HSC from the left pane The setting menus of system register No 400 or No 401 display 3 Change the setting of the channel which uses high speed counter Below is the situation when 2 phase input X0 X1 is allocated in CH0 4 Click the OK button Re...

Page 437: ...ller input settings 2 HSC 401 High speed counter settings X4 X7 CH4 Select any one of count input X4 count input X4 2 phase input X4 X5 individual input X4 X5 and direction detection input X4 X5 CH5 Select any one of count input X5 and count input X5 CH6 Select any one of count input X6 count input X6 2 phase input X6 X7 individual input X6 X7 direction detection input X6 X7 X6 When using external...

Page 438: ...rol which corresponds to the control code designated by S This instruction is used when high speed counter performs below operation Software reset count is disabled External input makes reset input invalid When the control executed by high speed counter instruction F166 F167 is canceled clear target value is interrupted Once the control code is written it will maintain till next writing Control co...

Page 439: ...le 1 Execute H00 Fixed Counting 0 Available 1 Not execute External reset input 0 Cancel 1 Disable High speed counter instruction 0 Continue 1 Allowed Channel assignment H0 H7 CH0 CH7 Assign any input by controlling the above functions via the external input Sample program Below shows the situation in which input X7 is used to perform the software reset of high speed counter CH0 X7 DT90052 H1 F0 MV...

Page 440: ... WY WR WL SV EV DT LD I Constant Index modifier K H S A A A A A A A A A A A A D A A A A A A A A A Operation description elapsed value reading Save the contents of the special data register in which high speed counter elapsed value is saved to the area which is designated by D Operation description elapsed value setting When writing to elapsed value area of high speed counter in which 32 bit data i...

Page 441: ...stency Y0 Y29F Memory area type that can be specified A Available Operand WX WY WR WL SV EV DT LD I Constant Index modifier K H S A A n A A A A A A A A A A A A D Operation description The value designated by S is set to high speed counter s target value when elapsed value is consistent to target value control designates the output Yn This will be executed by interruption handling F166 HC1S During ...

Page 442: ...igh speed counter In control flag R9110 R9117 will be ON until the target value is consistent The high speed counter for the same channel cannot execute instruction F166 F167 Before being consistent with the target value during hardware reset elapsed value is reset to 0 but the setting of the target value and target value being consistent will not reset to zero For the output Y designated when tar...

Page 443: ...n program the corresponding interruption program is allowed to execute Execute F166 HC1S instruction and F167 HC1R instruction If high speed counter s elapsed value is consistent with target value the interruption program will startup ED INT 0 IRET INT0 Program ON when the F166HC1S instruction target value is consistent R9110 CH0 In control mark K0 CH0 designation K10000 target value Y2 Consistent...

Page 444: ...er Wiring example Y0 X0 X5 COM COM Encoder input Encoders Motor Conveyor Belt Operation Startup Inverter Operation Inverter Run Stop Output terminal Output terminal Operation diagram I O allocation sheet I O Number Contents I O Number Description X0 Encoder input R100 Position control operation X5 operation startup signal R101 Position control operation startup Y0 Frequency converter operation sig...

Page 445: ...T0 K5 TMX 0 1 2 3 4 5 6 7 Position control operation Position control operation startup Value thorough which high speed counter CH0 passes being reset Target value consistent OFF instruction when high speed counter s elapsed value reaches 5000 pulse Y0 becomes OFF Setting inverter operation signal Y0 Position control end pulse 0 5 s Use 0 1 s timer setting 0 5 s ...

Page 446: ...input Encoders Motor Conveyor Belt Operation Startup Inverter Operation Inverter High Speed Inverter Run Stop High Speed Low Speed Input terminal Output terminal Operation diagram I O allocation sheet I O Number Contents I O Number Description X0 Encoder input R100 Position control operation X5 operation startup signal R101 Reach deceleration point Y0 Frequency converter operation signal R102 Posi...

Page 447: ...tion startup Value thorough which high speed counter CH0 passes being reset Target value consistent OFF instruction high speed counter CH0 s elapsed value reaches 5000 pulse Y0 changes to OFF Setting Y0 inverter operation signal Setting Y1 inverter high speed signal 32 bit data compare instruction when high speed counter CH0 s elapsed value exceeds 4500 pulse R900C becomes ON Reach deceleration po...

Page 448: ...General purpose Input High speed counter Function 23 18 ...

Page 449: ...24 Other Functions ...

Page 450: ...00 The set values inside the PLC can be changed without using a programming tool therefore it can be used to analog timers that change the set values by external rotary potentiometer 24 1 2 Analog Potentiometer Application Examples Timer application examples The value of the special data register DT90040 corresponding to the analog potentiometer V0 is transmitted to the set value area SV0 of TMX0 ...

Page 451: ...ntact input signal Xn input Xn image memory Receiving an input signal of the X contact can be performed by the common I O refresh time For the input in the time constant processing such as executing part of the refresh instructions the time constant processing is invalid and the input status at this time is read out for setting If use the F182 FILTR instruction the time constant processing can be ...

Page 452: ...Other Functions 24 4 ...

Page 453: ...25 Maintenance and Inspection ...

Page 454: ...lled PROCEDURE 1 Power up the controller unit for more than five minutes When replacing the battery charge up the built in capacitor to maintain the memory contents 2 Turn the power off 3 Open the cover 4 Remove the used batteries 5 Install the new battery within 2 minutes after cutting off the power supply 6 Close the cover KEYPOINTS You can replace the battery of the FP XH M8N control unit when ...

Page 455: ...ng as needed If the system register No 4 Alarm Battery Error setting is effective the ERR LED of the controller unit controller will flash After the backup battery error is detected the data can be maintained for about one week without power However please replace the battery immediately When special internal relays R9005 R9006 are ON or the ERR LED of the control unit is flashed if the power outa...

Page 456: ...n looseness Unit looseness and shaking Required to be installed securely P 4 7 P 4 11 Connection status Terminal screw looseness near to crimp terminals connector looseness No looseness Fastened in parallel Locked The connector shall be tight P 4 5 P 4 10 Unit supply voltage Voltage between terminals 24 VDC P 2 6 Input and output circuit supply voltage Supply voltage 24 VDC P 2 7 P 2 8 Ambient env...

Page 457: ...26 Specifications ...

Page 458: ...minal 500V AC for 1 minute Insulation resistance Test voltage 500V DC Between power supply terminal and earth terminal 100MΩ min Between general purpose input terminal and earth terminal Between general purpose output terminal and earth terminal Between pulse input terminal and earth terminal Between RTEX RJ45 connector and earth terminal Vibration resistance 5 to 8 4 Hz 3 5 mm single amplitude 8 ...

Page 459: ... adapter 1 4ms FP0 expansion unit refresh time note 2 Operation memory Relay External input X 2272 points X0 X141F Note 3 External output Y 2272 points Y0 Y141F Not 3 Internal relay R 8192 points R0 R511F Special internal relay R 240 points Timer counter T C 1024 points note 4 Initial setting Timer 1008 points T0 T1007 counter 16 points C1008 C1023 Timer measurable up to 1msec 10msec 100msec 1sec ...

Page 460: ...s unit Potentiometer input 1ch K0 K4000 Input time constant processing Available set via system register or instructions Calendar timer real time clock note 5 Year last 2 numbers in the Gregorian calendar month day hour 24h minute second week As of 2099 Applicable during leap years Available only when the master memory cassette AFPX MRTC and battery are installed Flash ROM backup Guaranteed writin...

Page 461: ...h degree 0 1 degree 214 748 262 4 214 748 262 4 degree degree 1 degree 2 147 482 624 2 147 482 624 degree Speed reference range pulse 1 2 147 482 624 pps µm 1 2 147 482 624 µm s inch 0 001 2 147 482 624 inch s degree 0 001 2 147 482 624 rev s Acceleration and deceleration method Linear acceleration deceleration S shape acceleration deceleration Acceleration time 0 10 000 ms Settable by 1 ms Decele...

Page 462: ...t method linear acceleration deceleration method Electronic clutch Trigger type Clutch ON trigger Contact method Clutch OFF trigger Contact input The contact input phase specification contact method can be selected from the edge and level types Connection method Direct method linear slide method Electronic cam Cam pattern Select from 20 types Multiple curves can be specified within phase 0 to 100 ...

Page 463: ... synchronously with pulsar input Note 1 Stop function Stop operation type System stop emergency stop limit stop error stop deceleration stop pause Stop deceleration time The system stops when the deceleration time of all axes reaches 1 ms The deceleration time of emergency stop limit stop error stop deceleration stop and pause is 0 to 10 000 ms Settable by 1 ms High speed counter function Note 1 N...

Page 464: ... LF None ETX Data transmission order Transmits from bit 0 character by character Communication functions PLC link MEWTOCOL COM Master Slave MODBUS RTU Master Slave General purpose communication Modem initialization Note 1 When communication is performed at a baud rate of 38400 bit s or higher use the cable not longer than 3 m For wiring the RS232C a shielded wire must be used to increase noise sup...

Page 465: ... The AFPX COM1 is a 5 wire type When using it as a 3 wire type short circuit the RS CS terminal Note 2 It can be switched between RS 485 and RS 422 by switching the dip switches on the cassette Note 3 When connecting a commercially available device that has an RS485 interface please confirm operation using the actual device In some cases the number of units transmission distance and baud rate vary...

Page 466: ...rossover function Communication functions MEWTOCOL COM Master Slave Max 1 connection Client Max 3 connections Server General purpose communication Max 1 connection Client Note 1 Switching between different speeds is done automatically by auto negotiation function Note 2 The standards cite 100 m as the maximum but noise resistance measures such as attaching a ferrite core may be necessary in some c...

Page 467: ...D0 LD255 Timer counter set value area SV 1024 words SV0 SV1023 Timer counter elapsed value area EV 1024 words EV0 EV1023 Index register I 14 words I0 ID Constant Decimal constant K K 32 768 K32 767 16 bit operation K 2 147 483 648 K2 147 483 647 32 bit operation Hexadecimal constant H H0 HFFFF 16 bit operation H0 HFFFFFFFF 32 bit operation Floating point type real numbers f F 1 175494 10 38 F 3 40...

Page 468: ... announciation clear area Warning announciation clear area Synchronous control monitor area System operation setting area AMP monitor cotnrol area Pulse input setting area Pulse count control area Pulse input monitor area 1 Each axis information area Note H0 H3F Axis 1 Each axis information monitor area Axis 2 Each axis information monitor area Axis 3 Each axis information monitor area Axis 4 Each...

Page 469: ...and 89 expansion points Axis 4 Parameter setting area Positioning data setting area 600 standard points and 89 expansion points Axis 5 Parameter setting area Positioning data setting area 600 standard points and 89 expansion points Axis 6 Parameter setting area Positioning data setting area 600 standard points and 89 expansion points Axis 7 virtual Parameter setting area Positioning data setting a...

Page 470: ...area Electronic cam setting area Axis 4 Synchronous control common setting area Electronic gear setting area Clutch setting area Electronic cam setting area Axis 5 Synchronous control common setting area Electronic gear setting area Clutch setting area Electronic cam setting area Axis 6 Synchronous control common setting area Electronic gear setting area Clutch setting area Electronic cam setting ...

Page 471: ...ting area Axis 4 Setting area Axis 5 Setting area Axis 6 Setting area Axis 7 virtual Setting area Axis 8 virtual Setting area 6 AMP parameter area H0 H3F AMP parameter setting area Be sure not to execute writing in the reserved areas for the system For reading each axis information area with the program check if the link establishment annunciation flag X1100 turns ON before reading it ...

Page 472: ...ulation request signal Y1170 turns on the control unit will recalculate the positioning data of all the axes from this table number to no 600 Setting Range K1 K600 Operation speed setting area Offset Address Name Default Description H88 Operation speed rate K100 All operations relating to axes positioning JOG home return can be performed at the specified rate Setting Range K1 K100 Unit ...

Page 473: ...ror occurs Also an error occurs if an axis that has been set as a virtual axis by Configurator PM7 is set 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 8 HB1 Group B axis setting HB2 Group C axis setting HB3 Group D axis setting HB4 ...

Page 474: ...rrent value update request for axis 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 virtual axis 7 0 7 Current value update request for virtual axis 78 0 15 8 HC1 HC7 Reserved for system HC8 HC9 Current value update coordinate of axis 1 K0 Stores the coordinate value to be preset by the current value update function HCA...

Page 475: ...of axis 2 0 2 Torque limit of axis 3 0 3 Torque limit of axis 4 0 4 Torque limit of axis 5 0 5 Torque limit of axis 6 0 6 Torque limit of axis 7 0 7 Torque limit of axis 8 0 15 8 HC9 HDF Reserved for system HE0 Torque limit value of axis 1 K3000 Set the torque limit value for each axis Setting range K1 K5000 Unit 0 1 HE1 Torque limit value of axis 2 K3000 HE2 Torque limit value of axis 3 K3000 HE3...

Page 476: ...arting table number of virtual axis 7 H107 Position control starting table number of virtual axis 8 Positioning control area Offset Address Name Default Description H108 Positioning repeat count of axis 1 K0 Stores the number of times for repeating the operation starting from the position control starting table number until the E point When 255 is stored the positioning control is repeated unlimit...

Page 477: ...n buffer 1 of axis 1 Stores the latest error codes in order from buffer 1 H12C H12D Error code annunciation buffer 2 of axis 1 H12E H12F Error code annunciation buffer 3 of axis 1 H130 H131 Error code annunciation buffer 4 of axis 1 H132 H133 Error code annunciation buffer 5 of axis 1 H134 H135 Error code annunciation buffer 6 of axis 1 H136 H137 Error code annunciation buffer 7 of axis 1 H138 Res...

Page 478: ...f axis 3 H154 H155 Error code annunciation buffer 6 of axis 3 H156 H157 Error code annunciation buffer 7 of axis 3 H158 Reserved for system H159 No of error occurrences of axis 4 Notifies the number of occurrences of errors at axis 4 H15A H15B Error code annunciation buffer 1 of axis 4 Stores the latest error codes in order from buffer 1 H15C H15D Error code annunciation buffer 2 of axis 4 H15E H1...

Page 479: ... H174 H175 Error code annunciation buffer 6 of axis 5 H176 H177 Error code annunciation buffer 7 of axis 5 H178 Reserved for system H179 No of error occurrences of axis 6 Notifies the number of occurrences of errors at axis 6 H17A H17B Error code annunciation buffer 1 of axis 6 Stores the latest error codes in order from buffer 1 H17C H17D Error code annunciation buffer 2 of axis 6 H17E H17F Error...

Page 480: ...95 Error code annunciation buffer 6 of virtual axis 7 H196 H197 Error code annunciation buffer 7 of virtual axis 7 H198 Reserved for system H199 No of error occurrences of virtual axis 8 Notifies the number of occurrences of errors at axis 8 H19A H19B Error code annunciation buffer 1 of virtual axis 8 Stores the latest error code from the buffer number 1 in order H19C H19D Error code annunciation ...

Page 481: ... buffer 1 of axis 1 Saves the latest warning codes in order from buffer 1 H1C4 H1C5 Warning code annunciation buffer 2 of axis 1 H1C6 H1C7 Warning code annunciation buffer 3 of axis 1 H1C8 H1C9 Warning code annunciation buffer 4 of axis 1 H1CA H1CB Warning code annunciation buffer 5 of axis 1 H1CC H1CD Warning code annunciation buffer 6 of axis 1 H1CE H1CF Warning code annunciation buffer 7 of axi...

Page 482: ...is 3 H1EC H1ED Warning code annunciation buffer 6 of axis 3 H1EE H1EF Warning code annunciation buffer 7 of axis 3 H1F0 Reserved for system H1F1 No of warning occurrences of axis 4 Notifies the number of occurrences of warnings at axis 4 H1F2 H1F3 Warning code annunciation buffer 1 of axis 4 Saves the latest warning codes in order from buffer 1 H1F4 H1F5 Warning code annunciation buffer 2 of axis ...

Page 483: ...C H20D Warning code annunciation buffer 6 of axis 5 H20E H20F Warning code annunciation buffer 7 of axis 5 H210 Reserved for system H211 No of warning occurrences of axis 6 Notifies the number of occurrences of warnings at axis 6 H212 H213 Warning code annunciation buffer 1 of axis 6 Saves the latest warning codes in order from buffer 1 H214 H215 Warning code annunciation buffer 2 of axis 6 H216 H...

Page 484: ...arning code annunciation buffer 6 of virtual axis 7 H22E H22F Warning code annunciation buffer 7 of virtual axis 7 H230 Reserved for system H231 No of warning occurrences of virtual axis 8 Notifies the number of occurrences of warnings at axis 8 H232 H233 Warning code annunciation buffer 1 of virtual axis 8 Stores the latest warning code from the buffer number 1 in order H234 H235 Warning code ann...

Page 485: ...axes bit Function Setting 0 Electronic gear operation settings 0 Use 1 Not use 1 Clutch operation setting 2 Electronic operation setting 3 Advance angle correction synchronous setting 15 4 H2B2 Synchronous master axis information monitor of axis 2 HF Refer to the description for the axis 1 H2B3 Synchronous output function selection status monitor of axis 2 H0 Refer to the description for the axis ...

Page 486: ...ion H2C0 H388 Reserved for system H389 Deceleration stop operation K0 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 s...

Page 487: ...o H0 no request simultaneously with the completion of the processing H392 Status H0 Stores the processing state of the AMP monitor The FP XH M8N control unit changes this area to H1 simultaneously with the start of the processing After that it stores the processing result and change the control flag to H0 H0 No operation H1 Being processed H2 Normal end H3 Abnormal end H4 ID error AMP ID no unconn...

Page 488: ...4 4 multiple 1 1 Reserved for system When set it will be 4 multiple 7 6 Pulse input purpose Specify the purpose of pulse input for each axis Pulsar Connect a manual pulsar to the pulse input High speed counter Bit7 Bit6 0 0 Pulsar 0 1 Reserved for system When set it will be pulsar 1 0 High speed counter 1 1 Reserved for system When set it will be pulsar 10 8 Pulse input time constant Set the time ...

Page 489: ...to 1 from 0 before change bit Name Default Description 0 Change pulse count of CH1 0 0 Not change pulse count values 0 1 Change pulse count values 1 Change pulse count of CH2 0 2 Change pulse count of CH3 0 3 Change pulse count of CH4 0 15 4 H3AA H3AF Reserved for system H3B0 H3B1 Pulse input change value of CH1 K0 Set the pulse input values to be changed for each axis Range 2 147 483 628 to 2 147...

Page 490: ...or using phase information in percent perform the following calculation Phase Phase after clutch control Master cycle of synchronous operation x 100 The phase of slave axis will be cleared at the following timing when the unit is activated when the slave axis setting is canceled when it is not in the synchronous state H22 H23 Reserved for system H24 H25 Advance angle correction amount Stores the a...

Page 491: ...ositioning repeat count Stores 1 when no repeat operation is performed Stores 255 when the repeat count is unlimited Unit Times H3B Repeat count current value Stores the repeat count during the operation Stores 1 when no repeat operation is performed Returns to 0 when the repeat count exceeds the upper limit Unit Times H3C H3D Current value Stores the current value based on a mechanical origin in ...

Page 492: ...nch H201 inch Min position command 1 inch H300 degree Min position command 0 1 degree H301 degree Min position command 1 degree Any other settings will be errors H1 Reserved for system H2 H3 Pulse number per rotation K1 Sets the pulse number per rotation It is necessary for the conversion of the pulse number in the settings of mm inch and degree Range K1 K16 777 215 Any other settings will be erro...

Page 493: ...147 482 624 Any other settings will be errors The ranges vary depending on the unit settings as below pulse 2 147 482 624 to 2 147 482 624 pulse μm 0 1 μm 214 748 262 4 to 214 748 262 4 μm μm 1 μm 2 147 482 624 to 2 147 482 624 μm inch 0 00001 inch 21 474 82624 to 21 474 82624 inch inch 0 0001 inch 214 748 2624 to 214 748 2624 inch degree 0 1 degree 214 748 262 4 to 214 748 262 4 degree degree 1 d...

Page 494: ...uxiliary output Delay ratio K0 Sets the ratio of output in the Delay mode during auxiliary output The setting range is 0 100 if set to 50 the auxiliary output will be executed when the position control movement exceeds 50 H14 AMP operation setting H1 Sets to enable disable the limit input of AMP or sets the movement direction and limit connection method etc Note This setting should be written to t...

Page 495: ...efault Description 0 Torque judgment value enabled 0 0 Disables the torque judgment value 1 Enables the torque judgment value 1 Torque judgment value error warning setting 0 0 Announces an error when it is enabled 1 Announces a warning when it is enabled 2 Actual speed judgment value enabled 0 0 Disables the actual speed judgment value 1 Enables the actual speed judgment value 3 Actual speed judgm...

Page 496: ...ed deceleration time after the proximity input and changes to the creep speed Setting range 0 10 000 ms Any other settings will be errors H23 Home return deceleration time H24 H25 Home return target speed K1000 Set the target speed when performing the home return When there is no proximity input after starting the home return accelerates to the target speed Range 1 2 147 482 624 Any other settings...

Page 497: ...me decelerates for specified deceleration time when the starting contact of the JOG operation turns off and stops Setting range 0 10 000 ms Any other settings will be errors H2B JOG operation deceleration time H2C H2D JOG operation target speed K1000 Set the target speed for performing the JOG operation After starting the JOG operation accelerates to the target speed while the starting contact of ...

Page 498: ...ime Setting range 0 10 000 ms Any other settings will be errors H38 Pulsar operation setting code K0 Select the channels of the pulse input circuit that will be the input for the pulsar operation 0 Pulse input CH1 1 Pulse input CH2 2 Pulse input CH3 3 Pulse input CH4 Any other settings will be errors H39 Pulsar operation ratio numerator K1 Sets the multiplier for the input pulse string in the puls...

Page 499: ...trol code H0 Sets the control code for the J point control bit Name Default Description 0 1 Acceleration deceleration pattern setting 0 0 Linear acceleration deceleration 1 S shaped acceleration deceleration 15 2 H42 J point acceleration time K100 Sets the acceleration deceleration time when performing the J point control Setting range 0 10 000 ms Any other settings will be errors H43 J point dece...

Page 500: ...int control Any other settings will be errors 15 8 Inter polation setting H0 H0 Linear interpolation Composite speed H1 Linear interpolation Long axis speed H10 Circular interpolation Center point CW direction H11 Circular interpolation Center point CCW direction H20 Circular interpolation Pass point H50 Spiral interpolation Center point CW direction X axis movemet H51 Spiral interpolation Center ...

Page 501: ...4 degree degree 1 degree 2 147 482 624 2 147 482 624 degree HA HB Auxiliary point K0 Sets the auxiliary points center point pass point coordinates in case of the circular interpolation or spiral interpolation control Range 2 147 482 624 2 147 482 624 Any other settings will be errors The ranges vary depending on the unit settings as below pulse 2 147 482 624 2 147 482 624 pulse μm 0 1 μm 214 748 2...

Page 502: ...40 136 H8C0 176 HB40 17 H150 57 H3D0 97 H650 137 H8D0 177 HB50 18 H160 58 H3E0 98 H660 138 H8E0 178 HB60 19 H170 59 H3F0 99 H670 139 H8F0 179 HB70 20 H180 60 H400 100 H680 140 H900 180 HB80 21 H190 61 H410 101 H690 141 H910 181 HB90 22 H1A0 62 H420 102 H6A0 142 H920 182 HBA0 23 H1B0 63 H430 103 H6B0 143 H930 183 HBB0 24 H1C0 64 H440 104 H6C0 144 H940 184 HBC0 25 H1D0 65 H450 105 H6D0 145 H950 185 ...

Page 503: ...540 376 H17C0 217 HDD0 257 H1050 297 H12D0 337 H1550 377 H17D0 218 HDE0 258 H1060 298 H12E0 338 H1560 378 H17E0 219 HDF0 259 H1070 299 H12F0 339 H1570 379 H17F0 220 HE00 260 H1080 300 H1300 340 H1580 380 H1800 221 HE10 261 H1090 301 H1310 341 H1590 381 H1810 222 HE20 262 H10A0 302 H1320 342 H15A0 382 H1820 223 HE30 263 H10B0 303 H1330 343 H15B0 383 H1830 224 HE40 264 H10C0 304 H1340 344 H15C0 384 ...

Page 504: ... 576 H2440 417 H1A50 457 H1CD0 497 H1F50 537 H21D0 577 H2450 418 H1A60 458 H1CE0 498 H1F60 538 H21E0 578 H2460 419 H1A70 459 H1CF0 499 H1F70 539 H21F0 579 H2470 420 H1A80 460 H1D00 500 H1F80 540 H2200 580 H2480 421 H1A90 461 H1D10 501 H1F90 541 H2210 581 H2490 422 H1AA0 462 H1D20 502 H1FA0 542 H2220 582 H24A0 423 H1AB0 463 H1D30 503 H1FB0 543 H2230 583 H24B0 424 H1AC0 464 H1D40 504 H1FC0 544 H2240...

Page 505: ...6 H2800 10046 H2940 10066 H2A80 10086 H2BC0 10007 H26D0 10027 H2810 10047 H2950 10067 H2A90 10087 H2BD0 10008 H26E0 10028 H2820 1048 H2960 10068 H2AA0 10088 H2BE0 10009 H26F0 10029 H2830 10049 H2970 10069 H2AB0 10089 H2BF0 10010 H2700 10030 H2840 10050 H2980 10070 H2AC0 10011 H2710 10031 H2850 10051 H2990 10071 H2AD0 10012 H2720 10032 H2860 10052 H29A0 10072 H2AE0 10013 H2730 10033 H2870 10053 H29...

Page 506: ...written cam pattern table Setting range K0 K10000 x 0 01 H4 Start phase of section 1 K0 When reading stores the start phase in the section 1 of the read cam pattern table The read value is always 0 When rewriting stores the start phase in the section 1 of the rewritten cam pattern table When any value other than 0 is set in the section 1 it cannot be rewritten correctly Setting range Decimal 0 100...

Page 507: ...fied trapezoid K52 No dwell modified uniform velocity K35 Trapecloid K92 NC2 curve H7 Reserved for system H8 HB Area for section 2 Just like the area for the section 1 one word each is allocated to the start phase displacement cam pattern and the system area Start phase in section Displace ment in section Cam pattern in section Reserved for system The end of offset address Hx0 Hx1 Hx2 Hx3 Hx4 Hx5 ...

Page 508: ...f the previous section A Check if the relation between the start phases of each section is Start phase of section n 1 Start phase of section n H FF07 Start phase setting error 3 The set start phase of the section 1 is not 0 A Always set the start phase of the section 1 to 0 H FF0A Displacement setting error The set value of the displacement is out of the settable range A Check the set value of the...

Page 509: ...ly bit no Name Default Description 0 Cam pattern No 1 valid condition 1 0 Cam pattern table after rewriting by user program is valid 1 Configuration data by tool software is valid 1 Cam pattern No 2 valid condition 1 2 Cam pattern No 3 valid condition 1 3 Cam pattern No 4 valid condition 1 4 Cam pattern No 5 valid condition 1 5 Cam pattern No 6 valid condition 1 6 Cam pattern No 7 valid condition ...

Page 510: ...nic operation setting 3 Advance angle correction synchronous setting 15 4 Reserved area for the system H2 Synchronous slave single deceleration stop deceleration method of each axis H0 Set the deceleration method when performing the deceleration stop during the synchronous operation bit Name Default Description 0 Not used 1 Deceleration method H0 0 Linear 1 S shaped 15 2 Reserved area for the syst...

Page 511: ...ss H21 set H0 Level in this area offset address H29 H2A Clutch OFF phase ratio H0 Set the ratio for the phase at which the clutch turns OFF when selecting I O Phase after clutch control for the clutch off trigger type Setting range 0 99 H2B H2F Reserved for system H30 Clutch ON method H0 H0 Direct H1 Slip H31 Reserved for system H32 Clutch ON slip method H0 H0 Slip time setting H33 Clutch ON slip ...

Page 512: ...m 214 748 262 4 214 748 262 4 µm µm 1 µm 2 147 482 624 2 147 482 624µm inch 0 00001 inch 21 474 82624 21 474 82624 inch inch 0 0001 inch 214 748 2624 214 748 2624 inch degree 0 1 degree 214 748 262 4 214 748 262 4degree degree 1 degree 2 147 482 624 2 147 482 624 degree H58 H59 Advance angle correction reference speed 100 Set the reference speed for calculating the advance angle correction amount ...

Page 513: ...e positioning speed change 0000H Active table only 0001H Active table to E point table until the completion of the operation In the case of other values the unit operates as the setting of 0000H Active table only H2 H3 Positioning speed change Change speed K100 Area for setting a change speed for changing the positioning speed Set using unit system conversion values Setting range 1 2 147 482 624 S...

Page 514: ...0 No operation H1 Being processed H2 Normal end Read Write EEPROM Reset H3 Abnormal end Read Write EEPROM Reset H4 ID error H5 Parameter error H6 Request execution disabled H3 Parameter classification K0 Specify the classification codes of the parameters for read write Setting range K0 K8 No writing is required in this area when executing EEPROM write or AMP reset H24 Individual parameter no H0 Sp...

Page 515: ...s for PLC link W0 0 128 0 128 13 Hold type area staring address setting for link data registers for PLC link W0 1 256 128 256 14 Selection of hold non hold in the step ladder diagram program Non hold Hold non hold Action on error 20 Selection of dual output disable enable Disable Disable enable 23 Selection of operation mode stop run in case of I O verification error Stop Stop run 24 Operation sto...

Page 516: ...tion PC Link W 0 0 Setting 40 Size of link relay 0 0 64 words 41 Size of link register 0 0 128 words 42 Send area starting word address of link relay 0 0 63 43 Size of link relays used for send area 0 0 64 words 44 Send area starting word address link data register 0 0 127 45 Size of link data registers used for send area 0 0 127 words 46 PLC link 0 and 1 allocation setting Standard Normal reverse...

Page 517: ...eed counter addition input X4 subtraction input X4 2 phase input X4 X5 one input X4 X5 direction distinction X4 X5 CH5 Not set X5 as High speed counter Not set X5 as High speed counter addition input X5 subtraction input X5 CH6 Not set X6 as High speed counter Not set X6 as High speed counter addition input X6 subtraction input X6 2 phase input X6 X7 one input X6 X7 direction distinction X6 X7 Res...

Page 518: ... input Interrupt input X0 X1 X2 X3 X4 X5 X6 X7 Controller input The contact pressed is set as pulse catch input Interrupt pulse edge setting 405 Interrupt edge setting X0 X7 Rising edge Rising edge Falling edge rising and falling edges X0 X1 X2 X3 X4 X5 X6 X7 X0 X1 X2 X3 X4 X5 X6 X7 Rising edge Rising edge The contact pressed is set as rising edge and falling edge Note 1 When the same input is set...

Page 519: ...pacity setting for data received of serial data communication mode 2048 0 2048 418 COM2 Staring address for data received of serial data communication mode 2048 0 65532 419 COM2 Buffer capacity setting for data received of serial data communication mode 2048 0 2048 420 COM0 Staring address for data received of serial data communication mode 4096 0 65532 421 COM0 Buffer capacity setting for data re...

Page 520: ...able for COM0 or COM1 port Data length for transmission format 8 bits Parity odd stop bit fixed to 1 In addition select the communication speed in PC link W0 0 system register No 48 item Note 4 The COM4 port only supports MEWTOCOL COM communication In addition the communication parameters unit number communication format baud rate when the power is ON are same as the settings of the COM3 port Afte...

Page 521: ... maintained during operation The address where an error occurred stored in DT90017 Display the operation error occurred initially R9008 Operation error flag latest ER flag It is ON whenever an operation error occurs The address where an error occurred stored in DT90018 Every time a new error occurs the content will be updated R9009 Carry flag CY flag When the operation result overflows or underflo...

Page 522: ...ial pulse relay on type Turns on for only the first scan of a process after the boot at the step ladder control R9016 Not used R9017 Not used R9018 0 01 s clock pulse relay Repeats on off operations in 0 01 sec cycles 0 01 seconds R9019 0 02 s clock pulse relay Repeats on off operations in 0 02 s cycles 0 02 seconds R901A 0 1 s clock pulse relay Repeats on off operations in 0 1 s cycles 0 1 second...

Page 523: ... forced on off operation for input output relay timer counter contacts R902A Interrupt enable flag Turns on while the external interrupt trigger is enabled by the ICTL instruction R902B Interrupt error flag Turns on when an interrupt error occurs R902C Sample point flag Sampling by the instruction 0 Sampling at constant time intervals 1 R902D Sample trace end flag When the sampling operation stops...

Page 524: ...ion completion flag for COM1 port general purpose communication For general communication if the end character is received it is ON R9039 R913B Sending completion flag for COM1 port general purpose communication For general purpose communication if end the transmission it is ON For general purpose communication if transmitting is required it is OFF R903A Unused R903B Unused R903C Unused R903D Unus...

Page 525: ...r occurs it is ON When requesting for sending via the F159 MTRN instruction it is OFF R9048 R9142 Reception completion flag for COM2 port general purpose communication For general communication if the end character is received it is ON R9049 R9143 Sending completion flag for COM2 port general purpose communication For general purpose communication if end the transmission it is ON For general purpo...

Page 526: ... PLC is not linked OFF R9067 Unit No 8 Unit no 8 For normal communication in the PC PLC link mode ON When stopping error occurs or PC PLC is not linked OFF R9068 Unit No 9 Unit no 9 For normal communication in the PC PLC link mode ON When stopping error occurs or PC PLC is not linked OFF R9069 Unit No 10 Unit no 10 For normal communication in the PC PLC link mode ON When stopping error occurs or P...

Page 527: ...n PROG mode OFF R9076 Unit no 7 When the unit no 7 is in RUN mode ON When in PROG mode OFF R9077 Unit no 8 When the unit no 8 is in RUN mode ON When in PROG mode OFF R9078 Unit no 9 When the unit no 9 is in RUN mode ON When in PROG mode OFF R9079 Unit no 10 When the unit no 10 is in RUN mode ON When in PROG mode OFF R907A Unit no 11 When the unit no 11 is in RUN mode ON When in PROG mode OFF R907B...

Page 528: ... PLC is not linked OFF R9087 Unit no 8 Unit no 8 For normal communication in the PC PLC link mode ON When stopping error occurs or PC PLC is not linked OFF R9088 Unit no 9 Unit no 9 For normal communication in the PC PLC link mode ON When stopping error occurs or PC PLC is not linked OFF R9089 Unit no 10 Unit no 10 For normal communication in the PC PLC link mode ON When stopping error occurs or P...

Page 529: ...n PROG mode OFF R9096 Unit no 7 When the unit no 7 is in RUN mode ON When in PROG mode OFF R9097 Unit no 8 When the unit no 8 is in RUN mode ON When in PROG mode OFF R9098 Unit no 9 When the unit no 9 is in RUN mode ON When in PROG mode OFF R9099 Unit no 10 When the unit no 10 is in RUN mode ON When in PROG mode OFF R909A Unit no 11 When the unit no 11 is in RUN mode ON When in PROG mode OFF R909B...

Page 530: ...0 High speed counter control flag HSC CH0 When using high speed counter function it is ON during the execution of F166 HC1S and F167 HC1R instructions It is OFF when the action is completed R9111 HSC CH1 R9112 HSC CH2 R9113 HSC CH3 R9114 HSC CH4 R9115 HSC CH5 R9116 HSC CH6 R9117 HSC CH7 R9118 R912F Unused ...

Page 531: ... link function it is ON R9137 Unused R9138 R9037 COM1 port communication error flag When performing data communication if a transmission error occurs it is ON When executing via F159 MTRN instruction if transmitting is required it is OFF R9139 R9032 COM1 port operation mode flag When using the general purpose communication function it is ON When using a function outside of the general purpose comm...

Page 532: ...e error code is stored to DT90125 R9146 Unused R9147 Unused R9148 COM3 port communication error flag When performing data communication if a transmission error occurs it is ON When executing via F159 MTRN instruction if transmitting is required it is OFF R9149 COM3 port operation mode flag When using the general purpose communication function it is ON When using a function outside of the general p...

Page 533: ... character is received it is ON R9153 Sending completion flag for COM4 port general purpose communication For general purpose communication if end the transmission it is ON For general purpose communication if transmitting is required it is OFF R9154 COM4 port SEND RECV instruction executable flag Indicates the status with respect to the Executable Non executable status of F145 SEND or F146 RECV i...

Page 534: ...ter save the object system register number DT90008 Communication error flag COM4 port Save error contents when using the COM4 port ON 1 Error OFF 0 Normal bit no 15 0 0 0 0 0 0 0 0 0 0 0 0 0 8 7 COM4 Ultra limit running error COM4 Framing error COM4 Parity error COM4 Overflow error H00 Fixed DT90009 Communication error flag COM2 port COM3 port Save error contents when using the COM2 COM3 port ON 1...

Page 535: ... an error occurred is stored Update when each time an error occurs Please use decimalism display to perform monitoring DT90019 2 5 ms RING counter Note 2 The stored value is increased by 1 every 2 5 ms H0 HFFFF The difference between 2 points absolute value 2 5 ms elapsed time between 2 points DT90020 10 µs RING counter note2 3 Saved value 1 every 10 00 µs H0 HFFFF The difference between 2 points ...

Page 536: ... by F149 MSG instruction Stores contents set through the information display instruction F149 character DT90031 DT90032 DT90033 DT90034 DT90035 DT90036 Status error occurrence position of FP X expansion unit add on cassette Stores the corresponding number upon abnormal status High byte FP X expansion unit Low byte add on cassette E g The cassette installation part 2 is abnormal for 0001h DT90037 W...

Page 537: ...ed counter reset count prohibition and instruction execution cancellation are controlled by writing in values with the MV instruction F0 bit no 15 0 Soft reset 0 0 0 0 0 0 0 0 8 7 0 Not execute 1 Execute H00 Fixed Counting 0 Allowed 1 Disable External reset input 0 Available 1 Unavailable High speed counter instruction 0 Continue 1 Cancel Channel assignment H0 H7 CH0 CH7 ...

Page 538: ...n register Time adjustment for real time clock Use the program to adjust the time If the highest bit of the DT90058 MSB is set to 1 it turns to the time written into the DT90054 DT90057 by the instruction F0 After executing time adjustment the DT90058 is cleared You can not execute instructions other than F0 Example When X0 is ON adjust the time to 5 days 12 hours 0 minute 0 second F0 MV H 0 DT900...

Page 539: ... be written using a programming tool DT90061 Step ladder process 16 31 DT90062 Step ladder process 32 47 DT90063 Step ladder process 48 63 DT90064 Step ladder process 64 79 DT90065 Step ladder process 80 95 DT90066 Step ladder process 96 111 DT90067 Step ladder process 112 127 DT90068 Step ladder process 128 143 DT90069 Step ladder process 144 159 DT90070 Step ladder process 160 175 DT90071 Step l...

Page 540: ...576 591 DT90097 Step ladder process 592 607 DT90098 Step ladder process 608 623 DT90099 Step ladder process 624 639 DT90100 Step ladder process 640 655 DT90101 Step ladder process 656 671 DT90102 Step ladder process 672 687 DT90103 Step ladder process 688 703 DT90104 Step ladder process 704 719 DT90105 Step ladder process 720 735 DT90106 Step ladder process 736 751 DT90107 Step ladder process 752 ...

Page 541: ...executing SEND RECV instruction the error code is saved DT90124 COM1 SEND RECV end code DT90125 COM2 SEND RECV end code DT90126 Force I O active unit No Used in the system DT90127 COM3 SEND RECV end code If an error occurs when executing SEND RECV instruction the error code is saved DT90127 COM4 SEND RECV end code DT90128 DT90139 Unused ...

Page 542: ... link0 transmission interval current value x 2 5ms DT90154 PC PLC link0transmissioninterval minimum value x2 5ms DT90155 PC PLC link0transmissioninterval maximum value x2 5ms DT90156 MEWNET W0 PC PLC link 0 status PC PLC link0 work for measuring reception interval DT90157 PC PLC link0 work for measuring transmission interval DT90158 MEWNET W0 PC PLC link 1 status PC PLC link1 work for measuring re...

Page 543: ...rsely it indicates the left master unit part 40 45 and 47 are set to 50 55 and 57 46 remain unchanged In addition it indicates the other unit part 40 45 are set to values after correcting the received values while 46 and 47 are set to 46 and 57 of the master unit DT90221 System registers 42 and 43 DT90222 System registers 44 and 45 DT90223 System registers 46 and 47 DT90224 PC PLC link unit no 2 o...

Page 544: ...et to 50 55 and 57 46 remain unchanged In addition it indicates the other unit part 40 45 are set to values after correcting the received values while 46 and 47 are set to 46 and 57 of the master unit DT90237 System registers 42 and 43 DT90238 System registers 44 and 45 DT90239 System registers 46 and 47 DT90240 PC PLC link unit no 6 or 14 System registers 40 and 41 DT90241 System registers 42 and...

Page 545: ...6 Elapsed value area Low word HSC CH4 The counting area of the high speed counter controller input X4 or X4 X5 DT90317 High word DT90318 Target value area Low word When executing the F166 HC1S and F167 HC1R instruction the target value is saved DT90319 High word DT90320 Elapsed value area Low word HSC CH5 The counting area of the high speed counter controller input X5 DT90321 High word DT90322 Tar...

Page 546: ...register DT90052 by F0 MV instruction are saved to each channel bit no 15 0 Soft reset 0 0 0 0 0 0 0 0 0 0 0 0 8 7 0 Not execute1 Execute H000 Fixed Counting 0 Allowed 1 Disable External reset input0 Available 1 Unavailable High speed counter instruction 0 Continue 1 Cancel DT90381 HSC CH1 DT90382 HSC CH2 DT90383 HSC CH3 DT90384 HSC CH4 DT90385 HSC CH5 DT90386 HSC CH6 DT90387 HSC CH7 DT90388 DT904...

Page 547: ...he timer counter is inconsistent with the number assignment in the program Switch to PROG mode to confirm the contents of the system register and reconcile the setting and instruction word E5 Program area error note 1 Stop The instruction to determine executable area main program area deputy program area is written into a position outside of the area the subroutine SUB RET etc were recorded before...

Page 548: ...he limits Please turn off the power to confirm whether the combination unit is within the limit range E29 Configuration parameter error Stop It may be due to a hardware error Please contact our company E34 Abnormal I O status Stop An abnormal unit is installed Confirm the slot number by DT90036 replace the abnormal unit with a normal one E40 I O error Select The function cassette may be abnormal C...

Page 549: ...ystem register are abnormal Check the settings again Example If the data register and internal relay ranges set by the system register No 0 and No 1 are not matched with the setting of the system register No 7 and No 8 hold non hold area and the setting of the system register No 416 No 423 universal communication buffer area an error will occur Verify the number of the system register through the ...

Page 550: ... processed was executed in RUN mode 64 External memory error Bad hardware The built in ROM F ROM master memory may be abnormal Designated content exceeds the stipulated capacity during ROM transmission A read write error occurred 65 Protection error A write operation of the program or system register was performed under the protection status password setting or with the master memory cassette inst...

Page 551: ...26 9 Dimensions 26 95 26 9 Dimensions 26 9 1 Dimensions FP XH M8N16PD control unit 220 82 90 4 Unit mm 26 9 2 Installation Dimensions 8 L H 2 M4 or 2 φ5 Model L H M8N 212 82 Unit mm ...

Page 552: ...Specifications 26 96 ...

Page 553: ...Record of changes Manual No Date Record of Changes WUME FPXHM8N16PD 01 Sep 2017 First Edition ...

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