Panasonic FP0H Series User Manual Download

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5.4

Positioning Control

5-21

5.4.4 C-point Control

•

The parameters for position control operations are specified in the positioning parameter

setting menus and data tables of Configuration PMX.

•

When the positioning table start instruction (F380 POSST) or positioning simultaneous start

instruction (F383 MPOST) is executed, the pulse output will start and the positioning control

operation will be performed.



Operation diagram

t [ms]

f [Hz]

100ms

50ms

100,000

pulses

20,000Hz

1,000Hz

10,000Hz

200ms

250ms

50,000

pulses

150ms

30ms

Instruction

start condition

Busy signal

Operation

done signal

Table 1

Table 2



Operations of each contact

•

The BUSY flags (X808 to X80B), 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 flags (X810 to X813), which indicate the completion of operation, will

turn on when the current operation is completed, and they will be held until the next

positioning control, JOG operation or home return operation starts.

Summary of Contents for FP0H Series

Page 1: ......

Page 2: ...ristics 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 th...

Page 3: ... BAS FP series Programming Manual ARCT1F313E Positioning Function PWM Output High speed Counter Function FP0H User s Manual Positioning PWM Output High speed Counter WUME FP0HPOS Serial Communication Function FP0H User s Manual COM Communication WUME FP0HCOM Ethernet Communication Function FP0H User s Manual Ethernet Communication WUME FP0HET EtherNet IP Communication Function FP0H User s Manual E...

Page 4: ...ation 1 4 1 3 Comparison of Pulse Output Function 1 6 1 3 1 Types of Positioning Control Modes 1 6 1 3 2 Selection of Positioning Control Mode 1 6 1 3 3 Comparison of Two Control Modes 1 7 2 Wiring 2 1 2 1 Connections with Servo Motor Amplifier 2 2 2 1 1 Connection Example 2 2 2 1 2 Precautions on Connection 2 3 2 2 Connection with Stepping Motor Driver 2 4 2 2 1 Precautions on Connection 2 4 3 Po...

Page 5: ... 1 When Using Pulse Output Table Setting Mode 4 2 4 1 2 When Using Pulse Output Function FPΣ Compatible Instruction Mode 4 4 4 1 3 When Using PWM Output Function 4 7 4 1 4 When Using High speed Counter Function 4 8 4 2 Settings in Configurator PMX 4 10 4 2 1 Allocating Channels to be Used 4 10 4 2 2 Setting Parameters 4 12 4 2 3 Creating Positioning Data Table 4 14 4 2 4 Saving Positioning Paramet...

Page 6: ...ontrol 5 15 5 4 1 Types of Positioning Control 5 15 5 4 2 E point Control First Speed Positioning 5 17 5 4 3 P point Control Second Speed Positioning 5 19 5 4 4 C point Control 5 21 5 4 5 J point Control JOG Positioning Control 5 23 5 4 6 J point Control JOG Positioning Speed Changes 5 25 5 4 7 Programming cautions 5 28 5 5 Repeat Operation 5 29 5 5 1 Overview of Repeat Operation 5 29 5 5 2 Settin...

Page 7: ... MPOST Positioning table simultaneous start instruction 7 5 7 1 5 F384 PTBLR Positioning parameter read instruction 7 6 7 1 6 F385 PTBLW Positioning parameter write instruction 7 7 7 2 FPΣ Compatible Instruction Mode Control Instruction 7 8 7 2 1 F171 SPDH Pulse Output Trapezoidal Control 7 8 7 2 2 F171 SPDH Pulse Output Home Return 7 13 7 2 3 F172 PSLH Pulse Output JOG Operation 7 18 7 2 4 F174 S...

Page 8: ... For High speed Counter Function 10 3 10 1 4 Input Mode Type 10 4 10 1 5 Minimum Input Pulse Width 10 5 10 2 System Register Settings 10 6 10 2 1 System Register Settings 10 6 10 3 High speed Counter Instruction 10 8 10 3 1 F0 MV High speed Counter Control Instruction 10 8 10 3 2 F1 DMV Elapsed Value Write Read Instruction 10 10 10 3 3 F166 HC1S High speed Counter Target Value Match ON Instruction...

Page 9: ...ter Pulse Output Control Instruction F0 MV 11 5 11 2 2 High speed Counter Instructions F165 CAM0 F166 HC1S F167 HC1R 11 6 11 2 3 Pulse PWM Output Control Instructions 11 7 12 Specifications 12 1 12 1 Specifications 12 2 12 1 1 General Specifications 12 2 12 1 2 Performance Specifications 12 2 12 2 Allocation of Memory Areas 12 4 12 2 1 When Using Pulse Output Table Setting Mode 12 4 12 2 2 When Us...

Page 10: ...Table of Contents viii 12 3 4 Axis Setting Area Memory Area No 2 12 12 12 3 5 Positioning Table Area Memory Area No 3 12 14 ...

Page 11: ...1 Functions of Unit and Restrictions on Combination ...

Page 12: ...y by specifying axis numbers channel numbers and table numbers and executing instructions Four kinds of position control patterns Table setting mode Four patterns which are E point control first speed automatic trapezoidal acceleration deceleration P point control second speed automatic trapezoidal acceleration deceleration C point control continuance point control and J point control from speed c...

Page 13: ... kHz Interpolation Max 2 channels CH0 CH2 Max 100 kHz Composite speed Max 1 channel CH0 Max 100 kHz Composite speed I O allocation Independent from high speed counter input Shared with high speed counter input PWM output Max 4 points CH0 3 Max 2 points CH0 CH2 I O allocation Independent from high speed counter input Shared with high speed counter input Pulse output function Table setting mode FPΣ ...

Page 14: ...O7 Ver 7 2 0 or later Note 1 The latest version is provided free of charge at our website http industrial panasonic com ac e dl_center software Use the latest version Note 2 It is also necessary to install a setup file for using FP0H with FPWIN Pro7 For details see the above website 1 2 2 Restrictions on I O Allocation I O signals used for each function are set in the tool software They are alloca...

Page 15: ...put overlap at CH0 and CH1 or CH2 and CH3 the setting of CH1 or CH3 has priority Output signals of Control Unit I O no Pulse output function PWM output Pulse output Deviation counter clear Y0 CH0 CW or pulse output CH0 Y1 CH0 CCW or sign output Note 2 Y2 CH0 Y3 CH1 CW or pulse output CH1 Y4 CH1 CCW or sign output Note 2 Y5 CH1 Y6 Y7 Y8 CH2 CW or pulse output CH2 Y9 CH2 CCW or sign output Note 2 YA...

Page 16: ... available Dedicated instructions F380 to F385 are used for the control Set positioning parameters and information on positioning tables can be exported as a setup file of Configurator PMX and reused between multiple units and projects This function can be selected only in the FP0H mode FPΣ compatible instruction mode Positioning parameters such as position command and speed command are set as ope...

Page 17: ...d x 1 Two patterns DOG methods x 1 Home position method x 1 Set Set in the positioning parameters of Configurator PMX Set using the operands of instructions Start F382 instruction F171 instruction Positioning operation Type Four patterns E point control P point control C point control and J point control E point control First speed acceleration deceleration Multistep acceleration deceleration cont...

Page 18: ...Read F385 instruction Write F1 instruction Both Read and Write Confirmation of BUSY state Input contacts X808 to X80B Special relays FP0H mode R911C to R911F FPΣ mode R903A R903C Confirmation of positioning completion Input contacts X810 to X813 Instead detects the fall of the above BUSY signal by a user program Confirmation of home return completion Input contacts X828 to X82B Near home input All...

Page 19: ...2 Wiring ...

Page 20: ...Wiring 2 2 2 1 Connections with Servo Motor Amplifier 2 1 1 Connection Example Note The allocation of I O numbers on the controller side depends on channel numbers ...

Page 21: ...t will be valid when the outputs Y850 to Y853 allocated to each channel in user programs turn ON CCW over limit input Connect the over limit switches to arbitrary inputs It will be valid when the outputs Y860 to Y867 allocated to each channel in user programs turn ON CW over limit input Deviation counter clear output Connect the output allocated to each channel and the counter clear input of servo...

Page 22: ...resistor for limiting currents externally Home input Connect the input allocated to each channel and the home sensor Use twisted pair cables for the connection Near home input Connect the near home sensor to an arbitrary input It will be valid when the outputs Y850 to Y853 allocated to each channel in user programs turn ON CCW over limit input Connect the over limit switches to arbitrary inputs It...

Page 23: ...3 Power ON and OFF and Items to Check ...

Page 24: ...h Confirmation of safety circuit Number Item Description Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used Safety circuit based on the unit Install over limit switches as shown above Connect the over limit switches on the and sides to the input circuit of PLC ...

Page 25: ... over limit switch based on an external circuit has been installed securely Checking the installation of the safety circuit based on the unit Check the connection between the unit and over limit switches Check the installation condition of the over limit switches Checking the procedure settings for turning ON the power supplies Make sure settings have been entered so that power supplies will be tu...

Page 26: ...ower will not initiate unexpected movements Sequence 1 Turn on the power supplies for the input and output devices connected to the PLC 2 Turn ON the power supply for the PLC 3 Turn ON the power supply for the motor driver 3 3 2 Procedure for Turning Off the Power Sequence 1 Check to make sure the rotation of the motor has stopped and then turn OFF the power supply for the motor driver 2 Turn off ...

Page 27: ...r limit switch based on an external circuit has been installed securely Checking the safety circuit by the PLC unit Check the connection between the unit and over limit switches Check the installation condition of the over limit switches Checking the near home input and home input Check if the near home input and home are loaded as the inputs of the PLC and activated properly by performing JOG ope...

Page 28: ...heck whether the motor will stop The limit stop will be effective when output signals Y860 to Y867 allocated to each axis turn ON in user programs The valid logic of limit input can be changed in the parameter setting menu of Configurator PMX Procedure 3 Using the JOG operation check to see if the over limit switch is functioning properly Operation at limit input Conditions Direction Limit status ...

Page 29: ...ns Points to check A shift may result depending on the position of near home input or home input and the return speed Procedure 4 If the home stopping position is shifted change the position of near home input or reduce the home return speed 3 4 5 Checking Rotating and Moving Directions and Moving Distance Procedure 1 Execute the JOG operation to confirm the rotating direction and moving direction...

Page 30: ...Power ON and OFF and Items to Check 3 8 ...

Page 31: ...4 Settings of Control Unit ...

Page 32: ...811 X812 X813 Home return done X828 X829 X82A X82B Note 1 Even when setting the linear interpolation the interpolation operation is not performed for the home return Execute the operation for X axes and Y axes separately Note 2 The near home input over limit input and over limit input will be valid when an arbitrary input is allocated and the output relay indicated in the above table turns ON Samp...

Page 33: ...r clear request Y801 Warning clear request Y802 Emergency stop Y830 Y831 Y832 Y833 Deceleration stop Y838 Y839 Y83A Y83B J point control speed change Y840 Y841 Y842 Y843 Near home input Note 1 Y850 Y851 Y852 Y853 Over limit input Note 1 Y860 Y862 Y864 Y866 Over limit input Note 1 Y861 Y863 Y865 Y867 Note 1 The near home input over limit input and over limit input will be valid when an arbitrary in...

Page 34: ...return done FPΣ mode Signal name I O number Axis 1 Axis 2 CH0 CH2 Home input Note1 X2 X5 Near home input Note 2 Control active flag BUSY 903A 903C Operation done Note 3 Home return done Note 1 Even when setting the linear interpolation the interpolation operation is not performed for the home return Execute the operation for X axes and Y axes separately Note 2 The near home input will be enabled b...

Page 35: ...r Pulse output Y0 Y3 CCW output or Sign output Y1 Y4 Deviation counter clear output Note 1 Y2 Y5 Emergency stop Pulse output stop Note 2 Note 1 Even when setting the linear interpolation the interpolation operation is not performed for the home return Execute the operation for X axes and Y axes separately Note 2 The emergency stop will be enabled by specifying channel numbers and turning on the bi...

Page 36: ...set input setting 0 Valid 1 Invalid High speed counter instruction clear pulse output stop 0 Continue 1 Clear stop Channel specification H0 H2 CH0 CH2 Software reset 0 Disable 1 Enable Count 0 Enable 1 Disable 0 Invalid 1 Valid When controlling the above functions using external inputs arbitrary inputs can be allocated The following program is for loading the near home input of CH1 using the input...

Page 37: ... so that they do not overlap the I O used for the pulse output function Allocation of I O signals FP0H mode Signal name I O number CH0 CH1 CH2 CH3 PWM output Y0 Y3 Y8 YB Control active flag BUSY R911C R911D R911E R911F FPΣ mode Signal name I O number CH0 CH2 PWM output Y0 Y3 Control active flag BUSY R903A R903C REFERENCE For details of the FPΣ mode refer to 11 FPΣ Mode ...

Page 38: ...e input X2 X2 X5 X5 2 phase input X2 X5 Control active flag BUSY Single phase input R9110 R9111 R9112 R9113 2 phase input R9110 R9112 FPΣ mode Signal name I O number CH0 CH1 CH2 CH3 Count input Single phase input X0 X1 X3 X4 2 phase input X0 X1 X3 X4 Hardware reset input Single phase input X2 X2 X5 X5 2 phase input X2 X5 Control active flag BUSY Single phase input R903A R903B R903C R903D 2 phase i...

Page 39: ...Invalid High speed counter instruction 0 Continue 1 Cancel Channel specification H0 to H3 CH0 to CH3 bit no 15 4 3 2 1 0 Near home input Reset input setting 0 Valid 1 Invalid High speed counter instruction clear pulse output stop 0 Continue 1 Clear stop Channel specification H0 to H3 CH0 to CH3 Software reset 0 Disable 1 Enable Count 0 Enable 1 Disable 0 Invalid 1 Valid When controlling the above ...

Page 40: ...ed on the condition that the FPWIN GR7 has already started PROCEDURE 1 Select Options Positioning Table Settings from the menu bar Configurator PMX will be activated 2 Select Channel setting Used channel setting from the menu bar The Used channel setting dialog box appears 3 Select the axes to be used and the usage and press the Yes button When the setting is changed a confirmation message box app...

Page 41: ...ntrol is selected the data table of the channel numbers of X and Y axes will be added and Interpolation will be displayed on the tab When changing Used channel setting in Configurator PMX the system registers no 400 to 402 and 407 corresponding to the I O used for the positioning control will be automatically updated For details refer to 4 3 System Register Settings ...

Page 42: ...ign home input limit input logic and positioning control The following procedure is explained on the condition that the Configurator PMX has already started PROCEDURE 1 Select Channel setting Parameter settings from the menu bar The Parameter settings dialog box appears 2 Make necessary parameter settings according to the application and press the OK button The settings will be stored as part of p...

Page 43: ...sition logic Normal Open Select the input logic for each switch Normal Open Normal Close Home position proximity logic Normal Open Limit switch logic Normal Open Limit switch logic Normal Open Home return Home return method Not use DOG method 1 DOG method 2 DOG method 3 Home position method Data set method Not use Home return direction Limit direction Limit direction Limit direction Home return ac...

Page 44: ...control Parameter name Default unit Description Operation pattern E End point Select one from the following operation patterns E End point P Pass point C Continuance point Interpolation operation Linear composite speed Select a specification method of speed Linear composite speed Specify the speed combining the speed of X and Y axes Linear major axis speed Specify the speed on the long axis side w...

Page 45: ...ation of positioning Execute the positioning start instruction F380 in the user program to specify table numbers in the Configurator PMX The unit executes the control under the conditions set in the table by turning on the positioning start contact corresponding to a desired channel number axis number and table number Specify the first data table number for each control in the program R1 DF K1 K0 ...

Page 46: ... and positioning parameters set can be exported to and imported from the Configurator PMX Information on positioning parameters and positioning tables saved by using the export function can be reused between projects PROCEDURE 1 Select File Export from the menu bar The saving destination and file names appear 2 Enter a saving destination and file name and press Save button Information on the param...

Page 47: ...ding error position 4 2 6 Writing Parameters to Unit 1 Information on parameters that have been set is transferred to the unit along with information on programs comments and system registers The following procedure is explained on the condition that the Configurator PMX has already started PROCEDURE 1 Select File Save changes and exit from the menu bar of the Configurator PMX 2 When Do you save t...

Page 48: ...dy started PROCEDURE 1 Select File Download positioning data from the menu bar of the Configurator PMX A message box for confirming the saving appears 2 Press the Yes button A message confirming the download to the PLC appears In the RUN mode a message confirming that the mode is switched to the PROG mode also appears 3 Press the Yes button A message confirming the switching of the operation mode ...

Page 49: ...ars 2 Select Controller output setting PLS PWM from the left pane 3 Confirm the functions to be used and change the settings as necessary 4 Press the OK button The screen returns to the ladder edit screen The settings will be downloaded to the PLC together with programs KEY POINTS When the settings are saved in the Configurator PMX the system registers corresponding to the I O used for the positio...

Page 50: ...nput X5 Individual input X3 X4 Individual input X3 X4 Reset input X5 Direction distinction X3 X4 Direction distinction X3 X4 Reset input X5 J point positioning start input of pulse output CH2 X3 CH3 Not Set X4 as High Speed Counter Addition input X4 Addition input X4 Reset input X5 Subtraction input X4 Subtraction input X4 Reset input X5 J point positioning start input of pulse output CH3 X4 Contr...

Page 51: ...ng elapsed values Instruction format R0 S2 D n S1 F384 PTBLR Operand Settings Specification for reading the elapsed value area S1 Specification of channel numbers and positioning memory area H1 Specify the axis information area of CH0 H101 Specify the axis information area of CH1 H201 Specify the axis information area of CH2 H301 Specify the axis information area of CH3 S2 Starting address of posi...

Page 52: ...Settings of Control Unit 4 22 ...

Page 53: ...5 Operation Patterns ...

Page 54: ...s of corresponding channels will stop Performs a deceleration stop in the deceleration time specified in the positioning parameter setting menu of Configurator PMX Limit stop E Limit stop deceleration time Once an over limit input and over limit input Y860 to Y867 turns on an active operation will stop and the pulse outputs of corresponding channels will stop Performs a deceleration stop in the li...

Page 55: ...op 2 Emergency stop 3 Limit stop 4 Deceleration stop Dwell time setting The dwell time setting is invalid in the stop operations regardless of patterns Flag processing In the case of system stop the busy signal turns off and the operation done signal turns on In the cases of emergency stop limit stop and deceleration stop the busy signal turns off and the operation done signal turns on after the c...

Page 56: ... done signal 200ms JOG operation target speed 20 000 Operations of each contact The BUSY flags X808 to X80B which indicate that the motor is running will turn on when the JOG operation starts and they will turn off when the operation completes The operation done flags X810 to X813 which indicate the completion of operation will turn on when the current operation is completed and they will be held ...

Page 57: ...peration At startup Forward Over limit input ON Not executable Error occurs Over limit input ON Executable Reverse Over limit input ON Executable Over limit input ON Not executable Error occurs During operation Forward Over limit input ON Limit stops Error occurs Note Over limit input ON Limit stops Error occurs Note Reverse Over limit input ON Limit stops Error occurs Note Over limit input ON Lim...

Page 58: ...motor is running will turn on when the JOG operation starts and they will turn off when the operation completes The operation done flags X810 to X813 which indicate the completion of operation will turn on when the current operation is completed and they will be held until the next positioning control JOG operation or home return operation starts Characteristics of acceleration deceleration zone w...

Page 59: ...5 PTBLW K2 Programming cautions To change a speed during the JOG operation rewrite the value of the positioning memory axis setting area using a user program The startup contact and flag numbers vary depending on channel numbers axis numbers 5 2 3 Speed Changes in JOG Operation The value of JOG operation target speed in the axis setting area is constantly monitored while the operation is being exe...

Page 60: ...This method can also be used when no home switch exists in the range that the near home switch is enabled DOG method 2 The leading edge of a near home input is detected and it is set as a home position Even when the limit input turns on the motor rotation will be automatically reversed and the home return operation will continue This method is used for performing the home return with the near home...

Page 61: ... in the home return direction the limit input turns on and the operation stops This method is used for performing the home return with the home switch only This method is compatible with the F171 instruction of the existing model FPΣ Data set method Performs the home return based on the home coordinate values in the axis setting area of positioning memory Performs the home return toward the home c...

Page 62: ...ording to selected home return methods and the difference in current positions DOG method 1 Edge detection of near home switch Home switch based on front end The leading edge of the first home switch is set as a home position after the detection of the leading edge of the near home switch ...

Page 63: ...e switch is detected and it is set as a home position DOG method 3 Edge detection of near home switch Home switch based on back end The leading edge of the first home switch in the home return direction is set as a home position after the detection of the trailing edge back end of the near home switch ...

Page 64: ...t the position where the leading edge of the first home switch is detected This coordinate is set as a home position Data set method Performs the home return based on the home coordinate values in the axis setting area of positioning memory REFERENCE For details of addresses and settings of positioning memory refer to 12 3 Positioning Memory ...

Page 65: ...speed Home return start contact Near home switch DOG Home switch Home return done flag Deviation counetr clear signal BUSY flag Operations of each contact The BUSY flags X808 to X80B which indicate that the motor is running will turn on when the home return operation starts and they will turn off when the operation completes The deviation counter clear signal will turn on after the completion of t...

Page 66: ...At startup Forward Over limit input ON Executable Note 2 Note 3 Over limit input ON Executable Note 3 Reverse Over limit input ON Executable Note 3 Over limit input ON Executable Note 2 Note 3 During operation Forward Over limit input ON Automatic reverse operation Note 4 Over limit input ON edge Note 1 Limit stops Error occurs Reverse Over limit input ON edge Note 1 Limit stops Error occurs Over ...

Page 67: ...ovement amount it shifts to the E point control C point control t ms f Hz C E This refers to control which passes through a Continuance Point and is called C point control This method is used for performing two successive first speed positioning control with different target speeds or acceleration deceleration times The time taken for transmitting from the C point control to E point control is spe...

Page 68: ...he next step as a pair and the setting should be input in two rows KEY POINTS When E End point is not selected in the next row of P Pass point C Continuance point or J Speed point the self diagnostic error error code 44 positioning error is detected Settings of J point control For J point control only Increment can be selected as a control method For changing speed during J point control set the t...

Page 69: ...ation will be performed Operation diagram t ms f Hz 100ms 200ms 50ms 100 000 pulses 20 000Hz 1 000Hz Instruction start condition Busy signal Operation done signal Table 1 Operations of each contact The BUSY flags X808 to X80B 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 flags X810 to ...

Page 70: ...l Positioning acceleration time 100 ms Positioning deceleration time 200 ms Positioning target speed 20 000 Hz Positioning movement amount 100 000 pulses Dwell time 50 ms Configurator PMX settings Sample program The execution condition is differential execution For details of instructions refer to 7 Instruction References R1 DF K1 K0 F380 POSST K0 X808 CH0 BUSY CH No 0 Table no 1 Position control ...

Page 71: ...ormed Operation diagram t ms f Hz 100ms 50ms 50 000 pulses 20 000Hz 1 000Hz 10 000Hz 250ms 250ms 100 000 pulses Instruction start condition Busy signal Operation done signal Table 1 Table 2 Operations of each contact The BUSY flags X808 to X80B 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 ...

Page 72: ...control Positioning acceleration time 100 ms 150 ms Positioning deceleration time 200 ms 250 ms Positioning target speed 20 000 Hz 10 000 Hz Positioning movement amount 50 000 pulses 100 000 pulses Dwell time 50 ms Configurator PMX settings Sample program The execution condition is differential execution For details of instructions refer to Chapter 7 Instruction References R1 DF K1 K0 F380 POSST K...

Page 73: ...agram t ms f Hz 100ms 50ms 100 000 pulses 20 000Hz 1 000Hz 10 000Hz 200ms 250ms 50 000 pulses 150ms 30ms Instruction start condition Busy signal Operation done signal Table 1 Table 2 Operations of each contact The BUSY flags X808 to X80B 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 74: ... control Positioning acceleration time 100 ms 150 ms Positioning deceleration time 200 ms 250 ms Positioning target speed 20 000 Hz 10 000 Hz Positioning movement amount 100 000 pulses 50 000 pulses Dwell time 30 ms 50 ms Configurator PMX settings Sample program The execution condition is differential execution For details of instructions refer to Chapter 7 Instruction References R1 DF K1 K0 F380 ...

Page 75: ...system registers no 400 and 401 select J point positioning start input of pulse output CH of the channel to perform the J point control Operation diagram T ms f Hz 100ms 5ms 20 000Hz 1 000Hz 250ms 100000 pulses 15 000Hz J point positioning start contact Approx 250ms Instruction start condition Busy signal Operation done signal Table 1 Table 2 Operations of each contact The BUSY flags X808 to X80B ...

Page 76: ...control End point control Positioning acceleration time 100 ms 150 ms Positioning deceleration time 200 ms 250 ms Positioning target speed 20 000 Hz 15 000 Hz Positioning movement amount 100 000 pulses Dwell time 30 ms 5 ms Configurator PMX settings Sample program The execution condition is differential execution For details of instructions refer to Chapter 7 Instruction References R1 DF K1 K0 F38...

Page 77: ...usy signal Operation done signal Table 1 Table 2 Operations of each contact The BUSY flags X808 to X80B will turn on when the operation starts and turn off when the operation is completed The operation done flags X810 to X813 will turn on when the JOG operation is completed and it will be held until the next positioning control JOG operation or home return operation starts The target speed will be...

Page 78: ...amount 100 000 pulses Dwell time 30 ms 50 ms Note 1 For the J point control the set acceleration time and deceleration time is converted as a time between 0 Hz to 100 kHz and the speed tables in the acceleration and deceleration sections are calculated Therefore when the target speed is below 100 kHz the actual acceleration deceleration time is shorter than the set values Configurator PMX settings...

Page 79: ...S Specify parameters for the start of operation in the positioning data table The parameters for changing speeds are specified in Channel setting Parameter settings menu J point control can be used for single axis control only It is not available for interpolation control Set the unit to increment mode to implement E point control with positions specified after J point control is implemented Speed...

Page 80: ...channel numbers axis numbers Operation at limit input Conditions Direction Limit status Operation When each control starts Forward Over limit input ON Not executable Error occurs Over limit input ON Not executable Error occurs Reverse Over limit input ON Not executable Error occurs Over limit input ON Not executable Error occurs When each control is performed Forward Over limit input ON Limit stop...

Page 81: ...sitioning table Conditions of repeat control Item Repeat control is available Repeat control is unavailable Operation pattern E point control P point control E point control C point control E point control JOG operation J point control Interpolation control Control method Increment mode Absolute mode Dwell time setting Set the table of E point control to 1 ms or more When setting 0 ms Operation di...

Page 82: ... 0 0 or 1 Not repeat an operation 2 to 254 Repeat an operation for a specified number of times 255 Repeat an operation infinitely Configurator PMX settings KEY POINTS When selecting 255 Repeat infinitely in the parameter of positioning repeat count create a program to stop the operation using the deceleration stop function ...

Page 83: ...e operation For setting to execute the operation infinitely use this function in combination with the deceleration stop function Operation diagram Operations of each contact The BUSY flags X808 to X80B which indicate that the motor is running will turn on when the position control starts and they will turn off when the set repeat operation completes The operation done flags X810 to X813 which indi...

Page 84: ...ement mode Operation pattern P point control Pass point control E point control End point control Positioning acceleration time 100 ms 150 ms Positioning deceleration time 200 ms 250 ms Positioning target speed 20 000 Hz 10 000 Hz Positioning movement amount 5 000 pulses 10 000 pulses Dwell time 50 ms Configurator PMX settings Sample program The execution condition is differential execution For de...

Page 85: ...e control when reaching the set repeat count Operation at the time of deceleration stop Repeating P point control C point control When the unit detects a deceleration stop it stops the operation after repeating the positioning control N 1 times However the unit will stop the control when reaching the set repeat count KEY POINTS When a system stop is executed the unit will stop the pulse output imm...

Page 86: ...t control JOG operation Home return Note 1 J point control Control method Increment mode Absolute mode Dwell time setting Set the E point control to 1 ms or more When set to 0 ms the positioning error occurs Note 1 In the home return operation the home return start instruction F382 ORGST is executed for each channel corresponding to X and Y axes The trajectory is not linear interpolation Setting m...

Page 87: ...omposite speed Operation done flag of axis 1 Operation done flag of axis 2 BUSY flag of axis 1 BUSY flag of axis 2 Start Condition Operations of each contact The BUSY flags X808 X809 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 flags of axes 1 and 2 X810 X811 which indicates the compl...

Page 88: ...Acceleration time ms 100 ms Deceleration time ms 100 ms Interpolation speed 10000 pps Dwell time 0 ms Sample program The execution condition is differential execution For details of instructions refer to 7Instruction References R1 DF K1 K0 F380 POSST K0 X808 CH0 BUSY CH No 0 Table no 1 Position control starts X809 CH1 BUSY Programming cautions Specify a smaller channel number in the same group for...

Page 89: ...6 Operating Characteristics ...

Page 90: ...ion is not influenced by the startup speed Each operation is performed at each specified target speed regardless of the setting of startup speed 6 1 2 Operations When Target Speed Startup Speed is Less Than 50 Hz Operation Operation pattern Speed setting Operation E point control When target speed is less than 50 Hz Operation is performed with the set target speed The startup speed setting is inva...

Page 91: ...peed Home return 1 2 f t 3 Startup speed Target speed Creep speed E point control 1 2 f t Startup speed Target speed P point control 1 2 f t 3 Startup speed P point target speed E point target speed C point control 1 2 f t 3 Startup speed C point target speed E point target speed J point control 1 2 f t 3 4 Startup speed J point target speed J point change speed E point target speed ...

Page 92: ...n home return and position control is activated it does not transit to other operation even if an instruction to activate the other instruction turns on Create a program to confirm the busy signals X808 to X80B allocated to each axis and to start instructions Stop operations system stop emergency stop limit stop deceleration stop have priority even during other operations Each operation is execute...

Page 93: ...7 Instruction References ...

Page 94: ... A A A A A A A Outline of operation Starts the positioning operation according to the data specified in the positioning memory positioning table area When Calculation only is specified for S3 only the table calculation is executed When starting the positioning operation for the same channel and the same table from the next scan after executing the calculation the startup time of the positioning co...

Page 95: ... condition is valid the JOG operation continues The target speed can be changed by rewriting the positioning parameter area with a user program The change is executed after it becomes a constant speed Precautions during programming If an operand is an out of range value an operation error occurs The stop operation has priority when the conditions of system stop emergency stop limit stop and decele...

Page 96: ...cording to the home return parameters specified in the positioning memory axis setting area Precautions during programming If an operand is an out of range value an operation error occurs The stop operation has priority when the conditions of system stop emergency stop limit stop and deceleration stop are satisfied An operation error occurs when the system register of a specified channel is other ...

Page 97: ...he case of 0 the table is not executed simultaneously with other tables S Output specification 0 Pulse output 1 Calculation only S 1 CH0 Positioning table number 0 to 20 S 2 CH1 Positioning table number 0 to 20 S 3 CH2 Positioning table number 0 to 20 S 4 CH3 Positioning table number 0 to 20 Precautions during programming If an operand is an out of range value an operation error occurs The stop op...

Page 98: ...ress n No of read words D Operation memory storing read data Note 1 When reading the common area the setting of channel numbers is invalid Note 2 The operand S1 is specified using a combination of hexadecimal numbers For the axis information area of channel number 3 specify H301 Memory area type that can be specified Operand WX WY WR WL SV EV DT LD I Constant Index modifier K H S1 A A A A A A A A ...

Page 99: ... S1 is specified using a combination of hexadecimal numbers For the axis setting area of channel number 3 specify H302 Memory area type that can be specified Operand WX WY WR WL SV EV DT LD I Constant 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 n A A A A A A A A A A A A D A A A A A A A A A A A A Outline of operation Reads n words of the data stored in the area starting wit...

Page 100: ...DT LD I Constant Index modifier K H S A A n A A Outline of operation Outputs pulses from a specified channel when a corresponding control active flag is OFF and the execution condition is ON The control code initial speed maximum speed acceleration deceleration time and target value are specified by creating data tables S to S 11 described on the next page using a user program Switches the frequen...

Page 101: ...s of the difference between the set target value and current value Selection Target value CW CCW PLS SIGN Forward OFF Reverse ON PLS SIGN Forward ON Reverse OFF Elapsed value When target value is larger than current value Pulse output from CW Pulse output when direction output is OFF Pulse output when direction output is ON Addition When target value is smaller than current value Pulse output from...

Page 102: ...table maximum speed varies according to the setting of the initial speed as shown in the table below Range Initial speed Maximum speed Low speed K1 to K49 1 to 49 Hz Initial speed to K22000 to 22 kHz High speed K50 to K100000 50 Hz to 100 kHz Initial speed to K100000 to 100 kHz When the initial speed is set to low speed specifying a value exceeding K22000 for the maximum speed occurs an operation ...

Page 103: ... DT0 R1 DT0 F171 SPDH K0 DF K1000 F1 DMV DT2 K7000 F1 DMV DT4 K300 F1 DMV DT6 K100000 F1 DMV DT8 K0 F1 DMV DT10 7kHz 1kHz 300ms 300ms t f No of output pulses 100 000 With 30 steps f 7000 1000 30 steps 200 Hz t 300 ms 30 steps 10 ms With 60 steps f 7000 1000 60 steps 100 Hz t 300 ms 60 steps 5 ms ...

Page 104: ...on deceleration time priority is specified it takes 100 msec for outputting one pulse at the initial speed and it exceeds 1 msec of acceleration deceleration time Although the initial speed is corrected to 1000 Hz as Acceleration deceleration time priority is specified it is corrected to 500 Hz because it exceeds the maximum speed Supplement to pulse output operation When outputting pulses with th...

Page 105: ...dex modifier K H S A A n A A Outline of operation Outputs pulses from a specified channel when a corresponding control active flag is OFF and the execution condition is ON The control code initial speed maximum speed acceleration deceleration time and deviation counter clear signal are specified by creating data table described on the next page using a user program Switches the frequency from the ...

Page 106: ...me input When the near home input is enabled deceleration will be performed and the pulse output will stop after the home input The operation varies according to the setting of the control code low byte described on the next page f t Fmax Fmin Near home input Home input Home return mode II Home return by home input only When the home input is enabled the pulse output will stop Set the control code...

Page 107: ... Homing mode 2 CW deviation counter reset 35 Homing mode 2 CCW deviation counter reset 36 Homing mode 2 Direction output off deviation counter reset 37 Homing mode 2 Direction output on deviation counter reset H Acceleration deceleration time setting 0 Normal 1 Acceleration decelerationtimepriority Output setting 0 Pulse output 1 Calculate only S 2 S 3 Initial speed Fmin Hz The setting range of th...

Page 108: ...Acceleration deceleration time priority is specified for the control code the initial speed is corrected according to the time The corrected speed is stored in the correction speed area of initial speed of special data registers from DT90400 Example When the initial speed is 10 Hz and acceleration deceleration time is 1 msec the initial speed is corrected to 1000 Hz When the corrected initial spee...

Page 109: ...in both the normal program and the interrupt program be sure to program not to execute them simultaneously This instruction cannot be executed when a control flag corresponding to each channel is on For the FP0H mode select Pulse output for the channel setting corresponding to the system register no 402 For the FPΣ mode select Do not use high speed counter for the channel setting corresponding to ...

Page 110: ... n A A Outline of operation Outputs pulses from a specified channel when a corresponding control active flag is OFF and the execution condition is ON The output is performed when the trigger execution condition is on By specifying the addition counting or subtraction counting mode for the control code it can be used for the instruction for activating JOG operation The frequency can be changed in e...

Page 111: ...y The setting range of the settable change speed varies according to the setting of the initial speed as shown in the table below Range Initial speed Change speed Low speed K1 to K49 1 to 49 Hz K1 to K22000 1 Hz to 22 kHz High speed K50 to K100000 50 Hz to 100 kHz K1 to K100000 1 Hz to 100 kHz When the initial speed is set to low speed it is corrected to 22 kHz even when specifying a value exceedi...

Page 112: ...ystem register no 402 For the FPΣ mode select Do not use high speed counter for the channel setting corresponding to the system register nos 400 and 401 When rewriting during RUN is performed during the operation the pulse output stops while a program is being rewritten Even if the control code is changed after starting the instruction the change is invalid It does not affect on the operation When...

Page 113: ...rand WX WY WR WL SV EV DT LD I Constant Index modifier K H S A A n A A Outline of operation Outputs pulses from a specified channel according to the settings specified in the data table starting with the address specified by S when a corresponding control active flag is OFF and the execution condition is ON Switches the pulse frequency when the elapsed value of the high speed counter reaches the t...

Page 114: ...n References 7 22 Data table settings S S 2 S 4 S 6 S 8 K0 S 2n S 2 n 1 S 2 n 2 Control code Frequency 1 Pulse number Frequency 2 Target value 1 Pulse number Target value 2 Frequency n Pulse number Target value n ...

Page 115: ...speed Low speed K1 to K49 1 to 49 Hz Initial speed to K22000 to 22 kHz High speed K50 to K100000 50 Hz to 100 kHz Initial speed to K100000 to 100 kHz When the frequency 1 initial speed is the low speed range and the frequency n is not in the range between 1 Hz to 22 kHz the pulse output stops When the frequency 1 initial speed is the high speed range and the frequency n is not in the range between...

Page 116: ...3000 pulses are counted at 2500 Hz 4 Switches the frequency to 1000 Hz when 8000 pulses are counted at 5000 Hz 5 Stops the pulse output when 10000 pulses are counted Note When the execution condition R10 of F174 SP0H instruction turns ON the control active flag will turn ON When the elapsed value reaches 10000 and the pulse output stops the control active flag will turn OFF For details of the allo...

Page 117: ... R10 DT100 F174 SP0H K0 DF K1000 F1 DMV DT102 K1000 F1 DMV DT104 K2500 F1 DMV DT106 K2000 F1 DMV DT108 K5000 F1 DMV DT110 K5000 F1 DMV DT112 K1000 F1 DMV DT114 K2000 F1 DMV DT116 K0 F1 DMV DT118 Supplement to pulse output operation When outputting pulses with the PLS SIGN direction output method pulses will be output approx 300µs later after the output of direction signal SIGN The characteristics ...

Page 118: ...ide of the settable range an operation error occurs When the data of the frequency 1 is 0 nothing is executed and the operation ends When the frequency after the second step is 0 or outside of the settable range the pulse output stops When the table pointer exceeds the area of data registers DT during the pulse output the pulse output control will be canceled and the control active flag will turn ...

Page 119: ...which data tables are registered n FP0H mode 0 or 2 FPΣ mode 0 Fixed Memory area type that can be specified Operand WX WY WR WL SV EV DT LD I Constant Index modifier K H S A A n A A Outline of operation Outputs pulses from a specified channel when a corresponding control active flag is OFF and the execution condition is ON The control code initial speed maximum speed acceleration deceleration time...

Page 120: ...ation deceleration steps Initial speed Fmin Hz Composite speed Maximum speed Fmax Hz Acceleration deceleration time T ms X axis Component speed Initial speed Fmin Hz X axis Component speed Maximum speed Fmax Hz Y axis Component speed Initial speed Fmin Hz Y axis Component speed Maximum speed Fmax Hz X axis Frequency range X axis Acceleration deceleration steps X axis Target value Movement amount P...

Page 121: ...ut is performed without acceleration and deceleration Specify the composite speed to make the component speed of each axis be 1 5Hz or more Composite speed Initial speed 30 kHz or less Notes on the specification of composite speed initial speed When each initial component speed of CH0 and CH2 is not 1 5 Hz or more by the following arithmetic expression the path may not be linear When the following...

Page 122: ...nitial speed X Y axis is less than 1 and the maximum speed X Y axis exceeds 22 kHz or less the initial speed X Y axis is corrected to 1 Hz S 21 Y axis Frequency rangec S 22 X axis Acceleration deceleration steps The acceleration deceleration steps are automatically calculated by the system in the range of 0 to 60 steps When the operation result is 0 the pulse output is performed at the initial spe...

Page 123: ...ine When describing the same channel in both the normal program and the interrupt program be sure to program not to execute them simultaneously For the FP0H mode select Pulse output for the channel setting corresponding to the system register no 402 For the FPΣ mode select Do not use high speed counter for the channel setting corresponding to the system register nos 400 and 401 By performing the r...

Page 124: ...Instruction References 7 32 ...

Page 125: ...8 Troubleshooting ...

Page 126: ...OFF ON OFF Program mode LED does not flash even if the forcing output is performed in program mode Stop Flashes Note 1 Flashes Note 1 OFF Forcing input output in RUN mode RUN and PROG LEDs flash alternately Operating Flashes Note 2 Flashes Note 2 OFF During version upgrade Stop In abnormal condition ON OFF Flashes Self diagnostic error During operation Operating OFF ON Flashes Self diagnostic erro...

Page 127: ... box of FPWIN GR7 To specify the steps to be taken by the FPWIN GR7 if a PLC error occurs select System register settings under Option on the menu bar and click on the Action on Error tab The screen shown below is displayed KEY POINTS When the checkbox of the system register no 25 Stop operation when positioning operation error occurs is unchecked only the operation of the axis in which the positi...

Page 128: ...Check the error code using the programming tool If a PLC error occurs during programming or debugging the Status Display dialog box will appear automatically 2 In the case of the positioning operation error press the Positioning errors button The channel number where the positioning error has occurred and the error code occurred when using the table setting mode appears 3 Press the Clear Error Log...

Page 129: ...stic error occurs Refer to the list of error codes and correct the settings or programs Use the programming tool in PROG mode to clear the error KEY POINTS In the case of an error code 43 or higher the error can be cleared by pressing the Clear errors button in the Status Display dialog box In the PROG mode the power supply can be turned off and then on again to clear the error but all of the cont...

Page 130: ...e error The set value of the emergency stop deceleration time is out of the range 23H Startup speed error The set value of the startup speed is out of the range 24H Home return setting code error The set value of the home return setting code is out of the range 25H Home return target speed error The set value of the home return target speed is out of the range 26H Home return acceleration time err...

Page 131: ...unt error The set value of the positioning movement amount is out of the range 47H Dwell time error The set value of the dwell time is out of the range 48H J point control setting error The J point control is set on the interpolation axis table 60H Repeat operation dwell time setting error The dwell time of the E table which performs repetitive operations is 0 ms Error code 41 Occurrence condition...

Page 132: ...oes Not Rotate Move Output LED is OFF Solution 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 error LED flashes 8 2 5 Rotation Movement Direction is Reversed Solution 1 Check to make sure the servo amplifier and motor driver are connected ...

Page 133: ...9 PWM Output Function ...

Page 134: ...H mode Channel no Output no Control flag CH0 Y0 R911C CH1 Y3 R911D CH2 Y8 R911E CH3 YB R911F FPΣ mode Channel no Output no Control flag CH0 Y0 R903A CH2 Y3 R903C Note 1 Functions channel numbers and I O numbers used are set in the tool software Note 2 I O numbers used for each function should be allocated so that they do not overlap REFERENCE For details of the FPΣ mode refer to 11 FPΣ Mode ...

Page 135: ... the PWM output 4 Press the OK button The screen returns to the ladder edit screen The settings will be downloaded to the PLC together with programs and comments System register relating to PWM output Classification No and setting item Settings Controller output settings PLS PWM 402 Pulse PWM output setting Y0 to YC CH0 Set the PWM output Y0 and normal output Y1 CH1 Set the PWM output Y3 and norma...

Page 136: ...H1 Y3 2 CH2 Y8 3 CH3 YB FPΣ mode 0 CH0 Y0 2 CH2 Y3 Memory area type that can be specified Operand WX WY WR WL SV EV DT LD I Constant Index modifier K H S A A n A A Outline of operation The PWM output is performed form a specified output The output is performed when the trigger execution condition is on The output frequency and duty ratio is specified in the operands S1 1 to S1 3 Precautions during...

Page 137: ...ith 10 kHz and the duty ratio of 50 from CH0 Y0 CH No 0 PWM FP0H PWM K10000 10KHz K500 50 0 R0 HFF F0 MV DT0 R1 DT0 F173 PWMH K0 DF K10000 F1 DMV DT1 K500 F0 MV DT3 REFERENCE For details of the allocations of I O and flags refer to 12 2 3 When Using PWM Output Function For details of the FPΣ mode refer to 11 FPΣ Mode ...

Page 138: ...ied Operand WX WY WR WL SV EV DT LD I Constant Index modifier K H S A A n A A Outline of operation The PWM output is performed form a specified output The output is performed when the trigger execution condition is on The output frequency and cycle are determined by a specified control code The duty ratio is specified in the operand S1 1 Precautions during programming This instruction cannot be ex...

Page 139: ...00 0 5 00 K25 50000 0 0 020 K10 400 0 2 50 K26 60000 0 0 017 K11 500 0 2 00 K27 70000 0 0 0143 K12 700 0 1 48 K28 80000 0 0 0125 100 K13 1000 0 1 00 K29 90000 0 0 0111 K14 1300 0 0 77 K30 100000 0 0 010 K15 1600 0 0 625 Example of program The following sample shows the program for performing the PWM output with 1kHz and the duty ratio of 50 from CH0 Y0 CH No 0 PWM FPΣ PWM K13 f 1KHz T 1ms K500 50 ...

Page 140: ...PWM Output Function 9 8 ...

Page 141: ...10 High speed Counter Function ...

Page 142: ... be acquired according to the elapsed value Channels and inputs to be used are specified by system registers The output when the values match is specified by the operand of the instruction 10 1 2 Counting Range and Elapsed Value Current Value Area The elapsed value of the high speed counter is stored in a special data register as 2 word 32 bit data The elapsed value area will be reset when the pow...

Page 143: ... CH3 X4 R9113 DT90312 DT90313 DT90314 DT90315 FPΣ mode Channel no Input no Control flag Elapsed value area Target value area Single phase 2 phase CH0 X0 X0 X1 R903A DT90044 DT90045 DT90046 DT90047 CH1 X1 R903B DT90048 DT90049 DT90050 DT90051 CH2 X3 X3 X4 R903C DT90200 DT90201 DT90202 DT90203 CH3 X4 R903D DT90204 DT90205 DT90206 DT90207 Note 1 Functions channel numbers and I O numbers used are set ...

Page 144: ...High speed Counter Function 10 4 10 1 4 Input Mode Type Input Modes and Count Operations Mode Range Addition input Subtraction input 2 phase input Individual input Direction distinction input ...

Page 145: ... 1 Overview of High speed Counter Function 10 5 10 1 5 Minimum Input Pulse Width For the period T the following minimum input pulse width is required Min input pulse width Single phase input 2 phase input ...

Page 146: ...em register settings from the menu bar The PLC Configuration dialog box appears 2 Select Controller input setting HSC PLS from the left pane The menu for setting System register no 400 or 401 appears 3 Change the settings for the channels used for the high speed counter The following figure shows the case when 2 phase input X0 X1 is allocated to CH0 4 Press the OK button The screen returns to the ...

Page 147: ...action input X1 Reset input X2 J point positioning start input of pulse output CH1 X1 401 HSC operation mode setting X3 to X5 CH2 Not set X3 as High speed counter 2 phase input X3 X4 2 phase input X3 X4 Reset input X5 Addition input X3 Addition input X3 Reset input X5 Subtraction input X3 Subtraction input X3 Reset input X5 Individual input X3 X4 Individual input X3 X4 Reset input X5 Direction dis...

Page 148: ...following operations with the high speed counter 1 When performing the software reset 2 when disabling the count 3 when disabling the reset input by an external input temporarily 4 when canceling the control executed by the high speed counter instruction F165 CAM0 F166 HC1S F167 HC1R when clearing the target value match interrupt The control codes once written are held until the next writing The c...

Page 149: ...ing 0 Valid 1 Invalid High speed counter instruction clear pulse output stop 0 Continue 1 Clear stop Channel specification H0 to H3 CH0 to CH3 Software reset 0 Disable 1 Enable Count 0 Enable 1 Disable 0 Invalid 1 Valid When controlling the above functions using external inputs arbitrary inputs can be allocated Example of program The following example shows the program for performing the software ...

Page 150: ... Reads the content of the special data register storing the elapsed value of the high speed counter and writes to the area specified by D Outline of operation Setting elapsed value At the same time as writing the value to the elapsed value area of the high speed counter which uses 32 bit data specified by S sets it in the elapsed value area of the high speed counter used within the system Precauti...

Page 151: ...10 3 High speed Counter Instruction 10 11 MEMO ...

Page 152: ...d Operand WX WY WR WL SV EV DT LD I Constant Index modifier K H n A A S A A A A A A A A A A A A D Outline of operation Sets the value specified by S as the target value of the high speed counter and controls the specified output Yn when the elapsed value matches the target value This operation is executed as an interrupt processing In the case of F166 HC1S instruction the output turns on from off ...

Page 153: ...he high speed counter of the same channel When the hardware reset is performed before the elapsed value matches the target value the elapsed value will be reset However the settings of the target value and the target value match output will not be cleared For the output Y specified for the target value match output it is not checked whether the output is overlapped with the OT KP and other high le...

Page 154: ...er The operation of the inverter stops when the count value reaches 5000 Wiring example Operation chart I O allocation table I O no Description I O no Description X0 Encoder input R100 Positioning operation is running X5 Operation start signal R101 Positioning operation start Y0 Inverter operation signal R102 Positioning done pulse R9110 High speed counter CH0 control flag ...

Page 155: ...tarts Resets the elapsed value of the high speed counter CH0 Target value match OFF instruction Y0 turns off when the elapsed value of the high speed counter reaches 5000 pulses Sets the inverter operation signal Y0 Positioning done pulse 0 5 sec Sets 0 5 sec with 0 1 second timer Note The allocations of control active flags and elapsed value areas for the FPΣ mode are different For details of the...

Page 156: ...e operation of the inverter stops when the count value reaches 5000 Wiring example Operation chart I O allocation table I O no Description I O no Description X0 Encoder input R100 Positioning operation is running X5 Operation start signal R101 Arrival at deceleration point Y0 Inverter operation signal R102 Positioning operation starts Y1 Inverter high speed signal R103 Positioning done pulse R900C...

Page 157: ...ruction Y0 turns off when the elapsed value of the high speed counter CH0 reaches 5000 pulses Sets Y0 inverter operation signal Sets Y1 inverter high speed signal 32 bit data comparison instruction R900C turns on when the elapsed value of the high speed counter CH0 is larger than 4500 pulses Arrival at deceleration point Resets Y1 inverter high speed signal Positioning done pulse 0 5 sec 0 1 secon...

Page 158: ... 32 points ON OFF according to the elapsed value of the high speed counter in the pattern specified for the data table starting with S The output device can be selected from internal relay output relay and link relay The ON set value and OFF set value can be arbitrarily specified as a paired target values for a single cam output regardless of the magnitude of target values or the order for one cam...

Page 159: ...no of output device Specify the starting word number of the device set for the cam output Note 2 S 6 S 7 No of target values Settable range K1 to K32 Note 2 S 8 S 9 Target value 1 ON set value Set the ON set value and OFF set value according to the number of target values Note 3 Settable range K 2147483647 to K2147483646 H80000001 to H7FFFFFFE The cam output described in the next page is acquired ...

Page 160: ...RF turns on or off When the elapsed value reaches the target value 18 R11 turns on or off Specification of target values From S 8 The acquired output varies according to the ON set value and OFF set value ON set value OFF set value ON set value OFF set value ON set value OFF set value When added When subtracted Description When the elapsed value is larger than or equal to the ON set value and smal...

Page 161: ...after the execution of the instruction After the execution of the instruction the setting of the active target values do not change even if the operation memory of the specified target values ON set value OFF set value is changed When controlling the output device using the main program set each target value so that minimum moving time between each target value is larger than 1 scan time When cont...

Page 162: ...n and when it reaches the OFF set value it turns off When subtracted When the elapsed value falls below the OFF set value the cam output turns on and when it falls below the ON set value it turns off ⓒ Target value 2 ON set value ⓓ Target value 1 OFF set value ⓔ Target value 1 ON set value Execution condition When the execution condition turns on from off the instruction is executed and the cam co...

Page 163: ...H0 Cam output device type K1 Internal relay R Word number of cam output device K10 Specification of the number of target values K2 Target value 1 ON set value K1000 Target value 1 OFF set value K5000 Target value 2 ON set value K7000 Target value 2 OFF set value K9000 Upper limit value K11000 Presets 0 as the elapsed value Executes the F165 CAM0 instruction and starts the cam control Note The allo...

Page 164: ...his example the ON set value is smaller than the OFF set value for each target value Therefore When added When the elapsed value reaches the ON set value the cam output turns on and when it reaches the OFF set value it turns off When subtracted When the elapsed value falls below the OFF set value the cam output turns on and when it falls below the ON set value it turns off ⓓ Target value 2 ON set ...

Page 165: ... type K1 Internal relay R Word number of cam output device K10 Specification of the number of target values K2 Target value 1 ON set value K1000 Target value 1 OFF set value K5000 Target value 2 ON set value K7000 Target value 2 OFF set value K9000 Upper limit value K11000 Presets 0 as the elapsed value Executes the F165 CAM0 instruction and starts the cam control Clears the executed F165 CAM0 ins...

Page 166: ...tput is performed according to the target values In this example the ON set value is smaller than the OFF set value for any target values Therefore When subtracted When the elapsed value falls below the OFF set value the cam output turns on and when it falls below the ON set value it turns off When added When the elapsed value reaches the ON set value the cam output turns on and when it reaches th...

Page 167: ...evice type K1 Internal relay R Word number of cam output device K10 Specification of the number of target values K3 Target value 1 ON set value K1000 Target value 1 OFF set value K7000 Target value 2 ON set value K3000 Target value 2 OFF set value K9000 Target value 3 ON set value K5000 Target value 3 OFF set value K11000 Upper limit value K15000 Presets 13000 as the elapsed value Executes the F16...

Page 168: ...e main program Execute the F165 CAM0 F166 HC1S F167 HC1R instruction When the elapsed value of the high speed counter reaches the target value the interrupt program is activated For FP0H mode ED INT 0 IRET INT0 Program F166 HC1S instruction Target value match ON R9110 CH0 control flag K0 CH0 specified K10000 Target value Y2 Match output set ICTL instruction INT0 program execution enabled R0 H0 ICT...

Page 169: ...ation of interrupt program ON set value OFF set value ON set value OFF set value ON set value OFF set value When added When subtracted Description When the elapsed value is larger than or equal to the ON set value and smaller than the OFF set value the interrupt program is activated When the elapsed value is smaller than the ON set value and larger than or equal to the OFF set value the interrupt ...

Page 170: ......

Page 171: ...11 FPΣ Mode ...

Page 172: ...DT11970 to DT12284 DT24258 to DT24572 DT32450 to DT32764 DT65218 to DT65532 Note 2 Pulse PWM output setting System register no 402 No setting Cannot be set Can be set Positioning control mode System register no 407 Cannot be set FPΣcompatible instruction mode Fixed Select Table setting mode or FPΣ compatible instruction mode Values when system registers are initialized No 7 248 Fixed 248 Fixed C32...

Page 173: ...ependent Note 1 For details of the high speed counter pulse output functions refer to FP0H User s Manual Positioning PWM Output High speed Counter 11 1 2 Converting Projects for FPΣ to Projects for FP0H FPΣ Mode Projects for the conventional model FPΣcan be converted to projects for FP0H FPΣ by Convert PLC Type function The following procedure is explained on the condition that a project for FPΣha...

Page 174: ...re is explained on the condition that a project for FP0H FPΣ mode has been already started on FPWIN GR7 PROCEDURE 1 Select Options System register settings from the menu bar 2 Select Compatible mode from the list on the left 3 Change No 3 Compatible mode setting to FP0H mode and press the OK button 4 Select Online Download to PLC Entire Project from the menu bar KEY POINTS Please change the system...

Page 175: ...er Pulse output control bit no 15 4 3 2 1 0 Near home input Reset input setting 0 Valid 1 Invalid High speed counter instruction clear pulse output stop 0 Continue 1 Clear stop Channel specification H0 to H3 CH0 to CH3 Software reset 0 Disable 1 Enable Count 0 Enable 1 Disable 0 Invalid 1 Valid FP0H series FP0H mode High speed counter control Pulse output control bit no 15 3 2 1 0 Software reset 0...

Page 176: ...167 HC1R No system register setting No system register setting When the destination Y when the target value matches is other than the normal output setting an operation error occurs Allocation of memory areas Conventional model FPΣ series and FP0H series FPΣ mode Channel no Input Reset input Elapsed value Target value Control flag CH0 X0 X2 DT90044 DT90045 DT90046 DT90047 R903A CH1 X1 X2 DT90048 D...

Page 177: ...gister nos 400 and 401 HSC operation mode settings When the specified channel is other than Not Set X as High Speed Counter pulse output is not performed When the specified channel is other than Not Set X as High Speed Counter pulse output is not performed Not check F171 SPDH F172 PLSH F174 SP0H F175 SPSH Specification of acceleration decel eration time by initial speed correction No setting The i...

Page 178: ...2 Y3 Y4 Y5 X5 DT90200 DT90201 DT90202 DT90203 R903C DT90404 DT90405 FP0H series FP0H mode Channel no CW or pulse output CCW or sign output Deviation counter clear output Home input Elapsed value area Target value area Control flag Correction speed area of initial speed CH0 Y0 Y1 Y2 X2 DT90348 DT90349 DT90350 DT90351 R911C DT90400 DT90401 CH1 Y3 Y4 Y5 X5 DT90352 DT90353 DT90354 DT90355 R911D DT9040...

Page 179: ...1000 K3 6 1 1000 K3 6 0 1000 K4 8 1 1000 K4 8 0 1000 K5 9 8 1000 K5 10 0 1000 K6 19 5 1000 K6 20 0 1000 K7 48 8 1000 K7 50 0 1000 K8 97 7 1000 K8 100 0 1000 K9 201 6 1000 K9 200 0 1000 K10 403 2 1000 K10 400 0 1000 K11 500 0 1000 K11 500 0 1000 K12 694 4 1000 K12 700 0 1000 K13 1 0k 1000 K13 1 0k 1000 K14 1 3k 1000 K14 1 3k 1000 K15 1 6k 1000 K15 1 6k 1000 K16 2 1k 1000 K16 2 0k 1000 K17 3 1k 1000...

Page 180: ...FP Mode 11 10 ...

Page 181: ...12 Specifications ...

Page 182: ...Max 4 channels CH0 to CH3 Max 100 kHz x 4 2 phase Max 2 channels CH0 CH2 Max 50 kHz x 2 Max 2 channels CH0 CH2 Max 50 kHz x 2 Pulse output Single phase Max 4 channels CH0 to 3 Max 100 kHz Max 2 channels CH0 CH2 Max 100 kHz Interpolation Max 2 channels CH0 CH2 Max 100 kHz Composite speed Max 1 channel CH0 Max 100 kHz Composite speed PWM output Max 4 points CH0 to CH3 Max 2 points CH0 CH2 Output fre...

Page 183: ...int control CP control P point control JOG positioning control J point control Note 1 PTP control E point control F171 instruction Multistep acceleration deceleration control F174 instruction 2 axis linear interpolation E P C point control composite speed or major axis speed specification E point control composite speed specification 175 instruction Dwell time 0 to 32 767 ms Settable by 1 ms No se...

Page 184: ...3 Y809 CH2 X axis Y8 Y9 YA X6 Y852 Y864 Y865 Y80A Y axis YB YC YD X7 Y853 Y866 Y867 Y80B Note 1 Even when setting the linear interpolation the interpolation operation is not performed for the home return Execute the operation for X axes and Y axes separately Note 2 The near home input will be valid when arbitrary inputs are allocated and the output relays indicated in the above table turn ON Note ...

Page 185: ...l no Input output contact number used Memory area used Max output frequency Note 4 Related instruct tions CW or Pulse output CCW or Sign output Devia tion counter clear output Home input Note1 Near home input Note 2 Control flag Elapsed value area Note 3 Target value area Correction speed area of initial speed Independent CH0 Y0 Y1 Y2 X2 DT 90052 bit4 R903A DT90044 DT90045 DT90046 DT90047 DT90400 ...

Page 186: ...ode Channel no Output no Control flag Output frequency Duty CH0 Y0 R903A 1 0 Hz to 70 kHz Resolution of 1000 0 0 to 100 0 70001 Hz to 100 kHz Resolution of 100 0 to 100 CH2 Y3 R903C Maximum output frequency of pulse output PWM output These values are available only when the conditions of each item such as output method or channels are executed These values are available when the operations such as...

Page 187: ...ed value area Target value area Min input pulse width Max counting speed Single phase Addition input Subtraction input CH0 X0 X2 R903A DT90044 DT90045 DT90046 DT90047 High speed input 5 μs 100kHz F0 MV F1 DMV F165 CAM0 F166 HC1S F167 HC1R CH1 X1 X2 R903B DT90048 DT90049 DT90050 DT90051 CH2 X3 X5 R903C DT90200 DT90201 DT90202 DT90203 CH3 X4 X5 R903D DT90204 DT90205 DT90206 DT90207 2 phase input Pha...

Page 188: ...CH0 30 words for each channel 0130 0159 For CH1 0160 0189 For CH2 0190 0219 For CH3 0220 0299 Reserved for system 3 Positioning Table area 0300 0549 For CH0 250 words for each channel 0300 0309 Table 1 10 words for each table 0490 0499 Table 20 0500 0549 Reserved area for the system 0550 0799 For CH1 250 words for each channel 0800 1049 For CH2 1050 1299 For CH3 1300 1799 Reserved for system Note ...

Page 189: ... number and offset address Writing to positioning memory When the mode changes from PROG to RUN the contents set by the tool software Configurator PMX will be stored It is possible to rewrite the areas which are shown with Available in the W column in the following table using the F385 PTBLW instruction in user programs during RUN The operand of the instruction is specified using the combination o...

Page 190: ...the setting 0001 Positioning repeat count CH0 K0 Stores the repeat count in decimal when using the repeat control in the position control Set value Operation 0 or 1 Not repeat an operation 2 254 Repeat an operation for a specified number of times 255 or more Repeat an operation infinitely 0002 Positioning repeat count CH1 K0 0003 Positioning repeat count CH2 K0 0004 Positioning repeat count CH3 K0...

Page 191: ... K0 Stores the repeat count during the operation of each channel The execution start time is counted as 1 When the repeat count exceeds the upper limit it returns to 0 When the repeat operation is not enabled 0 is stored at the positioning control start time Stored value 0 65535 0002 0003 Elapsed value Current value coordinate K0 Stores the elapsed values current value coordinate of each channel R...

Page 192: ...f each channel in decimal Setting range 1 to 100 000 0003 Home return method HFF Stores the settings of home return patterns of each channel H0 DOG method 1 H1 DOG method 2 H2 DOG method 3 H3 Setting error H4 Setting error H5 Home position method Z phase method H6 Data set method HFF Not use 0004 Home return direction K0 Stores the settings of home return operation direction in decimal 0 Elapsed v...

Page 193: ... 0 to 10 000 ms 0015 JOG deceleration time K0 Stores the settings of the deceleration time for the JOG operation of each channel in decimal It indicates the deceleration time from JOG operation target speed to startup speed Setting range 0 to 10 000 ms 0016 0017 JOG target speed K1000 Stores the settings of the target speed for the JOG operation of each channel in decimal Setting range 1 to 100 00...

Page 194: ...he settings of the acceleration time for the positioning operation It indicates the acceleration time from the startup speed to the target speed Setting range 1 to 10 000 ms 0003 Positioning deceleration time K100 Stores the settings of the deceleration time for the positioning operation It indicates the deceleration time from the target speed to the startup speed Setting range 1 to 10 000 ms 0004...

Page 195: ...7 68 8 70 71 72 73 74 75 76 77 78 9 80 81 82 83 84 85 86 87 88 10 90 91 92 93 94 95 96 97 98 11 100 101 102 103 104 105 106 107 108 12 110 111 112 113 114 115 116 117 118 13 120 121 122 123 124 125 126 127 128 14 130 131 132 133 134 135 136 137 138 15 140 141 142 143 144 145 146 147 148 16 150 151 152 153 154 155 156 157 158 17 160 161 162 163 164 165 166 167 168 18 170 171 172 173 174 175 176 177...

Page 196: ...Specifications 12 16 ...

Page 197: ...Oct 2017 1st Edition WUME FP0HPOS 02 Feb 2018 2nd Edition Version upgrade of the unit firmware Ver 1 1 Added the descriptions of supported functions FPΣ mode Added the specifications of FPΣ compatible instruction F171 SPDH F171 SPDH F172 PLSH F174 SP0H Error correction ...

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