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Fuji Electric micrex-sx NP1F-MP1, Руководство пользователя

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Contents

page

4-5 Connecting ..................................................................................................................................... 4-21

4-5-1 Connecting sample of a servo motor ................................................................................................... 4-21

4-6  I/O Wiring ....................................................................................................................................... 4-24

Section 5  Memory Map .................................................................................5-1

5-1  NP1F-MP1/NP1F-MP2 Memory Map (Internal Memory List) ....................................................... 5-1

5-2  NP1F-MP1 I/O Area ......................................................................................................................... 5-2

5-2-1 NP1F-MP1 (read area: address No. 0 to No. 9) ..................................................................................... 5-3

5-2-2 NP1F-MP1 (Write area: address Nos. 10 to 13) .................................................................................. 5-18

5-3  I/O Area of NP1F-MP2 .................................................................................................................. 5-35

5-3-1 NP1F-MP2 (Read area: address No. 0 to No. 13) ............................................................................... 5-36

5-3-2 NP1F-MP2 (Write area: address Nos. 14 to 21) .................................................................................. 5-67

5-4  Setting Method and Effective Bits of Individual Register ........................................................ 5-99

Section 6  Parameters (Registers) ................................................................6-1

6-1  Parameters List (Registers) ........................................................................................................... 6-1

6-2  Relationship between Parameters (Registers) ............................................................................ 6-2

6-3  Detailed Description of Parameters (Registers) ......................................................................... 6-4

Section 7  Positioning Function ....................................................................7-1

7-1  Positioning Function of the Pulse Train Positioning Control Combined Module

(NP1F-MP1/NP1F-MP2) .................................................................................................................. 7-1

7-2  Functions of Each Operation Mode .............................................................................................. 7-3

7-3  Functions of Pulse Generation Mode .......................................................................................... 7-4

7-3-1 Positional deviation calculation function ................................................................................................ 7-5

7-3-2 Command pulse count control ............................................................................................................... 7-6

7-3-3 Command pulse frequency control ........................................................................................................ 7-7

7-3-4 Trapezoidal acceleration/deceleration ................................................................................................... 7-8

7-3-5 Automatic deceleration point calculation ............................................................................................. 7-10

7-3-6 Deceleration point setting .................................................................................................................... 7-11

7-3-7 Continuous frequency rewriting ........................................................................................................... 7-12

7-3-8 Setting data to a register ...................................................................................................................... 7-13

7-3-9 Data reading from register ................................................................................................................... 7-14

7-3-10 Current value data reading ................................................................................................................ 7-15

7-3-11 Manual operation ............................................................................................................................... 7-16

7-3-12 Original point return motion ............................................................................................................... 7-17

7-3-13 Positioning operation .......................................................................................................................... 7-18

7-3-14 Interrupt point positioning motion ...................................................................................................... 7-19

7-3-15 Deceleration-and-stop / quick stop motion ........................................................................................ 7-20

7-3-16 Operation when an emergency stop error has been detected .......................................................... 7-21

7-3-17 Operation when an 

±

OT error has been detected ............................................................................. 7-22

7-3-18 Command pulse counting .................................................................................................................. 7-24

7-3-19 Operation when a transmission error has been detected ................................................................. 7-25

7-3-20 Positioning using the FIFO buffer ...................................................................................................... 7-26

7-3-21 Setting the data to be added to the command pulse register while speed is continuously

            changed over ..................................................................................................................................... 7-28

7-3-22 Backlash compensation ..................................................................................................................... 7-29

7-3-23 Feedback pulse multiplication ............................................................................................................ 7-29

Содержание micrex-sx NP1F-MP1

Страница 1: ...FEH214a series USER S MANUAL PULSE TRAIN POSITIONING CONTROL COMBINED MODULE...

Страница 2: ...a e c n e r e f e R n i w 0 0 3 D l a u n a M s r e s U s e i r e s X S X E R C I M 4 5 2 H E F e h t f o l l a d n a n i w 0 0 3 D f o n o c i d n a u n e m e h t s n i a l p x E n i w 0 0 3 D f o s...

Страница 3: ...while the power is turned ON It may result in an electric shock to theoperator Turn OFF the power before mounting dismounting wiring maintaining or checking otherwise electric shock erratic operation...

Страница 4: ...ong operation might break or cause machine problems Engage the loader connector in a correct orientation otherwise an erratic operation might occur Before touching the PC discharge any static electric...

Страница 5: ...c e h t n o n w o h s s i o N l a u n a M n o d e t n i r P o N l a u n a M s t n e t n o c n o i s i v e R 8 9 9 1 p e S 4 1 2 H E F n o i t i d e t s r i F 2 0 0 2 n a J a 4 1 2 H E F d e n i f e R...

Страница 6: ...axes 3 6 3 3 3 NP2F LEV Signal converter 3 8 3 4 Dimensions 3 10 3 4 1 NP1F MP1 for 1 axis 3 10 3 4 2 NP1F MP2 for 2 axes 3 10 3 4 3 NP2F LEV Signal converter 3 11 Section 4 Wiring 4 1 4 1 Mounting P...

Страница 7: ...de 7 4 7 3 1 Positional deviation calculation function 7 5 7 3 2 Command pulse count control 7 6 7 3 3 Command pulse frequency control 7 7 7 3 4 Trapezoidal acceleration deceleration 7 8 7 3 5 Automat...

Страница 8: ...ission error has been detected 7 36 7 4 10 Operation for resetting deviation 7 37 7 4 11 Backlash compensation 7 37 7 4 12 Feedback pulse multiplication 7 37 7 5 External Input Pulse Functions 7 39 7...

Страница 9: ...s 1 1 1 Handling precautions as precision device 1 1 2 Precautions concerning operating conditions and environment 1 1 1 2 Functional Overview 1 2 1 2 1 Overview of NP1F MP1 NP1F MP2 functions 1 2 1 2...

Страница 10: ...where the temperature is too high or low or the humidity is too high Operating ambient temperature 0 to 55 C Operating ambient humidity 20 to 95 RH 7 In places with extremely low humidity excessive st...

Страница 11: ...i t a l u c l a c c i t a m o t u A F I l a i r e s F I e d i s U P C s d r o w 4 1 l a t o t s d r o w 4 t u p t u o s d r o w 0 1 t u p n i 1 P M F 1 P N s d r o w 2 2 l a t o t s d r o w 8 t u p t...

Страница 12: ...e v i r d e n i l l a n g i s l a i t n e r e f f i D y c n e u q e r f t u p t u O z H M 1 x a M A sample connection configuration of the NP2F LEV is shown below Sample connection configuration of t...

Страница 13: ...on configuration of the NP2F LEV NP1F MP1 NP2F LEV NP2F LEV Serial I F External I Fs X axis forward pulse X axis reverse pulse External pulse DI X axis EMG OT origin LS interrupt DO Command output fro...

Страница 14: ...nfiguration of Peripheral Equipment 2 1 2 2 Applied System 2 2 2 2 1 Applicable CPU 2 2 2 2 2 Applied system configuration 2 2 1 For a 2 axis system 2 2 2 Sample extensions for 8 axis system 2 2 2 3 L...

Страница 15: ...D300win Positioning loader software Various type expansion FBs for positioning General purpose PC SX bus Precaution This module only contains the basic functions for positioning processing Motion rel...

Страница 16: ...rol module NP1F MP2 Input module NP1X1606 W Output module NP1Y16T09P6 2 axes CPU module Positioning control module Input module Output module Power supply module 2 Sample extensions for 8 axis system...

Страница 17: ...p A B F k c o l b n o i t c n u f n o i s n a p x E l o r t n o c g n i n o i t i s o p r o f e g a k c a p F P T P N 4 P N s i x a t n e d n e p e d n i r o f s m a r g o r p n o i t a c i l p p A l...

Страница 18: ...LEV 3 2 3 2 Specifications NP1F MP1 NP1F MP2 3 3 3 2 1 Specifications NP2F LEV 3 3 3 3 Names 3 4 3 3 1 NP1F MP1 for 1 axis 3 4 3 3 2 NP1F MP2 for 2 axes 3 6 3 3 3 NP2F LEV Signal converter 3 8 3 4 Di...

Страница 19: ...r o m r o a P k 0 7 l a c i n a h c e M e c i v r e s s n o i t i d n o c n o i t a r b i V s m 6 9 1 n o i t a r e l e c c a t n a t s n o C m m 5 1 0 e d u t i l p m a f l a H 2 s r u o h x i s l a...

Страница 20: ...0 0 3 o t t n e l a v i u q e e r o m r o a P k 0 7 l a c i n a h c e M e c i v r e s s n o i t i d n o c n o i t a r b i V s m 6 9 1 n o i t a r e l e c c a t n a t s n o C m m 5 1 0 e d u t i l p m...

Страница 21: ...5 e p y t t u p n I l a n g i s l a i t n e r e f f i d r o t u p n i r o t c e l l o c n e p O 0 9 e s l u p e s r e v e r e s l u p d r a w r o f r o Z e s a h p d n a B e s a h p A e s a h p e c n...

Страница 22: ...r u T n e e r G Y D R y d a e R l a m r o n s i e l u d o m e h t n e h w n o s n r u T d e R M L A r o r r E e r a w d r a h e h t n i r o m a r g o r p n o i t a c i l p p a e h t n i s r u c c o r...

Страница 23: ...R t u p t u o 9 A e s l u p d r a w r o F t u p t u o 8 B M O C t u p t u o e s l u P 8 A M O C t u p t u o e s l u P 7 B e s l u p k c a b d e e F B e s a h p 7 A e s l u p k c a b d e e F A e s a h...

Страница 24: ...n a n e h w n o s n r u T n e e r G Y D R y d a e R l a m r o n s i e l u d o m e h t n e h w n o s n r u T d e R M L A r o r r E e r a w d r a h e h t n i r o m a r g o r p n o i t a c i l p p a e h...

Страница 25: ...a h p 6 A e s l u p k c a b d e e F A e s a h p 5 B e s l u p k c a b d e e F D N G 5 A e s l u p k c a b d e e F D N G 4 B t i n u e s l u p l a u n a M D N G 4 A e s l u p k c a b d e e F Z e s a h...

Страница 26: ...u T 2 Connector pin layout for the external I O signal A front view the upper side A front view the lower side Connector pin layout 9 pin Connector pin layout 16 pin 1 2 3 4 5 6 7 8 9 A 1 2 3 4 5 6 7...

Страница 27: ...a i t n e r e f f i d V 5 9 1 B N 1 O N t u p t u o l a i t n e r e f f i d V 5 2 2 A P 2 O N t u p t u o l a i t n e r e f f i d V 5 0 1 2 B N 2 O N t u p t u o l a i t n e r e f f i d V 5 3 3 A P 3...

Страница 28: ...3 10 3 4 Dimensions 3 4 1 NP1F MP1 for 1 axis 3 4 2 NP1F MP2 for 2 axes 90 46 5 75 35 105...

Страница 29: ...3 11 3 4 Dimensions 3 4 3 NP2F LEV Signal converter 95 47 2 10 29 8 39 8 85 95 40 36 6...

Страница 30: ...4 3 1 External I O signal specifications NP1F MP2 4 10 4 3 2 External I O signal interface NP1F MP2 4 11 4 4 Connector Pin Layout for the External Connection Signal Converter 4 17 4 4 1 External I O s...

Страница 31: ...a 2 2 A M F 1 P N A 5 1 0 l o r t n o c g n i n o i t i s o p s e x a 2 2 P H F 1 P N A 5 9 0 0 r e t n u o c d e e p s h g i H 2 C H F 1 P N A 5 8 0 0 e s o p r u p l a r e n e G n o i t a c i n u m...

Страница 32: ...rately If I O wiring cannot be separated from the power cables or the main circuit cables bound shield cables must be used and the shield must be grounded at the PC end To wire the pulse output shield...

Страница 33: ...8 A M O C t u p t u o e s l u P 7 B e s l u p k c a b d e e F B e s a h p 7 A e s l u p k c a b d e e F A e s a h p 6 B e s l u p k c a b d e e F B e s a h p 6 A e s l u p k c a b d e e F A e s a h p...

Страница 34: ...k c a b d e e f f o t u p n I D N G e s l u p k c a b d e e F 5 B 1 H C l a n g i s V 0 e s l u p k c a b d e e f f o t u p n I t u p n I l a n g i s t u p n i l a n r e t x E t u p n i t p u r r e t...

Страница 35: ...mand signal 120 Phase A Phase B Phase A Phase B 120 1 2k A2 A1 120 120 1 2k 220 220 B2 B1 B3 B4 5V 0V Manual pulse unit side CH1 side When the manual pulse unit utilizes open collectors Phase A Phase...

Страница 36: ...B Phase Z Phase A Phase B Phase Z 120 120 1 2k A7 A6 B7 B6 A4 A3 Servo side When the feedback pulse signal is driven by a open collector A5 B5 120 120 1 2k 120 120 1 2k 220 220 220 CH1 side 120 120 1...

Страница 37: ...name Circuit External input signal Pulse output signal 24V A14 B16 B17 A17 A15 A16 OT OT Emergency stop Interrupt Origin LS 3 9k 3 9k 3 9k 3 9k 3 9k 820 CH1 side 820 820 820 820 CH1 side A9 A8 B9 B8...

Страница 38: ...4 8 4 2 Connector Pin Layout for the External Connection NP1F MP1 Signal name Circuit External output signal A13 A12 24V Ry B12 Ry B11 CH1 side 3 9k 3 9k A11 B13...

Страница 39: ...B e s l u p l a u n a M D N G t i n u 4 A e s l u p k c a b d e e F Z e s a h p 3 B e s l u p l a u n a M D N G t i n u 3 A e s l u p k c a b d e e F Z e s a h p 2 B e s l u p l a u n a M B e s a h p...

Страница 40: ...s l a i t n e r e f f i d 0 1 1 e c n a d e p m i t u p n I s s e l r o y c n e u q e r f e s l u p t u p n I s p p k 0 0 5 x a M e r o m r o V 5 3 e g n a r e g a t l o v N O V 5 1 o t 0 e g n a r e...

Страница 41: ...mmand signal 120 Phase A Phase B Phase A Phase B 120 1 2k A2 A1 120 120 1 2k 220 220 B2 B1 B3 B4 5V 0V Manual pulse unit side CH1 side When the manual pulse unit utilizes open collectors When the manu...

Страница 42: ...Z Phase A Phase B Phase Z 120 120 1 2k A7 A6 B7 B6 A4 A3 Servo side When the feedback pulse signal is driven by a open collector A5 B5 120 120 1 2k 120 120 1 2k 220 220 220 CH1 side 5V Phase A Phase B...

Страница 43: ...hase Z Phase A Phase B Phase Z 120 120 1 2k When the feedback pulse signal is driven by a line driver 120 120 1 2k 120 120 1 2k 220 220 220 CH2 side Servo side A7 A6 B7 B6 A4 A3 A5 B5 Phase A Phase B...

Страница 44: ...signal 24V CH1 A14 CH1 B16 CH1 B17 CH1 A17 CH1 A15 CH1 A16 OT OT Emergency stop Interrupt Origin LS 3 9k 3 9k 3 9k 3 9k 3 9k 820 CH1 side 820 820 820 820 CH2 side 24V CH2 A14 CH2 B16 CH2 B17 CH2 A17...

Страница 45: ...ayout for the External Connection NP1F MP2 Signal name Circuit Pulse output signal CH2 side Servo side CH1 side A9 A8 B9 B8 CA CA CB CB CM Servo side When the servo device utilizes open collectors A9...

Страница 46: ...Connector Pin Layout for the External Connection NP1F MP2 Signal name Circuit External output signal A13 A12 24V Ry B12 Ry A11 CH1 side 3 9k 3 9k A13 A12 24V Ry B12 Ry A11 CH2 side 3 9k 3 9k B11 B13...

Страница 47: ...6 pin o N n i P e m a n l a n g i S o N n i P e m a n l a n g i S 1 1 A P 1 T U O t u p t u o l a i t n e r e f f i d V 5 9 1 B N 1 T U O t u p t u o l a i t n e r e f f i d V 5 2 2 A P 2 T U O t u p...

Страница 48: ...n I e r o m r o V 5 3 e g n a r e g a t l o v N O V 5 1 o t 0 e g n a r e g a t l o v F F O e m i t y a l e d t u p n I 1 N O o t F F O s s e l r o s 1 F F O o t N O s s e l r o s r o t c e n n o c e...

Страница 49: ...ection Signal Converter 4 4 2 External I O signal interface Signal converter Signal name Circuit Input side connector 9 pin 220 390 10k 5V 220 390 10k 5V 220 390 10k 5V 220 390 10k 5V 6 7 8 9 1 2 3 4...

Страница 50: ...4 20 4 4 Connector Pin Layout for the External Connection Signal Converter Signal name Circuit Output side connector 16 pin A1 B1 A2 B2 A3 B3 A4 B4 A8 A7 B8 B7 A5 B5 Connector side 24V Servo side 0V...

Страница 51: ...terclockwise Forward rotation CW Clockwise Reverse rotation The direction indication of the motor rotation is the shaft view from the motor mounted side 1 When the NP1F MP1 or the NP1F MP2 generates t...

Страница 52: ...S EMG OT input B16 OT input 9 34 10 35 33 36 38 40 39 41 CA CA CB CB M5 FA FB FZ M5 M5 7 6 30 29 32 31 VIN2 M5 VIN3 M5 VIN4 M5 25 24 18 17 P24 P24 M24 M24 50 CONT1 3 5 4 P10 VIN1 M5 28 N10 RUN 49 CONT...

Страница 53: ...pulse phase Z Feedback pulse phase Z Feedback pulse GND Feedback pulse GND A11 A13 A14 Output COM For output 24V DC Input COM1 A19 A20 0V DC 24V DC Input COM A15 A16 A17 B17 Input COM1 Origin LS EMG O...

Страница 54: ...Wiring of a connector type module Usable connector and applicable cable size are shown below n o i t a c i f i s s a l C u s t i j u F e p y T e z i s e l b a C e p y t d e r e d l o S t e k c o S U...

Страница 55: ...atus signal address No 0 lower word 5 36 2 Ch1 bit data signal Status signal address No 1 upper word 5 46 3 Ch1 current value read Address No 2 lower word address No 3 upper word 5 50 4 Current comman...

Страница 56: ...M F 1 P N o N s s e r d d A e m a N 0 r e t s i g e r y c n e u q e r f t e g r a T 1 r e t s i g e r y c n e u q e r f e s a B 2 r e t s i g e r y c n e u q e r f t n e r r u C 3 r e t s i g e r e s...

Страница 57: ...read 9 Current external pulse data read 10 Bit command signal 11 Bit command signal 12 Set value area 13 Set value area External pulse input counter Module detection time lower word PC MP1 lower word...

Страница 58: ...c e x e 6 n o i t c e t e d l a n g i s Z e s a h P d e t c e t e d s i Z e s a h p n e h w N O d e l b a n e s i n o i t c e t e d l a n g i s Z e s a h p e l i h W 7 n o i t c e t e d n o i t i s o...

Страница 59: ...atus of the command pulse register becomes 1 one when pulse output is completed or when command pulse register reset signal is issued Select register PC MP1 Set value data PC MP1 Write command PC MP1...

Страница 60: ...d signal is 0 because the command pulse is being output Positioning end signal is 1 because the positioning end signal has been detected Outputting command pulse internal signal Near zero PC MP1 Posit...

Страница 61: ...utput is stopped Sign command PC MP1 Start command PC MP1 Rotation direction PC MP1 Positioning end PC MP1 1 0 1 1 1 1 1 0 Outputting reverse pulse Outputting forward pulse In the position command mod...

Страница 62: ...is is a response signal to the speed change command in the pulse generation mode While this signal is 1 the values stored in the set value data area are continuously written in the target frequency re...

Страница 63: ...t i B Description The external pulse interrupt position detect signal becomes 1 when external pulse interrupt signal is detected after the external pulse interrupt position detect command has become...

Страница 64: ...set PC MP1 1 Error signal cannot be reset because the emergency stop signal input is OFF 1 1 r o r r e T O e m a n l a n g i S 1 1 t i B Description When the OT signal is enabled in the pulse generati...

Страница 65: ...ON OFF 1 Error signal cannot be reset because the command pulse register reset signal is OFF 1 Alarm reset PC MP1 1 Error signal cannot be reset because OT input is OFF 1 1 d e s u t o N e m a n l a...

Страница 66: ...ecomes 1 When the rising edge at which the command pulse register reset signal changes from 0 to 1 and the rising edge at which alarm reset signal changes from 0 to 1 are detected this signal returns...

Страница 67: ...a z i l a i t i n i n e h w 1 7 e t i r w a t a d o t e s n o p s e R d n a m m o c e t i r w a t a d o t l a n g i s e s n o p s e R 8 y a l p s i d d n a m m o c r e t s i g e r d a e R s i r e t s...

Страница 68: ...lectable Inputs DI1 to DI3 become 1 when external contact is released Inputs DI4 and DI5 and the phase Z input signal become as follows when input level is selected by the control register For NO cont...

Страница 69: ...0 0 0 1 Near zero monitoring register 1 1 0 1 1 Pulse count setting 16 1 1 1 0 0 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 1 1 0 1 0 Pulse count setting upper 1 1 0 0 1 Pulse count setting middle 1 1 0 0 0 Pulse...

Страница 70: ...en written in 4th stage 1 Precautions Data is normally written in the target frequency FIFO buffer because registration in the FIFO buffer is not executed by the target frequency FIFO buffer write com...

Страница 71: ...o l r e t n u o c e t o N d e t c e t e d s a w d r o w r e w o l r e t n u o c e u l a v t n e r r u C e v o b a n a h t r e h t O d r o w r e p p u r e t n u o c e u l a v t n e r r u C d r o w r e...

Страница 72: ...tn 1 Tn x 1000 x 1000 Precautions The time until module detection time overflows is 65 5ms When an overflow has occurred this value returns to 0 and the timer count is continued ring operation Feedbac...

Страница 73: ...o i t i s o P e d o m g n i n o i t i s o p t p u r r e t n i N O n e h W t n i o p n o i t c e t e d l a n g i s t p u r r e t n i r o Z e s a h p 9 t p u r r e t n i e s l u p l a n r e t x E d n a...

Страница 74: ...signal to see whether the positioning operation has ended or not With the start command set to 0 when stopped after decelerating when emergency stopped or when an error has been detected monitor unti...

Страница 75: ...viation amount when phase Z or interrupt signal was detected 1 The lower word of current value counter when phase Z or interrupt signal was detected t e s e r r e t n u o c e u l a v t n e r r u C e m...

Страница 76: ...ted without stopping the operation for changing speed from the PC The writing in the target frequency register uses 2 words of the set value data area and therefore is set to stop the speed change pro...

Страница 77: ...1 0 1 2 Current value Deviation amount Upper word of current data Data is held Upper word of current value Latch data select PC MP1 3 4 1 Not detected because phase Z detect command is 0 2 Not accepte...

Страница 78: ...rupt signal input external input Current value data PC MP1 1 1 0 1 2 Current value Deviation amount Upper word of current value data Upper word of current value data Data is held Latch data select PC...

Страница 79: ...by setting the control register Command pulse is output while detect command signals are both 0 Example of phase Z signal position detection Interrupt mode PC MP1 Start command PC MP1 Positioning end...

Страница 80: ...input Interrupt detection PC MP1 1 1 1 1 1 1 The deviation amount and current feedback value when interrupt was detected are latched Not accepted because interrupt detect command is 0 In the position...

Страница 81: ...PC MP1 Command pulse zero PC MP1 1 1 1 1 0 In the position command mode the start signal for module internal processing is cleared to zero and pulse output is immediately stopped Precautions When auto...

Страница 82: ...on Acceleration deceleration register 2 In the position command mode the start signal for module internal processing is cleared to zero and pulse output is immediately stopped To emergency stop from t...

Страница 83: ...over error t e s e r t n u o m a n o i t a i v e D e m a n l a n g i S 4 1 t i B Description While this signal is 1 the deviation amount is forcibly reset to zero For module internal processing while...

Страница 84: ...neration mode position command mode Error monitoring time is set in the monitor register from the CPU module max 6553 5ms in 0 1ms steps When monitoring time is set to 0 zero transmission error monito...

Страница 85: ...ed 0 1 1 0 0 0 1 1 0 1 Error monitoring timer register 0 1 1 1 0 Control register 0 1 1 1 1 Backlash register 1 0 0 0 0 Near zero monitor register 1 0 0 0 1 Deviation over monitor register High speed...

Страница 86: ...nd PC MP1 Response to write command PC MP1 1 1 1 1 Writing in each register is possible at the desired timing Precautions In the pulse generation mode deceleration point detection during automatic ope...

Страница 87: ...0 0 1 1 0 1 Error monitoring timer register 0 1 1 1 0 Control register 0 1 1 1 1 Backlash register 1 0 0 0 0 Near zero monitor register 1 0 0 0 1 Deviation over monitor register High speed limiter reg...

Страница 88: ...ead command PC MP1 Response to read command PC MP1 Current value data PC MP1 1 1 1 1 Current value Current value Data Data Data can be read from individual registers at the desired timing While the re...

Страница 89: ...as binary data Effective number of bits is determined by the bit width of each register The part exceeding the bit width of each register is ignored In the position command mode While the start comma...

Страница 90: ...ternal pulse input counter 13 Module detection time 14 Ch1 Bit command signal 15 Ch1 Bit command signal 16 Ch1 Set value 17 Ch1 Set value 18 Ch2 Bit command signal 19 Ch2 Bit command signal 20 Ch2 Set...

Страница 91: ...a n g i s Z e s a h p e l i h W 7 t c e t e d n o i t i s o p t p u r r e t n I s i l a n g i s t p u r r e t n i e h t n e h w N O d e l b a n e s i n o i t c e t e d l a n g i s t p u r r e t n i e...

Страница 92: ...ommand PC MP2 Response to write command PC MP2 Start command PC MP2 Positioning end PC MP2 Command pulse zero PC MP2 Near zero PC MP2 1 10 000 00011 1 1 1 1 1 1 1 1 Pulse outputting In the position co...

Страница 93: ...gnal Near zero PC MP2 Positioning end PC MP2 1 1 1 0 1 Positioning end signal is 0 because the command pulse is being output Positioning end signal is 1 because the positioning end signal has been det...

Страница 94: ...pulse output is stopped Sign select PC MP2 Start command PC MP2 Rotating direction PC MP2 Positioning end PC MP2 1 0 1 1 1 1 Outputting reverse pulse Outputting forward pulse 1 0 In the position comma...

Страница 95: ...r is reset 1 FIFO buffer for command pulse register is reset In the position command mode when the command pulse register reset command is issued the start signal is turned OFF and pulse output is sto...

Страница 96: ...e For details refer to the paragraph for phase Z signal detect command t c e t e d n o i t i s o p t p u r r e t n I e m a n l a n g i S 7 t i B Description In the pulse generation mode or position co...

Страница 97: ...generation mode this signal becomes 1 while the accelerating decelerating operation is being executed by this module while the frequency of the command pulse is changing Frequency Time Start command...

Страница 98: ...annot be reset because the emergency stop signal input is OFF 1 1 r o r r e T O e m a n l a n g i S 1 1 t i B Description When the OT signal is enabled in the pulse generation mode or position command...

Страница 99: ...FF 1 Error signal cannot be reset because the command pulse register reset is OFF 1 Alarm reset PC MP2 1 Error signal cannot be reset because OT input is OFF 1 1 d e s u t o N e m a n l a n g i S 3 1...

Страница 100: ...becomes 1 When the rising edge at which the command pulse register reset signal changes from 0 to 1 and the rising edge at which alarm reset signal changes from 0 to 1 are detected this signal return...

Страница 101: ...t a z i l a i t i n i n e h w 1 7 e t i r w a t a d o t e s n o p s e R d n a m m o c e t i r w a t a d o t l a n g i s e s n o p s e R 8 y a l p s i d d n a m m o c r e t s i g e r d a e R s i r e t...

Страница 102: ...ts become 1 when external contact is released DI4 and DI5 inputs and phase Z input signal become as follows when the input level is selected by the control register For NO contact input 1 when externa...

Страница 103: ...er 1 0 0 0 1 Near zero monitoring register 1 1 0 1 1 Pulse count setting 16 1 1 1 0 0 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 1 1 0 1 0 Pulse count setting upper 1 1 0 0 1 Pulse count setting middle 1 1 0 0 0 P...

Страница 104: ...r Precautions Data is normally written in the target frequency FIFO buffer because registration in the FIFO buffer is not executed by the target frequency FIFO buffer write command When writing to the...

Страница 105: ...o l r e t n u o c e u l a v t n e r r u C 1 d n a m m o c t c e t e d t p u r r e t n I t n e r r u c e h t f o e u l a v e h t r o t n u o m a n o i t a i v e D t p u r r e t n i e h t n e h w d r o...

Страница 106: ...i r w s u o u n i t n o c N O e l i h W 6 t c e t e d l a n g i s Z e s a h P d e t c e t e d s i Z e s a h p n e h w N O d e l b a n e s i n o i t c e t e d l a n g i s Z e s a h p e l i h W 7 t c e...

Страница 107: ...mand pulse register becomes 1 when pulse output is completed when the command pulse register reset command is issued Register select PC MP2 Set value data PC MP2 Write command PC MP2 Response to write...

Страница 108: ...g command pulse internal signal Near zero PC MP2 Positioning end PC MP2 1 1 1 0 1 Positioning end signal is 0 because the command pulse is being output Positioning end signal is 1 because the position...

Страница 109: ...n select PC MP2 Start command PC MP2 Rotating direction PC MP2 Positioning end PC MP2 1 0 1 1 1 1 Outputting reverse pulse Outputting forward pulse 1 0 In the position command mode this signal changes...

Страница 110: ...is reset 1 FIFO buffer for command pulse register is reset In the position command mode when the command pulse register reset command is issued the start signal is turned OFF and pulse output is stopp...

Страница 111: ...For details refer to the paragraph for phase Z signal detect command t c e t e d n o i t i s o p t p u r r e t n I e m a n l a n g i S 7 t i B Description In the pulse generation mode or position comm...

Страница 112: ...se generation mode this signal becomes 1 while the accelerating decelerating operation is being executed by this module while the frequency of command pulse is changing Frequency Time Start command PC...

Страница 113: ...annot be reset because the emergency stop signal input is OFF 1 1 r o r r e T O e m a n l a n g i S 1 1 t i B Description When the OT signal is enabled in the pulse generation mode or position command...

Страница 114: ...d the rising edge at which alarm reset signal changes from 0 to 1 are detected this signal returns to 0 When an OT error is detected no command in the reverse direction will be accepted Enabling disab...

Страница 115: ...cted When a deviation over error is detected the positioning control module falls into non fatal error condition RAS code 0D6hex r o r r e n o i s s i m s n a r T e m a n l a n g i S 5 1 t i B Descrip...

Страница 116: ...e r e s l u p d n a m m o C l a n g i s m r a l a w o l f r e v o r e t s i g e r e s l u p d n a m m o C 4 1 l l u f r e f f u b O F I F l l u f s i r e f f u b O F I F e g a t s 4 n e h w 1 5 1 d a...

Страница 117: ...this the signal continues to be 1 Precaution This signal becomes 0 while a deviation over error is detected e t i r w a t a d o t e s n o p s e R e m a n l a n g i S 7 t i B Description This is a resp...

Страница 118: ...register 1 0 0 0 0 Backlash register 1 0 0 0 1 Near zero monitoring register 1 1 0 1 1 Pulse count setting 16 1 1 1 0 0 1 1 1 0 1 1 1 1 1 0 1 1 1 1 1 1 1 0 1 0 Pulse count setting upper 1 1 0 0 1 Puls...

Страница 119: ...No of command pulse register Precautions Data is normally written in the target frequency FIFO buffer Because registration in the FIFO buffer is not executed by the target frequency FIFO buffer write...

Страница 120: ...e t e d s a w l a n g i s d r o w r e w o l r e t n u o c e u l a v t n e r r u C e v o b a n a h t r e h t O d r o w r e p p u r e t n u o c e u l a v t n e r r u C d r o w r e w o l r e t n u o c e...

Страница 121: ...he external pulse input frequency can be calculated f Frequency Hz T Takt time s tn 1 Previous module detection time s tn Current module detection time s Pn 1 Previous count value pulse Pn Current cou...

Страница 122: ...r r e t n i r e t f a t u p t u o s i e s l u p f o t n u o m a 8 e d o m t p u r r e t n I h t g n e l d e i f i c e p s a t n i o p a t a s n o i t i s o P e d o m g n i n o i t i s o p t n i o p t...

Страница 123: ...signal to see whether the positioning operation has ended or not When stopped after decelerating when emergency stopped or when an error has been detected with the start command set to 0 monitor unti...

Страница 124: ...amount when phase Z or interrupt signal was detected 1 The lower word of the current value counter when phase Z or interrupt signal was detected t e s e r r e t n u o c e u l a v t n e r r u C e m a n...

Страница 125: ...without stopping the operation for changing speed from the PC The writing in the target frequency register uses 2 words of the set value data area and therefore is set after stopping the processing fo...

Страница 126: ...1 3 4 2 Current value Deviation amount Upper word of current data Data is held Upper word of current value Latch data select PC MP2 1 Not detected because the phase Z detect command is 0 2 Not accept...

Страница 127: ...ignal input external input Current value data 2 PC MP2 1 1 0 1 3 4 2 Current value Deviation amount Upper word of current value Data is held Upper word of current value Latch data select PC MP2 1 Not...

Страница 128: ...y setting the control register Command pulse is output while detect command signals are both 0 Example of phase Z signal position detection Start command PC MP2 Positioning end PC MP2 Command pulse ze...

Страница 129: ...on amount and the current feedback value when interrupt was detected are latched Not accepted because interrupt detect command is 0 Frequency Hz Set value of command pulse register Time t In position...

Страница 130: ...start signal for module internal processing is cleared to zero and pulse output is immediately stopped Precautions When automatic computation of the deceleration point is enabled the deceleration poi...

Страница 131: ...tion Acceleration deceleration register 2 In position command mode the start signal for module internal processing is cleared to zero and pulse output is immediately stopped To emergency stop from the...

Страница 132: ...over error t e s e r t n u o m a n o i t a i v e D e m a n l a n g i S 4 1 t i B Description While this signal is 1 the deviation amount is forcibly reset to zero For module internal processing while...

Страница 133: ...x 6553 5ms in 0 1ms steps When monitoring time is set to 0 zero transmission error monitoring is not performed Even when monitoring time is set to zero after an error has been detected the error detec...

Страница 134: ...used 0 1 1 0 0 0 1 1 0 1 Error monitoring timer register 0 1 1 1 0 Control register 0 1 1 1 1 Backlash register 1 0 0 0 0 Near zero monitor register 1 0 0 0 1 Deviation over monitor register High spe...

Страница 135: ...ue data PC MP2 1 1 Write command PC MP2 1 1 Response to write command PC MP2 Writing in each register is possible at the desired timing Precautions In the pulse generation mode deceleration point dete...

Страница 136: ...0 1 1 Not used 0 1 1 0 0 0 1 1 0 1 Error monitoring timer register 0 1 1 1 0 Control register 0 1 1 1 1 Backlash register 1 0 0 0 0 Near zero monitor register 1 0 0 0 1 Deviation over monitor registe...

Страница 137: ...output When the FIFO buffer is empty the value of both the target frequency FIFO buffer and command pulse count FIFO buffer becomes 0 zero 3 Ch1 set value area Write signal address Nos 16 and 17 o N s...

Страница 138: ...t f a t u p t u o s i e s l u p f o t n u o m a 8 e d o m t p u r r e t n I h t g n e l d e i f i c e p s a t n i o p a t a s n o i t i s o P e d o m g n i n o i t i s o p t n i o p t p u r r e t n i...

Страница 139: ...zero signal to see whether positioning operation has ended or not When stopped after decelerating when emergency stopped or when an error has been detected with the start command set to 0 monitor unti...

Страница 140: ...amount when phase Z or interrupt signal was detected 1 The lower word of the current value counter when phase Z or interrupt signal was detected t e s e r r e t n u o c e u l a v t n e r r u C e m a n...

Страница 141: ...ation for changing speed from the PC The writing in the target frequency register uses 2 words of the set value data area and therefore is set after stopping the processing for speed change For detail...

Страница 142: ...3 4 2 Current value Deviation amount Upper word of current data Data is held Upper word of current value Latch data select PC MP2 1 Not detected because the phase Z detect command is 0 2 Not accepted...

Страница 143: ...put Current value data 2 PC MP2 1 1 0 1 3 4 2 Current value Deviation amount Upper word of current value Data is held Upper word of current value Latch data select PC MP2 1 Not detected because the in...

Страница 144: ...by setting the control register Command pulse is output while both detect command signals are 0 Example of phase Z signal position detection Start command PC MP2 Positioning end PC MP2 Command pulse...

Страница 145: ...deviation amount and the current feedback value when interrupt was detected are latched Not accepted because interrupt detect command is 0 Frequency Hz Set value of command pulse register Time t In po...

Страница 146: ...command mode the start signal is cleared to zero and pulse output is immediately stopped Precautions When automatic computation of the deceleration point is enabled the deceleration point register is...

Страница 147: ...1 Quick stop motion Acceleration deceleration register 2 In position command mode the start signal is cleared to zero and pulse output is immediately stopped To emergency stop from the CPU module side...

Страница 148: ...over error t e s e r t n u o m a n o i t a i v e D e m a n l a n g i S 4 1 t i B Description While this signal is 1 the deviation amount is forcibly reset to zero For module internal processing while...

Страница 149: ...ms in 0 1ms steps When the monitoring time is set to 0 zero transmission error monitoring is not performed Even when the monitoring time is set to zero after an error has been detected the error detec...

Страница 150: ...used 0 1 1 0 0 0 1 1 0 1 Error monitoring timer register 0 1 1 1 0 Control register 0 1 1 1 1 Backlash register 1 0 0 0 0 Near zero monitor register 1 0 0 0 1 Deviation over monitor register High spe...

Страница 151: ...command PC MP2 1 1 Response to write command PC MP2 Writing in each register is possible at the desired timing Precautions In the pulse generation mode deceleration point detection during automatic op...

Страница 152: ...0 1 1 Not used 0 1 1 0 0 0 1 1 0 1 Error monitoring timer register 0 1 1 1 0 Control register 0 1 1 1 1 Backlash register 1 0 0 0 0 Near zero monitor register 1 0 0 0 1 Deviation over monitor registe...

Страница 153: ...pty the value of both the target frequency FIFO buffer and command pulse count FIFO buffer becomes 0 zero 6 Set value area Write signal address Nos 20 and 21 o N s s e r d d A 5 1 4 1 3 1 2 1 1 1 0 1...

Страница 154: ...en reading by above method 2 Set the register number from which data is to be read in the read register NP1F MP1 Address No 11 bit 8 to bit C refer to page 5 32 NP1F MP2 Address No 15 bit 8 to bit C r...

Страница 155: ...ter 1 0 0 0 1 Deviation over monitor register High speed limiter register 1 0 0 1 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 1 0 1 1 0 1 0 1 1 1 Pulse count setting buffer lower 1 1 0 0 0 Pulse count setting buf...

Страница 156: ...gister 1 0 0 0 1 Deviation over monitor register 1 0 0 1 0 1 0 0 1 1 1 0 1 0 0 1 0 1 0 1 1 0 1 1 0 1 0 1 1 1 Pulse count setting buffer lower 1 1 0 0 0 Pulse count setting buffer middle 1 1 0 0 1 Puls...

Страница 157: ...Section 6 Parameters Registers Page 6 1 Parameters List Registers 6 1 6 2 Relationship between Parameters Registers 6 2 6 3 Detailed Description of Parameters Registers 6 4...

Страница 158: ...a e R 3 1 o t 1 1 d e s u t o N t i b 0 4 1 r e t s i g e r r e m i t g n i r o t i n o m r o r r E 5 3 5 5 6 o t 0 s t i b 6 1 e t i r w d a e R 5 1 r e t s i g e r l o r t n o C 5 3 5 5 6 o t 0 s t...

Страница 159: ...MP1 NP1F MP2 is calculated using the following formulas 1 When the effective bit length of the frequency register is 20 bits Output frequency kHz 25000kHz x Set value of frequency register 220 x 1 Set...

Страница 160: ...eration deceleration register becomes as follows Acceleration deceleration time 220 1 25000kHz 2 1048576 1 25000kHz 2 83 9ms 2 When the effective bit length of the frequency register is 16 bits Accele...

Страница 161: ...gister When data is written by selecting the target frequency register the speed setting is updated while the command pulse is being output Point of use This method requires some time for writing beca...

Страница 162: ...L level active condition After this when a value other than zero is assigned to the target frequency register positioning at the target point will be completed normally Precautions o N r e t s i g e...

Страница 163: ...y register is copied in this area When constant speed is reached after the end of acceleration deceleration the setting of this register becomes equal to that of the target frequency register or the b...

Страница 164: ...the value of the target frequency register When data is written into the target frequency register the command pulse frequency changes stepwise When the deceleration and stop or quick stop command is...

Страница 165: ...ommand pulse register Signed data is valid for the written data If the sign is reverse to the current operating direction the pulse will be output in the reverse direction after the currently executed...

Страница 166: ...mmand pulse is output the deceleration point register is counted up by the command pulse during acceleration the counter is counted down during deceleration The counter is also counted down during dec...

Страница 167: ...stopped it is necessary to reset the deceleration point register In the following cases the deceleration point register is reset When stopped due to error detection such as emergency stop error OT er...

Страница 168: ...olution of the command pulse frequency is 16 bit 20 bit width with respect to maximum command frequency Precaution The write command from the CPU module into the speed multiplication register is enabl...

Страница 169: ...ecaution Write command for the FIFO buffer is enabled only in the pulse generation mode o N r e t s i g e r r e t e m a r a P e m a n r e t s i g e r r e t e m a r a P e u l a v l a i t i n I e t i r...

Страница 170: ...t e m a r a P e m a n r e t s i g e r r e t e m a r a P e u l a v l a i t i n I e t i r w d a e R 3 1 d e s u t o N d e n i f e d n U o N r e t s i g e r r e t e m a r a P e m a n r e t s i g e r r e...

Страница 171: ...p n e h w d r a w r o F 1 3 d e s u t o N 0 e b t s u M 4 d e s u t o N 0 e b t s u M 5 t c e l e s e p y t l a n g i s e s l u p l a n r e t x E 0 9 0 e s l u p B e s a h p A e s a h p l a n g i s l...

Страница 172: ...es in the forward direction when phase B is advanced Phase B feedback pulse Phase A feedback pulse Time When the motor is rotating in the forward direction phase B changes first Motor rotating in forw...

Страница 173: ...reatment by OT detection is performed if OT input signal is turned OFF NC contact signal When OT detection is disabled the OT signal can be used as a general purpose input signal 6 Automatic accelerat...

Страница 174: ...et to 1 NO contact input Input is ON when external contact is closed Point of use When the origin LS signal is ON phase Z detection is not performed 9 Phase Z signal input level bit 11 Selects the inp...

Страница 175: ...cklash pulses in the range from 0 to 2047 The setting of the backlash register can be used in all modes o N r e t s i g e r r e t e m a r a P e m a n r e t s i g e r r e t e m a r a P e u l a v l a i...

Страница 176: ...imit value for frequency register setting data In the position command mode works as the upper limit value for the increment of pulse count per millisecond o N r e t s i g e r r e t e m a r a P e m a...

Страница 177: ...e lower 20 bits of 2 words in the set value data area are used as speed data For writing in the pulse count setting buffer the remaining 12 bits of the set value data area are used a Pulse count setti...

Страница 178: ...into the pulse count setting buffer is enabled only in the pulse generation mode o N r e t s i g e r r e t e m a r a P e m a n r e t s i g e r r e t e m a r a P e u l a v l a i t i n I e t i r w d a e...

Страница 179: ...to be added in the comm and pulse register becomes 0 When a value which exceeds one word 65535 pulses is to be added use pulse count setting buffer upper middle and lower Sample pulse output at 250kH...

Страница 180: ...enabled in position command mode Delay time can be set in 0 1ms steps maximum value is 25 5ms Set delay time in the following manner Delay time Tact time ms x SX bus transmission times 1 3 0 x 10 SX b...

Страница 181: ...otion 7 16 2 When SOT software OT is disabled for infinite length motion 7 16 7 3 12 Original point return motion 7 17 7 3 13 Positioning operation 7 18 7 3 14 Interrupt point positioning motion 7 19...

Страница 182: ...s been detected 7 36 7 4 8 Operation when an OT error has been detected 7 36 7 4 9 Operation when a transmission error has been detected 7 36 7 4 10 Operation for resetting deviation 7 37 7 4 11 Backl...

Страница 183: ...bed below 1 Pulse generation mode Positioning is performed based on moving length the number of output pulses and the setting of the target frequency Point of use The number of output pulses and the t...

Страница 184: ...and pulse signal is selected Points of use When Feedback Pulse Select is disabled the command pulse signal is input to the deviation counter as a command pulse as well as feedback pulse Therefore in t...

Страница 185: ...e following items from the CPU module 1 Moving length the number of output pulses 2 Target frequency 2 Position command mode This mode is used to set the following item from the CPU module 1 Position...

Страница 186: ...5 1 7 P 0 1 3 7 h p a r g a r a P n o i t a r e p o l a u n a M 6 1 7 P 1 1 3 7 h p a r g a r a P n o i t o m n r u t e r t n i o p l a n i g i r O 7 1 7 P 2 1 3 7 h p a r g a r a P n o i t a r e p o...

Страница 187: ...mmand data sent from the CPU module Frequency data is set in the target frequency register FIFO buffer or set value data area 3 Pulse generator Outputs the command pulses for positioning 4 Deviation c...

Страница 188: ...reset Read data Command pulse zero Most significant bit The pulse train positioning control combined module outputs current command values into the current command value data area Point of use When t...

Страница 189: ...2 Calculation of command frequency for 20 bit length Command frequency 25 000kHz x 1 Set value of speed multiplication register 1 x Set value of frequency register 1048576 x 1 2 Point of use Because...

Страница 190: ...point is detected Base frequency register Current frequency register Count up acceleration Base frequency register Current frequency register Count down deceleration Base frequency register Current fr...

Страница 191: ...nd frequency Acceleration deceleration time is the time until the target frequency is reached from speed 0 Therefore the acceleration time from 0 to 250kHz becomes as follows 20 bit width when target...

Страница 192: ...ster is counted down according to the command pulse Comparing the command pulse register the remaining number of output pulses with the deceleration point register operation is decelerated from the po...

Страница 193: ...is the same as in automatic calculation Namely the command pulse register is counted down according to the command pulse The command pulse register the remaining number of output pulses is compared w...

Страница 194: ...ata area into the target frequency register Frequency Time Frequency 3 Frequency 1 Frequency 2 Frequency 2 Frequency 1 Frequency 3 1 1 Set value data PC MP1 MP2 Speed change command PC MP1 MP2 Speed c...

Страница 195: ...gister Command pulse register 1 1 Register select PC MP1 MP2 Write command PC MP1 MP2 Frequency data Pulse count data Set value data PC MP1 MP2 1 1 Response to write command PC MP1 MP2 Point of use Th...

Страница 196: ...MP2 1 1 Response to read command PC MP1 MP2 Points of use This module NP1F MP1 NP1F MP2 outputs response signal to the read command sent from the CPU module By the response to read command handshaking...

Страница 197: ...dback pulse phase B Phase Z signal Interrupt detection latch 16 bit Data latch Interrupt detected position Interrupt Current value counter is a 32 bit length ring counter for counting up down Current...

Страница 198: ...stop manual operation use the deceleration and stop command SOT SOT Current position Pm For manual forward operation set the pulse count which corresponds to Pp in the command pulse register For manua...

Страница 199: ...he number of pulses which is set in the command pulse register will be output Set value of the command pulse register the shift length to original point f H Frequency Time f L 1 Interrupt mode PC MP1...

Страница 200: ...f the value to be added is set to 0 an overrun occurs passing the target position when stopped In such cases decrease the creep speed 7 3 13 Positioning operation Write the necessary data in each regi...

Страница 201: ...ioning end PC MP1 MP2 1 Command pulse zero PC MP1 MP2 Not accepted because interrupt detect command is 0 Points of use If only shift length is specified for positioning at interrupt by the servo syste...

Страница 202: ...the completion of pulse output by the command pulse register 0 is given priority Acceleration deceleration register 1 n2 Data m Detection of completion Current frequency 20 bit Up down counter Compar...

Страница 203: ...tion r egister 1 1 Start command PC MP1 MP2 Released EMG external input 1 Emergency stop error PC MP1 MP2 1 1 Positioning end PC MP1 MP2 0 Command pulse zero PC MP1 MP2 The data for the remaining numb...

Страница 204: ...o increase the counter value is output Even during OT error detection the reverse pulse train command can be used An OT error can be detected only when a reverse command pulse in the direction to decr...

Страница 205: ...and PC MP1 MP2 Positioning end PC MP1 MP2 Sign select PC MP1 MP2 OT external input OT error external input OT error PC MP1 MP2 OT external input Released Released 0 forward 1 1 1 reverse 1 The positio...

Страница 206: ...Hz 131ms When phase Z or interrupt signal is detected this module NP1F MP1 MP2 calculates the deviation amount on the servo amplifier side from the command pulse counter value and detected position da...

Страница 207: ...on error PC MP1 MP2 Frequency Time Acceleration deceleration register 2 Pattern when positioning is performed normally Acceleration deceleration register 1 1 Released 1 1 1 0 The data for the remainin...

Страница 208: ...er data is a constant speed motion except interrupt positioning When the interrupt mode is selected operation is stopped once at the preceding step Operation is then resumed in interrupt mode When the...

Страница 209: ...zero signal and near zero signal are used to detect the completion of operation When the start command is 0 the data written in the FIFO buffer are stored as unexecuted data in order When the buffer...

Страница 210: ...ts of 2 word data 32 bits in set value data area 2 are used With pulse setting buffer lower register select 24 the data of the remaining 12 bits is added to the command pulse register as pulse count d...

Страница 211: ...e multiplication becomes as follows x1 For one feedback pulse multiplied by 4 x2 For 2 feedback pulses multiplied by 2 x4 For 4 feedback pulses multiplied by 1 On the module side NP1F MP1 MP2 the disp...

Страница 212: ...x 1 x t n u o c e s l u p t u p t u O 1 x 1 x 1 x y c n e u q e r f t u p t u O 1 x 1 x 1 x This module NP1F MP1 MP2 multiplies feedback pulses by 4 This module NP1F MP1 MP2 controls position by the a...

Страница 213: ...e b s a h r o r r e p o t s y c n e g r e m e n a n e h w n o i t a r e p O 6 3 7 P 7 4 7 h p a r g a r a P n a n e h w n o i t a r e p O d e t c e t e d n e e b s a h r o r r e T O 6 3 7 P 8 4 7 h p...

Страница 214: ...value Previous set value Increment is calculated each time data is received from the CPU module 3 Calculation of set value The data which is to be set in the target frequency register is calculated T...

Страница 215: ...ng is executed using delay time In the position command mode the number of pulses which are to be output for the unit time period as well as the frequency are automatically calculated and set from the...

Страница 216: ...rement is added to the pulse increment of the next cycle Limiter value is processed as the upper limit for the pulse increment per millisecond Namely it is 1 000 pulses equivalent to 1MHz or the set v...

Страница 217: ...s added Po Psv Ppv to the command position becomes the original point When the total increase of command position since the rising edge of the start signal becomes Po Ppv holding the command position...

Страница 218: ...An OT error is detected when Increase of position data sent from the CPU module 0 An OT error is not detected while Increase of position data 0 An OT error is also not detected when the start command...

Страница 219: ...r Motor PG Feedback pulse Servo amplifier On the servo amplifier side command pulse multiplication x1 x2 x4 is set According to the set multiplication the number of revolutions of motor per single com...

Страница 220: ...x 1 x t n u o c e s l u p t u p t u O 1 x 1 x 1 x y c n e u q e r f t u p t u O 1 x 1 x 1 x Precautions This module NP1F MP1 MP2 multiplies feedback pulses by 4 This module NP1F MP1 MP2 controls the p...

Страница 221: ...n counter counts pulses in the range between 32676 and 32676 The current value of the up down counter is continuously output in the external pulse input counter area 90 phase differential signal phase...

Страница 222: ...the CPU module has ended Completion of transmission from SX bus t 11 t 01 t 02 T Constant period timer of this module P 1 P 0 t 01 to t 11 Detection time Detection time is updated whenever constant pe...

Страница 223: ...Section 8 Troubleshooting Page 8 1 LED Indication 8 1 8 2 Error Indication 8 2...

Страница 224: ...ng control combined module NP1F MP2 LED indication green or red 1 ONL RDY EMG ERR ALM OT OT CH1 CH2 20 1 B A CH2 CH1 1 For error indication LEDs are used as follows ONL green ERR red RDY green ALM red...

Страница 225: ...urned on ERR LED On ALM LED On ONL LED Blinking Occurred because there is no terminating plug Cause Mount the terminating plug Turn the power on again For this terminating plug NP8B BP is necessary Re...

Страница 226: ...was turned on 1 Positioning control module RDY LED Blinking ALM LED Blinking 2 CPU module ERR LED On ALM LED On 3 I O module ONL LED Blinking Internal memory of the positioning control module is abnor...

Страница 227: ...er was turned on 1 Positioning control module RDY LED Off ALM LED Blinking 2 CPU module ERR LED On ALM LED On 3 I O module ONL LED Blinking Internal memory of the positioning control module is abnorma...

Страница 228: ...the power was turned on 1 Positioning control module RDY LED Off ALM LED Off 2 CPU module ERR LED On ALM LED On 3 I O module ONL LED Blinking CPU of the positioning control module is abnormal Cause R...

Страница 229: ...le ERR LED Off RUN LED On ALM LED On 3 I O module ONL LED On The set value of the parameter for deviation over detection is too small Mechanical braking force is acting on the motor shaft Motor does n...

Страница 230: ...e RDY LED On ALM LED On 2 CPU module ERR LED Off ALM LED On 3 I O module ONL LED On Problem occurred in the user application software The positioning control module is abnormal Cause Correct the user...

Страница 231: ...D Off EMG LED On OT LED On OT LED On 2 CPU module ERR LED Off ALM LED Off ONL LED On RUN LED On 3 I O module ONL LED On ERR LED Off Power is not supplied to the positioning control module external 24V...

Страница 232: ...OT LED Off 2 CPU module ONL LED On ERR LED Off RUN LED On ALM LED Off 3 I O module ONL LED On ERR LED Off Wrong wiring User program error Servo amplifier is off line Servo amplifier requires special...

Страница 233: ...5 Terminology App 12 1 Absolute positioning App 12 2 Incremental positioning App 12 3 Zero point return App 12 4 0 near zero App 12 5 Dwell timer App 12 6 M code App 12 7 Override speed App 13 8 Devia...

Страница 234: ...e s u t o N d e n i f e d n U 2 1 d e s u t o N d e n i f e d n U 3 1 d e s u t o N d e n i f e d n U 4 1 r e t s i g e r r e m i t g n i r o t i n o m r o r r E 5 3 5 5 6 o t 0 s t i b 6 1 0 5 1 r e...

Страница 235: ...g r a T O 0 1 r e f f u b O F I F e s l u p d n a m m o C O 1 1 d e s u t o N 2 1 d e s u t o N 3 1 d e s u t o N 4 1 r e t s i g e r r e m i t g n i r o t i n o m r o r r E O O 5 1 r e t s i g e r l...

Страница 236: ...o c e u l a v t n e r r u c o t e s n o p s e R O O 5 d e e p s g n i g n a h C O 6 n o i t c e t e d l a n g i s Z e s a h P O O 7 n o i t c e t e d n o i t i s o p t p u r r e t n I O O 8 e t o N d...

Страница 237: ...s e R O O 2 1 o t 8 r e t s i g e r y c n e u q e r f t e g r a T O O r e t s i g e r y c n e u q e r f e s a B O r e t s i g e r y c n e u q e r f t n e r r u C O O r e t s i g e r e s l u p d n a m...

Страница 238: ...v e D O O r e t s i g e r r e t i m i l d e e p s h g i H O O d e s u t o N d e s u t o N d e s u t o N d e s u t o N r e w o l g n i t t e s t n u o c e s l u P O e l d d i m g n i t t e s t n u o c...

Страница 239: ...n e r r u C O O 5 d n a m m o c e g n a h c d e e p S O 6 d n a m m o c t c e t e d l a n g i s Z e s a h P O O 7 t c e t e d n o i t i s o p t p u r r e t n I O O 8 e d o m t p u r r e t n I O 9 e t...

Страница 240: ...t o N r e t s i g e r r e m i t g n i r o t i n o m r o r r E r e t s i g e r l o r t n o C O O r e t s i g e r h s a l k c a B O O r e t s i g e r g n i r o t i n o m o r e z r a e N O O r e t s i g...

Страница 241: ...O F I F e s l u p d n a m m o C O d e s u t o N d e s u t o N d e s u t o N r e t s i g e r r e m i t g n i r o t i n o m r o r r E O O r e t s i g e r l o r t n o C O O r e t s i g e r h s a l k c a...

Страница 242: ...n o i t c e t e d T O O O 7 e l b a s i d n o i t c e t e d T O O O 8 e l b a s i d n o i t a r e l e c e d n o i t a r e l e c c a c i t a m o t u A O 9 e l b a s i d n o i t a l u c l a c t n i o p...

Страница 243: ...urrent external pulse data read Current command value read Current command value read 10 Bit command signal 11 Bit command signal 12 Set value area 13 Set value area lower word PC MP1 upper word PC MP...

Страница 244: ...odule detection time P 14 Ch1 Bit command signal 15 Ch1 Bit command signal 16 Ch1 Set value 17 Ch1 Set value 18 Ch2 Bit command signal 19 Ch2 Bit command signal 20 Ch2 Set value 21 Ch2 Set value upper...

Страница 245: ...2000 1000 is set as the position data 3 Zero point return When accurate positioning is required it is necessary to accurately set the reference point original point Original point return is the opera...

Страница 246: ...er the shock acting on the mechanical system while the motor is accelerated and thus achieve smooth acceleration deceleration 11 Servo lock When the motor is stopped an external force may act resultin...

Страница 247: ...e t w e r c S 1 P 9 0 T 2 3 Y 1 P N 2 3 1 e t o N s s e l r o A m 5 4 s d r o w 2 g 0 3 1 x o r p p A e p y t r o t c e n n o C 2 e t o N 1 P 9 0 T 4 6 Y 1 P N 4 6 1 e t o N s s e l r o A m 0 9 s d r...

Страница 248: ...S R s s e l r o A m 0 1 1 g 0 7 1 x o r p p A e p y t r o t c e n n o C 2 S R L 1 P N 1 x C 2 3 2 S R s s e l r o A m 0 9 g 0 6 1 x o r p p A e p y t r o t c e n n o C 4 S R L 1 P N 1 x 5 8 4 S R s s...

Страница 249: ...1 M M F 1 P N 1 s s e l r o A m 0 2 1 g 0 0 2 x o r p p A 6 0 S B 1 P N s s e l r o A m 5 4 g 0 2 4 x o r p p A 8 0 S B 1 P N s s e l r o A m 0 5 g 0 4 5 x o r p p A 1 1 S B 1 P N s s e l r o A m 0 6...

Страница 250: ...Gate City Ohsaki East Tower 11 2 Osaki 1 chome Shinagawa ku Tokyo 141 0032 Japan Phone 81 3 5435 7135 8 Fax 81 3 5435 7456 9 URL http www fujielectric co jp kiki Information in this manual is subject...

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