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5.4 Positioning Control

5.4.1 Types of Positioning Control

■

Operation pattern

Name Time chart

Operation and application

Repea
t

Interpol
ation

E-
point
contro
l

● This is a method of control which is

initiated up to an end point, and is
referred to as “E-point control”.

● This method is used for a first

speed acceleration/deceleration.

●

P-
point
contro
l

● This refers to control which passes

through a “Pass Point”, and is
called “P-point control”.

● This method is used for a second

speed acceleration/deceleration.

● After the pulse output is performed

for a specified movement amount,
it shifts to the E-point control.

●

C-
point
contro
l

● 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 specified as a dwell time.

●

J-
point
contro
l

No speed change

● This refers to control which passes

through a speed point “JOG
Operation Point”, and is called “J-
point control”.

● After the start, it is controlled at

specified speeds.

● Once the J-point positioning

contact turns on, the positioning
control starts.

● When the J-point control speed

change flag is set, the speed
changes.

－

Speed changes

■

Selection of positioning operation modes

Positioning operation modes are selected on Configurator PMX.

5.4 Positioning Control

5-16

WUME-FPXHPOSG-01

Содержание FP-XH Series

Страница 1: ...Programmable controller FP XH Series User s Manual Positioning Function PWM Output High speed Counter Function Western version WUME FPXHPOSG 01 2020 10 panasonic net id pidsx ...

Страница 2: ... MEMO 2 WUME FPXHPOSG 01 ...

Страница 3: ...mply with the following items Prior to installation operation maintenance and inspection please read this manual carefully for proper use Before using the product please fully understand the knowledge related to the equipment safety precautions and all other precautions Safety precautions are divided into two levels in this manual Warning and Caution Incorrect operation may lead to death or seriou...

Страница 4: ...he Panasonic the protection provided by the equipment may be impaired This product has been developed produced for industrial use only Description on Copyright and Trademarks The copyright of this manual is owned by Panasonic Industrial Devices SUNX Co Ltd Unauthorized reproduction of this manual is strictly prohibited Windows is a registered trademark of Microsoft Corporation in the U S and other...

Страница 5: ...tions on Connection 2 4 3 Power ON and OFF and Items to Check 3 1 3 1 Safety Circuit Design 3 2 3 2 Before Turning On the Power 3 3 3 3 Procedure for Turning On the Power 3 4 3 3 1 Procedure for Turning On the Power 3 4 3 3 2 Procedure for Turning Off the Power 3 4 3 4 Confirming while the Power is ON 3 5 3 4 1 Items to check after turning on the power 3 5 3 4 2 Checking the Installation of the Ex...

Страница 6: ... Operations of Home Return 5 12 5 4 Positioning Control 5 16 5 4 1 Types of Positioning Control 5 16 5 4 2 E point Control Single Speed Positioning 5 17 5 4 3 P point Control Double Speed Positioning 5 18 5 4 4 C point Control 5 20 5 4 5 J point Control JOG Positioning 5 22 5 4 6 J point Control JOG Positioning Speed Changes 5 23 5 4 7 Programming Cautions 5 26 5 5 Repeat Operation 5 28 5 5 1 Over...

Страница 7: ...RR ALM LED Flashes 8 4 8 2 2 What to Do When Positioning Error Occurs 8 5 8 2 3 Motor Does Not Rotate Move Output LED Flashes or is ON 8 7 8 2 4 Motor Does Not Rotate Move Output LED is OFF 8 7 8 2 5 Rotation Movement Direction is Reversed 8 8 9 PWM output function 9 1 9 1 PWM output function 9 2 9 1 1 Overview of PWM Output Function 9 2 9 1 2 System Register Settings 9 2 9 1 3 F173 PWMH PWM Outpu...

Страница 8: ...0 28 10 5 Interrupt Program Activation 10 31 10 5 1 Overview of Function 10 31 10 5 2 Interrupt Activation When F165 CAM0 is Executed 10 32 11 Specifications 11 1 11 1 Specifications 11 2 11 1 1 General Specifications 11 2 11 1 2 Performance Specifications 11 2 11 2 Allocation of Memory Areas 11 5 11 2 1 When Using Pulse Output Table Setting Mode 11 5 11 2 2 When Using Pulse Output Function FP X C...

Страница 9: ... 2 1 Applicable Versions of Unit and Software 1 5 1 2 2 Restrictions on the Combination of Pulse I O Cassettes 1 5 1 2 3 Restrictions on I O Allocation 1 5 1 2 4 Restrictions on Using Together with Communication Function 1 7 1 3 Comparison of Pulse Output Function 1 8 1 3 1 Types of Positioning Control Modes 1 8 1 3 2 Selection of Positioning Control Mode 1 8 1 3 3 Comparison of Two Control Modes ...

Страница 10: ...rs and table numbers and executing instructions Four kinds of position control patterns Table setting mode Four patterns which are E point control single speed automatic trapezoidal acceleration deceleration P point control double speed automatic trapezoidal acceleration deceleration C point control continuance point control and J point control from speed control to position control can be selecte...

Страница 11: ... the input of the Control Unit Max 8 channels CH0 to CH7 Max 10 kHz 8 Per one pulse I O cassette Max 2 channels CH8 and CH9 or CHA and CHB Max 100 kHz 2 2 phase Max 4 channels CH0 CH2 CH4 and CH6 Max 50 kHz 2 Max 10 kHz 2 Using the input of the Control Unit Max 4 channels CH0 CH2 CH4 and CH6 Max 5 kHz 4 Per one pulse I O cassette Max 1 channel CH8 or CHA Max 50 kHz 2 Pulse Output Indepen dent Max ...

Страница 12: ...re Note 2 I O numbers used for each function should be allocated so that they do not overlap Note 3 The pulse I O cassette can be attached to the relay output type Control Unit only C14R 1 piece C30R C60R Max 2 pieces When using two axes for the pulse output or two points for the PWM output use two pulse I O cassettes 1 1 Functions of Unit 1 4 WUME FPXHPOSG 01 ...

Страница 13: ...he Combination of Pulse I O Cassettes There are following restrictions depending on units and cassettes to be used Unit Types Installable number of cassettes Pulse I O cassette AFPX PLS Relay output type C14R Max 1 unit Installable C30R C60R Max 2 units Transistor output type C14T Max 1 unit Uninstallable C30T C60T Max 2 units 1 2 3 Restrictions on I O Allocation I O signals used for each function...

Страница 14: ... Output signals of Control Unit I O No Pulse output function PWM output function Pulse output Deviation counter clear output Y0 CH0 CW or pulse output CH0 PWM output Y1 CH0 CCW or sign output Note 2 Y2 CH1 CW or pulse output CH1 PWM output Y3 CH1 CCW or sign output Note 2 Y4 CH2 CW or pulse output CH0 C14 type CH2 PWM output Y5 CH2 CCW or sign output CH1 C14 type Note 2 Y6 CH3 CW or pulse output C...

Страница 15: ...put or CHB Reset input Pulse I O cassette output signal I O No Pulse output function PWM output function Pulse output Deviation counter clear output Y100 CH0 CW or pulse output CH0 PWM output Y101 CH0 CCW or sign output Y102 CH0 Deviation counter clear output Y200 CH1 CW or pulse output CH1 PWM output Y201 CH1 CCW or sign output Y202 CH1 Deviation counter clear output 1 2 4 Restrictions on Using T...

Страница 16: ...rted as a setup file of Configurator PMX and reused between multiple units and projects FP X compatible instruction mode Positioning parameters such as position command and speed command are set as operands of instructions Dedicated instructions F171 to F175 and instructions F0 and F1 are used for the control The system is similar to the pulse output function of the conventional FP X 1 3 2 Selecti...

Страница 17: ... Start F380 instruction F171 instruction Positioning operation interpolation Type Three patterns E point control P point control C point control E point control single speed acceleration deceleration Set Set in the positioning data table of Configurator PMX Set using the operands of instructions Start F380 instruction F175 instruction Others Dwell time setting Repeat control Positioning parameter ...

Страница 18: ... MEMO 1 10 WUME FPXHPOSG 01 ...

Страница 19: ...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 WUME FPXHPOSG 01 2 1 ...

Страница 20: ... 24V 2kΩ 2kΩ 5 1kΩ 5 6kΩ 5 6kΩ 5 6kΩ 220Ω 220Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω 4 7Ω Home input Near home input Z phase output Counter clear input Servo ON input Gain switch input Alarm clear input Servo ready output Servo alarm output CCW limit sensor Near home sensor CW limit sensor FP XH C30T PLC MINAS A5 series Amplifier Note 1 The allocation of I O numbers on the controller side depends on unit types...

Страница 21: ...o 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 Y80 to Y8B 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 amplifier The length of a deviation counter clear signal i...

Страница 22: ...rnally 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 Y70 to Y75 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 Y80 t...

Страница 23: ...for Turning Off the Power 3 4 3 4 Confirming while the Power is ON 3 5 3 4 1 Items to check after turning on the power 3 5 3 4 2 Checking the Installation of the External Safety Circuit 3 6 3 4 3 Checking the Safety Circuit Based on the Unit 3 6 3 4 4 Checking the Operation of the Near Home Switch and Home Switch 3 6 3 4 5 Checking Rotating and Moving Directions and Moving Distance 3 7 WUME FPXHPO...

Страница 24: ...iption 1 Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used 2 Safety circuit based on the unit Install over limit switches as shown above Connect the over limit switch inputs on the and sides to the input circuit of PLC 3 1 Safety Circuit Design 3 2 WUME FPXHPOSG 01 ...

Страница 25: ...en installed securely 3 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 4 Checking the procedure settings for turning ON the power supplies Make sure settings have been entered so that power supplies will be turned on according to the procedure outlined in sec...

Страница 26: ...ts 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 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 the power supply for the PLC 3 Turn off the power supplies ...

Страница 27: ...alled securely 2 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 3 Checking the near home input and home input Check if the near home input and home input are loaded as the inputs of the PLC and activated properly by performing JOG operation or home return operation 4 Checking the ...

Страница 28: ...limit switch is functioning properly Operation at over limit input Conditions Direction Limit status Operation When JOG operation is started 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 JOG operation Forward Over limit input ON Limit stops Error occurs Over limit ...

Страница 29: ...nce 1 Execute the JOG operation to confirm the rotating direction and moving direction of the motor Points to check The rotating direction is determined according to the installation of the ball screw or the CW CCW direction setting of the parameter 2 Check if the moving distance is that as designed by performing the JOG operation or positioning operation Points to check The moving distance is det...

Страница 30: ... MEMO 3 8 WUME FPXHPOSG 01 ...

Страница 31: ... Allocating Channels to be Used 4 8 4 2 2 Setting Parameters 4 9 4 2 3 Creating Positioning Data Table 4 11 4 2 4 Saving Positioning Parameters 4 13 4 2 5 Export and Import 4 14 4 2 6 Check on Parameter Data 4 14 4 2 7 Writing Parameters to Unit 1 4 15 4 2 8 Writing Parameters to Unit 2 4 15 4 3 System Register Settings 4 17 4 3 1 Confirming and Selecting Functions to be Used 4 17 4 4 Reading Elap...

Страница 32: ...29 X2A X2B X2C X2D Operation done X30 X31 X32 X33 X34 X35 Home return done X48 X49 X4A X4B X4C X4D When using the relay output type pulse I O cassette J point control positioning start input X100 X200 Home input Note 1 X102 X202 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 N...

Страница 33: ...55 Deceleration stop Y58 Y59 Y5A Y5B Y5C Y5D J point control speed change Y60 Y61 Near home input Note 1 Y70 Y71 Y72 Y73 Y74 Y75 Over limit input Note 1 Y80 Y82 Y84 Y86 Y88 Y8A Over limit input Note 1 Y81 Y83 Y85 Y87 Y89 Y8B When using the relay output type pulse I O cassette CW output or Pulse output Y100 Y200 CCW output or Sign output Y101 Y201 Deviation counter clear output Note 1 Y102 Y202 Not...

Страница 34: ...52 is turned ON by the pulse output control instruction F0 Note 3 The operation done flag or home return done flag are substituted by confirming that the control active flag turns from ON to OFF after the execution of the pulse output instruction F171 Allocation of I O signals Output Signal name I O No Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 CH0 CH1 CH2 CH3 CH4 CH5 When using the transistor outp...

Страница 35: ... forcibly can be performed 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 X10 In the FP X compatible instruction mode the allocations of J point control and over limit inputs are not available In the FP X compatible instruction mode the allocations of system stop error clea...

Страница 36: ...input X0 X1 X2 X3 X4 X5 X6 X7 Hardware reset input Single phase input X6 X7 2 phase input X6 X7 Control active flag BUSY Single phase input R9110 R9111 R9112 R9113 R9114 R9115 R9116 R9117 2 phase input R9110 R9112 R9114 R9116 Allocation of I O signals When using the input section of the pulse I O cassette Signal name I O No CH8 CH9 CHA CHB Count input Single phase input X100 X101 X200 X201 2 phase...

Страница 37: ...n F0 operations such as the software reset of the high speed counter and disabling enabling the count can be performed When controlling the above functions using external inputs arbitrary inputs can be allocated The following program is for performing the software reset of CH0 using the input X7 4 1 Confirming I O Allocation WUME FPXHPOSG 01 4 7 ...

Страница 38: ...condition that the FPWIN GR7 has already started 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 will be displayed 3 Select the axes to be used and the usage and press the OK button 4 2 Settings in Configurator PMX 4 8 WUME FPXHPOSG 01 ...

Страница 39: ...ters no 400 to 402 and 407 corresponding to the I O used for the positioning control will be automatically updated REFERENCE 4 3 System Register Settings 4 2 2 Setting Parameters Use the Configurator PMX to allocate the most fundamental parameters for positioning control such as the motor rotation direction pulse output method CW CCW and Pulse Sign home input limit input logic and positioning cont...

Страница 40: ...the elapsed value is increased when Sign output turns on When selecting CW CCW mode CW direction Select this setting for the case that the elapsed value is increased at the time of CW output CCW direction Select this setting for the case that the elapsed value is increased at the time of CCW output Startup speed 100 pps Set the startup speed common to each operation This setting is common to JOG o...

Страница 41: ...d 100 pps Setting range 1 to 100 000 Deviation counter clear time 1 ms Setting range 1 to 100 Coordinate origin 0 pulse When the home return method is Data set method specify a coordinate origin Setting range 1 073 741 824 to 1 073 741 823 For the interpolation control the range is as follows Setting range 8 388 608 to 8 388 607 JOG operation JOG acceleration time 0 ms Setting range 0 to 10 000 JO...

Страница 42: ...etween each table Also the dwell time setting is invalid for the P point control For interpolation 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 co...

Страница 43: ...ombined with E point control of the next step as a pair and the settings should be input in two rows Table numbers and activation 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 ...

Страница 44: ...eused between projects 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 parameters and positioning data tables will be saved in a file with a pmx extension When export is executed information on the positioning data tables will be saved along with parameters set in the parameter s...

Страница 45: ...lect File Save changes and exit from the menu bar of the Configurator PMX 2 When Do you save the setting appears press Yes Y 3 Select Online Download To PLC Entire project from the FPWIN GR7 menu bar Positioning data will also be downloaded to the control unit along with information on programs comments and system registers 4 2 8 Writing Parameters to Unit 2 Information on parameters that have bee...

Страница 46: ...e 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 appears 4 Press the Yes button to switch the operation mode 4 2 Settings in Configurator PMX 4 16 WUME FPXHPOSG 01 ...

Страница 47: ... 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 When the settings are saved in the Configurator PMX the system registers corresponding to the I O used for the positioning function will be automatically set Change the se...

Страница 48: ... CH2 CH3 CH4 CH5 Note 1 Displayed items vary according to models Note 2 Select Normal input and Normal output for the input and output that is not used for the pulse output function or high speed counter function Note 3 J point positioning start input for each channel can be selected only when Table setting mode is set in the system register no 407 Settings when using table setting mode Relay outp...

Страница 49: ...o models Note 2 Select Normal input and Normal output for the input and output that is not used for the pulse output function or high speed counter function Note 3 J point positioning start input for each channel can be selected only when Table setting mode is set in the system register no 407 4 3 System Register Settings WUME FPXHPOSG 01 4 19 ...

Страница 50: ...ion 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 H401 Specify the axis information area of CH5 H501 Specify the axis information area of CH5 S2 Starting address of ...

Страница 51: ...4 4 Reading Elapsed Values WUME FPXHPOSG 01 4 21 ...

Страница 52: ... MEMO 4 22 WUME FPXHPOSG 01 ...

Страница 53: ... 12 5 4 Positioning Control 5 16 5 4 1 Types of Positioning Control 5 16 5 4 2 E point Control Single Speed Positioning 5 17 5 4 3 P point Control Double Speed Positioning 5 18 5 4 4 C point Control 5 20 5 4 5 J point Control JOG Positioning 5 22 5 4 6 J point Control JOG Positioning Speed Changes 5 23 5 4 7 Programming Cautions 5 26 5 5 Repeat Operation 5 28 5 5 1 Overview of Repeat Operation 5 2...

Страница 54: ...of Configurator PMX Limit stop Limit stop deceleration time Once an over limit input and over limit input Y80 to Y8B turns on an active operation will stop and the pulse outputs of corresponding channels will stop Performs a deceleration stop in the limit stop deceleration time specified in the positioning parameter settings Decelerati on stop Deceleration time Once a deceleration stop contact Y58...

Страница 55: ...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 completion of the pulse output during deceleration Elapsed value area Current value...

Страница 56: ...e signal 200ms JOG operation target speed 20 000 Operations of each contact The BUSY flags X28 to X2D 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 X30 to X35 which indicate the completion of operation will turn ON when the current operation is completed and they will be held until th...

Страница 57: ...tarts CH No 0 JOG forward operation starts R3 K0 F381 JOGST K0 R4 K0 F381 JOGST K1 R3 R4 Operation at over limit input Conditions Direction Limit status Operation 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 s...

Страница 58: ...ge a target speed during the JOG operation The target speed is changed by rewriting the positioning memory using a user program Operation diagram t ms f Hz 20 000Hz 1 000Hz 100ms 10 000Hz 20 000 10 000 Rewriting the target speed Approx 100ms Approx 100ms Instruction start condition Busy signal Operation done signal JOG operation target speed Operations of each contact The BUSY flags X28 to X2D whi...

Страница 59: ...ation is obtained by the following formula Speed variation JOG operation target speed Startup speed JOG acceleration time or JOG deceleration time Settings Item Setting example Axis setting area Startup speed 1 000 Hz JOG operation acceleration time 100 ms JOG operation deceleration time 200 ms JOG operation target speed 20 000 Hz 10 000 Hz Configurator PMX settings Sample program The execution co...

Страница 60: ...tion The value of JOG operation target speed in the axis setting area is constantly monitored while the operation is being executed When the target speed is changed it will be changed with the same acceleration The speed change is executed after the completion of acceleration deceleration The speed range in which the JOG operation can be set is 50Hz to 100kHz When setting a value smaller than 50 H...

Страница 61: ...n will be automatically reversed and the home return operation will continue This method is used for performing the home return with the near home switch only DOG method 3 Limit Home switch Home return creep speed Target speed Home return deceleration time Limit Near home Home return direction The leading edge of the first home input in the home return direction set as a home position after the de...

Страница 62: ...tion after the detection of the leading edge of the near home switch The starting point is between the near home switch and limit switch The starting point is between the near home switch and limit switch The starting point is on the near home switch Limit switch Home switch Target speed Home return creep speed Home return creep speed Home return creep speed Target speed Target speed Target speed ...

Страница 63: ... 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 Limit switch Limit switch Near home switch Home return direction The starting point is between the near home switch and limit switch The starting point is between the near home switch and limit switch The starting point...

Страница 64: ...ddresses and settings of positioning memory refer to 11 3 Positioning Memory 5 3 3 Settings and Operations of Home Return The parameters for home return operations are specified in the positioning parameter setting menus of Configuration PMX When the home return start instruction F382 ORGST is executed the pulse output will start and the home return operation will be performed In the following exa...

Страница 65: ...tting area of the positioning memory The home return done flags X48 to X4D which indicate the completion of home return operation will turn ON when the current operation is completed and they will be held until any operation of the positioning control JOG operation and home return operation starts The timing of turning ON the flags is on the completion of the home return Settings Item Setting exam...

Страница 66: ...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 limit input ON Automatic reverse operation Note 4 Note 1 Only when an edge signal is detected the limit stop is performed Note ...

Страница 67: ...ith situations Limit stops or Error occurs Example When the limit input is enabled during deceleration after near home detection the over limit stop is performed without reverse operation 5 3 Home Return WUME FPXHPOSG 01 5 15 ...

Страница 68: ...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 specified as a dwell time J point contro l No speed change This refers to control which passes t...

Страница 69: ...peed during J point control set the target speed after the change in the positioning parameter dialog box 5 4 2 E point Control Single Speed Positioning The parameters for position control operations are specified in the positioning parameter setting menus and data tables of Configurator PMX When the positioning table start instruction F380 POSST or positioning simultaneous start instruction F383 ...

Страница 70: ...p speed 1 000 Hz Table area Table number Table 1 Control method Increment mode Operation pattern E point control End point control Positioning acceleration time 100 ms Positioning deceleration time 200 ms Positioning target speed 20 000 Hz Positioning movement amount 100 000 pulse Dwell time 50 ms Configurator PMX settings Sample program The execution condition is differential execution For detail...

Страница 71: ... when the operation completes The operation done flags X30 to X35 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 Settings Item Setting example Axis setting area Startup speed 1 000 Hz Table area Table number Table 1 Table 2 Control method Increment...

Страница 72: ...d data tables of Configurator 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 ...

Страница 73: ...Setting example Axis setting area Startup speed 1 000 Hz Table area Table number Table 1 Table 2 Control method Increment mode Increment mode Operation pattern C point control Continuance 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 100...

Страница 74: ... 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 X28 and X29 will turn ON when the operation starts and turn OFF when the operation is completed The operation done flags X30 and X31 which indicate the comple...

Страница 75: ...fferential execution For details of instructions refer to 7 Instruction References 5 4 6 J point Control JOG Positioning Speed Changes In the J point control the speed can be changed while controlling the speed after the start After starting the J point control the unit operates at the speed specified in the positioning parameters of Configurator PMX The speed changes when the J point control spee...

Страница 76: ...n operation starts The target speed will be changed when the J point speed change contacts Y60 and Y61 turn ON The change will be enabled at the edge where the contact turns ON Positioning control will start when J point positioning start contacts X0 and X1 turn ON Characteristics of acceleration deceleration zone when changing speeds The speed of speed change zone changes for each scan when chang...

Страница 77: ...e 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 Sample program The execution condition is differential ex...

Страница 78: ...nt E point control with positions specified after J point control is implemented Speed control is performed while the positioning unit is in J point control in which case be sure to input the amount of movement for positioning with a value that can secure a target constant speed area 5 4 7 Programming Cautions Programming cautions The last table should be set to E End point If any value such as a ...

Страница 79: ...e Error occurs Over limit input ON Not executable Error occurs When each control is performed Forward Over limit input ON Limit stops Error occurs Over limit input ON Limit stops Error occurs Reverse Over limit input ON Limit stops Error occurs Over limit input ON Limit stops Error occurs 5 4 Positioning Control WUME FPXHPOSG 01 5 27 ...

Страница 80: ...at 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 diagram Setting operation on the tab...

Страница 81: ...function 5 5 2 Settings and Operations of Repeat Operation The parameter for the repeat count is specified in the positioning parameter setting menus of Configurator PMX When the positioning table start instruction F380 POSST or positioning simultaneous start instruction F383 MPOST is executed the pulse output will start After starting the instruction the unit executes the pulse output for a speci...

Страница 82: ...ddle of the repeat operation Settings Item Setting example Common area Axis setting Turn ON the single axis setting for an appropriate axis Positioning repeat count 3 Axis setting area Pulse output control code Set in accordance with system configuration Startup speed 1 000 Hz Table area Table number Table 1 Table 2 Control method Increment mode Increment mode Operation pattern P point control Pas...

Страница 83: ...When setting the repeat function the operation at the time of deceleration stop varies as follows Operation at the time of deceleration stop Repeating E point control When the unit detects a deceleration stop the unit will come to a stop after repeating positioning control N 2 times However the unit will stop the control when reaching the set repeat count 5 5 Repeat Operation WUME FPXHPOSG 01 5 31...

Страница 84: ...trol N 1 times However the unit will stop the control when reaching the set repeat count When a system stop is executed the unit will stop the pulse output immediately without repetitive operations When an emergency stop is executed the unit will stop the pulse output after a specified emergency stop setting time without repetitive operations 5 5 Repeat Operation 5 32 WUME FPXHPOSG 01 ...

Страница 85: ...Not available Operation pattern E point control P point control E point control C point control E point 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 execut...

Страница 86: ... 1 BUSY flag of axis 2 Start Condition Operations of each contact The BUSY flags of axes 1 and 2 X28 and X29 which indicate 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 X30 and X31 which indicate the completion of operation will turn ON when the current operation is completed an...

Страница 87: ...ation 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 7 Instruction References Notes on programming Specify a smaller channel number in the same group for starting the interpolation control If any value such as a movement amount acceleration time deceleration time or target speed is o...

Страница 88: ... MEMO 5 36 WUME FPXHPOSG 01 ...

Страница 89: ... 6 1 2 When Target Speed Startup Speed is Less Than 50Hz 6 2 6 1 3 Operation Patterns and Start Speed Settings 6 3 6 2 Other Characteristics 6 5 6 2 1 Backup of Positioning Memory 6 5 6 2 2 Activation of Each Operation 6 5 6 2 3 Operation When PLC Mode Changes From RUN To PROG 6 5 WUME FPXHPOSG 01 6 1 ...

Страница 90: ...Each operation is performed at each specified target speed regardless of the setting of startup speed 6 1 2 When Target Speed Startup Speed is Less Than 50Hz 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 invalid and the acceleration deceleration operation is not ...

Страница 91: ...peed Home return 1 Startup speed 2 Target speed 3 Creep speed E point control 1 Startup speed 2 Target speed P point control 1 Startup speed 2 P point target speed 3 E point target speed C point control 1 Startup speed 2 C point target speed 3 E point target speed 6 1 Operational Difference Between Parameters WUME FPXHPOSG 01 6 3 ...

Страница 92: ...ration pattern Startup speed setting J point control 1 Startup speed 2 J point target speed 3 J point change speed 4 E point target speed 6 1 Operational Difference Between Parameters 6 4 WUME FPXHPOSG 01 ...

Страница 93: ...it does not transit to other operation even if an instruction to activate the other instruction turns ON Create a program in the user program to confirm the busy signals X28 to X2D 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 executed by turning on the stop signa...

Страница 94: ... MEMO 6 6 WUME FPXHPOSG 01 ...

Страница 95: ...ruction 7 5 7 1 5 F384 PTBLR Positioning Parameter Read Instruction 7 7 7 1 6 F385 PTBLW Positioning Parameter Write Instruction 7 8 7 2 FP X Compatible Instruction Mode Control Instruction 7 10 7 2 1 F171 SPDH Pulse Output Trapezoidal Control 7 10 7 2 2 F171 SPDH Pulse Output Home Return 7 15 7 2 3 F172 PLSH Pulse Output JOG operation 7 19 7 2 4 F174 SP0H Pulse Output Selectable Data Table Contro...

Страница 96: ...V EV DT LD I Constant Index modifier K H S1 S2 S3 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...

Страница 97: ... the system register 7 1 2 F381 JOGST JOG Operation Start Instruction Starts the JOG operation according to the parameters specified in the positioning memory axis setting area Instruction format Operand Operand Settings Setting range S1 Channel number to start the JOG operation Unsigned 16 bit integer 0 to 5 S2 Operating direction Unsigned 16 bit integer 0 Forward 1 Reverse Memory area type that ...

Страница 98: ...needs to be stopped for switching between the forward rotation and reverse rotation In case of changing a speed when the target speed after the change is an out of range value the speed change is not executed and the operation continues Flag operations Name Description R9007 R9008 ER When the area is exceeded at the time of index modification When the S1 value is outside the set range When the S2 ...

Страница 99: ... position method unless the home input is set in the system register The home return operation is started when the home return pattern is set to either DOG method 2 or Data set method even if the home input is not set A self diagnostic error positioning operation error occurs when the set value or the value of the positioning memory axis setting area is abnormal Flag operations Name Description R9...

Страница 100: ... to 20 S 6 CH5 Positioning table number 0 to 20 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 than Pulse output Table setting mode Only wh...

Страница 101: ...storing read data offset address or operation memory area storing the starting address 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...

Страница 102: ...rs and positioning memory area Higher 8 bits channel no H0 to H5 Lower 8 bits Area no H00 Common area H01 Axis information area H02 Axis setting area H03 Positioning table area S2 Operation memory area storing written data n No of written data D Starting address of the positioning memory storing data offset address or operation memory area storing the starting address Note 1 When writing data to t...

Страница 103: ...g If an operand is an out of range value an operation error occurs For details of positioning memory refer to 11 3 Positioning Memory Flag operations Name Description R9007 R9008 ER When the S1 value is outside the set range When the D value exceeds the positioning area specified by S1 When the range of the data written from D exceeds the positioning area specified by S1 When the no of written dat...

Страница 104: ...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 frequency from the initial speed to the maximum speed in the specified acceleration deceleration time At the time of dece...

Страница 105: ... 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 CCW Pulse output when dire...

Страница 106: ...ard off reverse on 3 Incremental PLS SIGN forward on reverse off 10 Absolute CW CCW 12 Absolute PLS SIGN forward off reverse on 13 Absolute PLS SIGN forward on reverse off Output setting 0 Pulse output 1 Calculate only Acceleration deceleration steps 0 30 steps 1 60 steps 2 S 2 S 3 Initial speed Fmin Hz The setting range of the settable maximum speed varies according to the setting of the initial ...

Страница 107: ...s With 60 steps K60 to K32760 Specify in 60 ms increments Note 1 When the time is not specified in 30 ms nor 60 ms increments it will be automatically corrected to the multiple value larger value of 30 ms or 60 ms 4 S 8 S 9 Target value Target value K 2147483648 to K2147483647 pulse 5 S 10 S 11 K0 Set K0 to the last two words of the data table Example of program 7kHz 1kHz 300ms 300ms t f No of out...

Страница 108: ...imum speed Example When the initial speed is 10 Hz the maximum speed is 500 Hz acceleration deceleration time is 1 msec and acceleration 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 specif...

Страница 109: ...ion 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 initial speed to the maximum speed in the specified acceleration deceleration time At the time of deceleration switches the frequency with the same incl...

Страница 110: ...n 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 low byte on the next page to H20 to H27 f t Fmax Fmin Home input Data table settings S S 1 S 2 S 3 S 4 S 5 S 6 S 7 S 8 S 9 Control code Initial speed Fmin Hz Maximum speed Fmax Hz Acceleration deceleration time t ...

Страница 111: ...ime setting 0 Normal 1 Acceleration deceleration timepriority Output setting 0 Pulse output 1 Calculate only 2 S 2 S 3 Initial speed Fmin Hz The setting range of the settable 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...

Страница 112: ...hen 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 speed exceeds the maximum speed the initial speed is corrected to the maximum speed Example When the initial speed is 10 Hz the maximum speed is 500 Hz acceleration deceleration time is 1 msec and acceleration deceleration time priority is specified it ta...

Страница 113: ...be executed when a control active flag corresponding to each channel is ON Select Pulse output for the channel setting corresponding to the system register no 402 By performing the rewriting during RUN while outputting pulses more pulses than the setting may be output For performing the software reset disabling the counting stopping the pulse output or near home processing refer to the F0 MV instr...

Страница 114: ...truction For setting the frequency to 50 kHz or more specify the duty of 1 4 25 Data table settings S S 1 S 2 S 3 S 4 S 5 S S 1 S 2 S 3 Control code Frequency Target value Control code Frequency Operand Settings Description 1 S S 1 Control code Specify the control code by setting the H constant Output method 00 No counting CW Acceleration deceleration steps Frequency range Not used Duty on width 0...

Страница 115: ...e output operation When outputting pulses with the PLS SIGN direction output method pulses will be output approx 300 μs later after the output of direction signal SIGN The characteristics of a motor driver are considered Precautions during programming This instruction cannot be executed when a control active flag corresponding to each channel is ON When describing the same channel in both the norm...

Страница 116: ... LD I Constant Index modifier K H S n 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 target value set in the data table...

Страница 117: ...remental movement amount pulse no 1 Specify Absolute target value absolute value 1 Duty 1 4 25 1 Subtraction counting CCW 2 Addition counting PLS SIGN forward off 3 Subtraction counting PLS SIGN reverse on 4 Addition counting PLS SIGN forward on 5 Subtraction counting PLS SIGN reverse off H 2 S 2 S 2n Frequency n The setting range of the settable maximum speed varies according to the setting of th...

Страница 118: ...Addition counting Positive values Subtraction counting Negative values Absolute Addition counting Values larger than the current value Subtraction counting Values smaller than the current value 4 S 2 n 2 K0 End of table Pulse output stop setting Example of program Operation 1 Starts the pulse output at 1000 Hz from the specified channel ch0 when the execution condition R10 of F174 SP0H instruction...

Страница 119: ...fter the output of direction signal SIGN The characteristics of a motor driver are considered Precautions during programming The control active flag turns ON until the pulse output stops after the execution condition of F174 SP0H instruction has turned ON This instruction cannot be executed when a control active flag corresponding to each channel is ON Select Pulse output for the channel setting c...

Страница 120: ...e Output Linear Interpolation Pulses are output from channel for 2 pulse output in accordance with the parameters in the designated data table so that the path to the target position forms a straight line Instruction format Operand Operand Settings S Starting number of the area in which data tables are registered n 0 or 2 Memory area type that can be specified Operand WX WY WR WL SV EV DT LD I Con...

Страница 121: ...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 Parameters of each axis component calculated due to instruction execution are stored Setting area Operand Settings Description 1 S Control code Specify the control code by setting the H constant 10 Absolute CW CCW Operation mode and ou...

Страница 122: ...Composite speed Maximum speed Fmax Hz 3 S 6 Acceleration deceleration time T ms Acceleration deceleration time ms K constant K0 to K32767 In the case of 0 the pulse output is performed at the initial speed composite speed without acceleration and deceleration 4 S 8 X axis Target value Movement amount K 8388608 to K8388607 When only one axis is activated 1 For the incremental mode set the target va...

Страница 123: ...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 speed composite speed without acceleration and deceleration The acceleration deceleration steps are calculated by the following formula Acceleration deceleration time ms x Initial component speed Hz Example When the set...

Страница 124: ...hin the above range When using this instruction for a purpose for which high accuracy is required confirm the operation using a real machine When describing the same channel in both the normal program and the interrupt program be sure to program not to execute them simultaneously Select Pulse output for the channel setting corresponding to the system register no 402 By performing the rewriting dur...

Страница 125: ...n Error Occurs 8 2 8 2 What to Do If an Error Occurs 8 4 8 2 1 ERR ALM LED Flashes 8 4 8 2 2 What to Do When Positioning Error Occurs 8 5 8 2 3 Motor Does Not Rotate Move Output LED Flashes or is ON 8 7 8 2 4 Motor Does Not Rotate Move Output LED is OFF 8 7 8 2 5 Rotation Movement Direction is Reversed 8 8 WUME FPXHPOSG 01 8 1 ...

Страница 126: ...g input output in Run mode RUN and PROG LEDs flash alternately Operating In abnormal condition ON OFF Flashes Self diagnostic error During operation Operating OFF ON Flashes Self diagnostic error During stop Stop OFF ON ON System watchdog timer has been activated Stop 8 1 2 Operation Mode When an Error Occurs Normally when an error occurs the operation stops For some errors the user may select whe...

Страница 127: ...r no 25 Stop operation when positioning operation error occurs is unchecked only the operation of the axis in which the positioning error occurs stops and the operations of other axes continue 8 1 Self diagnosis Function WUME FPXHPOSG 01 8 3 ...

Страница 128: ... 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 Press the Clear Error Log button to clear the positioning error log 3 Press the Clo...

Страница 129: ...ry except hold type data will be cleared When the positioning error error code 44 occurs the detailed information on the error can be confirmed Press the Positioning errors button to check the error code When an operation error error code 45 occurs the address at which the error occurred is stored in special data registers DT90017 and DT90018 If this happens click on the Operation errors button in...

Страница 130: ...is out of the range 30H JOG operation target speed error The set value of the JOG operation target speed is out of the range 31H JOG operation acceleration time error The set value of the JOG operation acceleration time is out of the range 32H JOG operation deceleration time error The set value of the JOG operation deceleration time is out of the range 41H Table setting error The combination of ta...

Страница 131: ...t LED Flashes or is ON Solution 1 For servo motor Check to make sure the servo on input is set to ON Solution 2 Check to make sure the power supplies for the servo amplifier and motor driver are ON Solution 3 Check to make sure the servo amplifier and motor driver are connected to the unit correctly Solution 4 Check to make sure the settings for the pulse output method CW CCW method or Pulse Sign ...

Страница 132: ...nected to the unit correctly Point to check Check to make sure the CW CCW output or the Pulse Sign output is connected to the pertinent input of the servo amplifier and motor driver Solution 2 Change the pulse output rotation direction of the parameters for each axis and set it to the reverse direction 8 2 What to Do If an Error Occurs 8 8 WUME FPXHPOSG 01 ...

Страница 133: ...tion 9 2 9 1 1 Overview of PWM Output Function 9 2 9 1 2 System Register Settings 9 2 9 1 3 F173 PWMH PWM Output Instruction Frequency Specification 9 4 9 1 4 F173 PWMH PWM Output Instruction Control Code Specification 9 5 WUME FPXHPOSG 01 9 1 ...

Страница 134: ...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 9 1 2 System Register Settings Functions to be used are allocated in the System register settings dialog box The following procedure is explained on the condition that the FPWIN GR7 has already started 1 Select Options System register...

Страница 135: ... CH1 Set the PWM output Y2 and normal output Y3 CH2 Set the PWM output Y4 and normal output Y5 CH3 Set the PWM output Y6 and normal output Y7 CH4 The PWM output cannot be allocated CH5 Relay output type Pulse I O setting PLS PWM Pulse output setting Y100 and Y101 CH0 Set the PWM output Y100 and normal output Y101 Pulse output setting Y200 and Y201 CH1 Set the PWM output Y200 and normal output Y201...

Страница 136: ...ed for PWM output K0 CH0 Y0 K1 CH1 Y2 K2 CH3 Y4 K3 CH4 Y6 Memory area type that can be specified Operand WX WY WR WL SV EV DT LD I Constant Index modifier K H S n Outline of operation The PWM output is performed from a specified output The output is performed when the execution condition is ON The output frequency and duty ratio are specified in the operands S1 1 to S1 3 Precautions during program...

Страница 137: ... details of the allocations of I O and flags refer to Allocation of Memory Areas REFERENCE 11 2 3 When Using PWM Output Function 9 1 4 F173 PWMH PWM Output Instruction Control Code Specification The PWM output is performed according to the set parameters Instruction format Operand Operand Settings S Starting address of the memory area storing the parameters of the PWM output S Specify the control ...

Страница 138: ...ive flag corresponding to each channel is ON The duty may be different from the set ratio according to the load voltage and load current especially in the vicinity of minimum and maximum values The duty can be changed for each scan However the control code cannot be changed during the execution of an instruction When rewriting during RUN is performed during the operation the PWM output stops while...

Страница 139: ... 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 1 kHz and the duty ratio of 50 from CH0 Y0 For details of the allocations of I O and flags refer to Allocation of Memory Areas REFERENCE 11 2 3 When Using PWM Output Function 9 1 PWM output function WUME FPXHPOSG 01 9 7 ...

Страница 140: ... MEMO 9 8 WUME FPXHPOSG 01 ...

Страница 141: ...ite Read Instruction 10 12 10 3 3 F166 HC1S High speed Counter Target Value Match ON Instruction and F167 HC1R High speed Counter Target Value Match OFF Instruction 10 14 10 3 4 Sample Program Positioning Operation With Inverter Single Speed 10 15 10 3 5 Sample Program Positioning Operation With Inverter Double Speed 10 17 10 4 High speed Counter Cam Control Instruction 10 20 10 4 1 F165 CAM0 High...

Страница 142: ...to 32 points to 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 res...

Страница 143: ...e 2 phase Single phase 2 phase CH0 X0 X0 X1 X0 X0 X1 Control Unit input R9110 DT90300 DT90301 DT90302 DT90303 CH1 X1 X1 Control Unit input R9111 DT90304 DT90305 DT90306 DT90307 CH2 X2 X2 X3 X2 X2 X3 Control Unit input R9112 DT90308 DT90309 DT90310 DT90311 CH3 X3 X3 Control Unit input R9113 DT90312 DT90313 DT90314 DT90315 CH4 X4 X4 X5 X4 X4 X5 Control Unit input R9114 DT90316 DT90317 DT90318 DT9031...

Страница 144: ... part 2 R911B DT90344 DT90345 DT90346 DT90347 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 Refer to 1 2 Restrictions on Combinations and Functions Note 3 In the case of the input on the relay output type Control Unit there is no combination of the individual input and the...

Страница 145: ... input on the relay output type Control Unit there is no combination of the individual input and the direction distinction input 10 1 5 Minimum Input Pulse Width For the period T the following minimum input pulse width is required 10 1 Overview of High speed Counter Function WUME FPXHPOSG 01 10 5 ...

Страница 146: ... Min input pulse width Single phase input 2 phase input 10 1 Overview of High speed Counter Function 10 6 WUME FPXHPOSG 01 ...

Страница 147: ...gister No 400 or No 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 ladder edit screen The settings will be downloaded to the PLC together with programs and comments System register relating to high speed counter output Classification N...

Страница 148: ...r Subtraction input X7 X7 To use the external reset input select the reset input of high speed counter CH2 Note 1 Displayed items and ranges vary depending on models of the Control Unit Note 2 Select Not set XX as High Speed Counter for the input that is not used for the high speed counter function 10 2 2 System Register Settings Relay Output Type Functions to be used are allocated in the System r...

Страница 149: ...select a combination with Reset input X102 401 High speed counter setting X200 to X202 CHA Select either Addition input X200 Subtraction input X200 2 phase input X200 X201 Individual input X200 X201 or Direction distinction input X200 X201 You can also select a combination with Reset input X202 CHB Select either Addition input X201 or Subtraction input X201 You can also select a combination with R...

Страница 150: ...CH6 Select either Addition input X6 Subtraction input X6 or 2 phase input X6 X7 CH7 Select either Addition input X7 or Subtraction input X7 Note 1 Displayed items and ranges vary depending on models of the Control Unit Note 2 Select Not set XX as High Speed Counter for the input that is not used for the high speed counter function 10 2 System Register Settings 10 10 WUME FPXHPOSG 01 ...

Страница 151: ...ternal input temporarily 4 When canceling the control executed by the high speed counter instruction F165 CAM0 F166 HC1S F167 HC1R or when clearing the target value match interrupt The control codes once written are held until the next writing The control code written by the F0 MV instruction is written to the special data register DT90052 At the same time it is written to the control code monitor...

Страница 152: ...inputs can be allocated Example of program The following example shows the program for performing the software reset of the high speed counter CH0 using the input X7 For details of the allocations of I O and flags refer to Allocation of Memory Areas REFERENCE 11 2 4 When Using High speed Counter Function 10 3 2 F1 DMV Elapsed Value Write Read Instruction Writes and reads the elapsed value of the h...

Страница 153: ...line 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 Precautions during programming Only F1 DMV instruction can perform the writing The writing cannot be performed by other high level instructions such ...

Страница 154: ...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 In the case of F167 HC1R instruction the output turns OFF from ON Stores the value of S in the target value area when the instruction is executed Clears...

Страница 155: ...t 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 level instructions When describing the same channel in both the normal program and the interrupt program be sure to program not to execute them simultaneously For details of the allocations of I O and flags refer to Allocation of Memory...

Страница 156: ...iption X0 Encoder input R100 Positioning operation is running X5 Operation start signal R101 Positioning operation starts Y0 Inverter operation signal R102 Positioning done pulse R9110 High speed counter CH0 control active flag 10 3 High speed Counter Instruction 10 16 WUME FPXHPOSG 01 ...

Страница 157: ... the inverter operation signal Y0 6 Positioning done pulse 0 5 sec 7 Sets 0 5 sec with 0 1 second timer 10 3 5 Sample Program Positioning Operation With Inverter Double Speed Counts the feedback signals from the encoder with the high speed counter Switches the inverter operation to low speed operation when the count value reaches 4500 The operation of the inverter stops when the count value reache...

Страница 158: ... 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 Comparison instruction Flag R9110 High speed counter CH0 control active flag 10 3 High speed Counter Instruction 10 18 WUME FPXHPOSG 01 ...

Страница 159: ...hes 5000 pulses 5 Sets Y0 inverter operation signal 6 Sets Y1 inverter high speed signal 7 32 bit data comparison instruction R900C turns ON when the elapsed value of the high speed counter CH0 is larger than 4500 pulses 8 Arrival at deceleration point 9 Resets Y1 inverter high speed signal 10 Positioning done pulse 0 5 sec 11 0 1 second timer Sets K5 It is used as 0 5 second timer 10 3 High speed...

Страница 160: ... H S Outline of operation Performs the cam output up to a maximum of 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 r...

Страница 161: ...sed value exceeds the upper limit it returns to 0 When the elapsed value exceeds the positive maximum value it returns to the negative minimum value When subtracte d When the elapsed value falls below 0 it returns to the upper limit When the elapsed value falls below the negative minimum value it returns to the positive maximum value Data table settings Operand Settings Description S S 1 High spee...

Страница 162: ...t values S 6 S 7 is set to 1 16 the cam output is allocated to one word of output device When set to 17 32 it is allocated to two words of output device Refer to the next page for details Note 3 The number of target values specified after S 8 S 9 varies according to the number of target values specified in S 6 S 7 Note 4 The upper limit of the data table end is valid only when the upper limit cont...

Страница 163: ...ng The high speed counter control active flag corresponding to the specified channel turns ON until the execution of the high speed counter control instruction F0 MV is cleared after the execution condition of the F165 CAM0 instruction has turned ON When the high speed counter control active flag is on the high speed counter control instruction F165 CAM0 F166 HC1S F167 HC1R for which the same chan...

Страница 164: ...ut will be the output according to the elapsed value 0 It is also possible to start the interrupt program INTn every time the elapsed value reaches each target value For this operation the activation of the interrupt program should be permitted by the interrupt control instruction ICTL For details of the allocations of I O and flags refer to Allocation of Memory Areas REFERENCE 11 2 4 When Using H...

Страница 165: ... the cam control starts 2 High speed counter instruction active flag The high speed counter instruction active flag turns ON during the execution of the instruction Even when the reset signal exists the execution of the nstruction continues 3 Cam output The output turns ON OFF according the set values 4 Interrupt When the elapsed value reaches the ON set value the interrupt program starts 5 Reset ...

Страница 166: ...FF When it reaches the target value ON set value the interrupt program is started When the elapsed value exceeds the upper limit it returns to 0 The instruction is cleared by the high speed counter control instruction F0 MV Code Value Description a Positive maximum value When the instruction clear is executed the upper limit control is canceled and the counting continues up to the positive maximum...

Страница 167: ...s OFF 3 Cam output The output turns ON OFF according the set values 4 Interrupt In the case of addition when the elapsed value reaches the ON set value the interrupt program is started 5 Clear high speed counter instruction By the high speed counter control instruction F0 MV when the bit 3 of the special data register DT90052 turns ON from OFF the executed F165 CAM0 instruction is cleared Sample p...

Страница 168: ...interrupt program is started When the elapsed value falls below 0 it returns to the upper limit Code Value Description a Upper limit When the high speed counter elapsed value falls below 0 it returns to the upper limit b Elapsed value The control is started from the elapsed value when executed In this example the elapsed value 13000 is preset c Target value 3 OFF set value The cam output is perfor...

Страница 169: ...ut turns ON OFF according the set values 4 Interrupt program activation In the case of subtraction when the elapsed value falls below the OFF set value the interrupt program is started Sample program Code Description 1 High speed counter channel H10 Performs the upper limit control CH0 2 Cam output device type K1 Internal relay R 3 Word number of cam output device K10 4 Specification of the number...

Страница 170: ...alue 3 ON set value K5000 10 Target value 3 OFF set value K11000 11 Upper limit value K15000 12 Presets 13000 as the elapsed value 13 Executes the F165 CAM0 instruction and starts the cam control 10 4 High speed Counter Cam Control Instruction 10 30 WUME FPXHPOSG 01 ...

Страница 171: ...CTL instruction in the 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 ED INT 0 I RET 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 R...

Страница 172: ...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 program is activated When the elapsed value reac...

Страница 173: ...Output Function FP X Compatible Instruction Mode 11 7 11 2 3 When Using PWM Output Function 11 8 11 2 4 When Using High speed Counter Function 11 9 11 3 Positioning Memory 11 12 11 3 1 Configuration of Memory Map 11 12 11 3 2 Common Area Memory Area No 0 11 13 11 3 3 Axis Information Area Memory Area No 1 11 14 11 3 4 Axis Setting Area Memory Area No 2 11 15 11 3 5 Positioning Table Area Memory Ar...

Страница 174: ...annels 50 kHz each Medium speed 2 phase 2 channels 10 kHz each Pulse I O cassette installed C14 Single phase 2 channels 2 phase 1 channel C30 60 Single phase 4 channels 2 phase 2 channels With single phase 2 channels 100 kHz with 2 phase 1 channel 50 kHz With single phase 4 channels 100 kHz with 2 phase 2 channels 10 kHz Uninstallable Pulse output PWM output Control Unit output None Pulse output 1...

Страница 175: ...on deceleration method Linear acceleration deceleration Acceleration time 1 to 10 000 ms Settable by 1 ms 30 to 32760 ms Specify by instruction Acceleration time and deceleration time cannot be set separately Deceleration time 1 to 10 000 ms Settable by 1 ms Number of positioning tables 20 tables for each axis Arbitrary Set by user program Control method Single axis PTP control E point control C p...

Страница 176: ... a running operation Each axis stops in the deceleration time of a running operation Executed by F0 instruction Emergency stop Each axis stops in the deceleration time specified in the positioning parameter Limit stop Each axis stops in the deceleration time specified for the over limit input System stop All axes stop Memory backup Positioning parameters and positioning table data are stored in F ...

Страница 177: ...0 Y80 Y81 X28 Note 4 Y axis Y2 Y3 Y5 Y9 YD X5 Y71 Y82 Y83 X29 CH2 X axis Y4 Y5 YA Y10 X6 Y72 Y84 Y85 X2A Y axis Y6 Y7 YB Y11 X7 Y73 Y86 Y87 X2B CH4 X axis Y8 Y9 Y12 X2 Y74 Y88 Y89 X2C Y axis YA YB Y13 X3 Y75 Y8A Y8B X2D 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...

Страница 178: ...02 X202 Y71 Y82 Y83 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 3 The over limit input and over limit input will be valid when arbitr...

Страница 179: ...T90363 CH4 Y8 Y9 Y12 X2 R9120 DT90364 DT90365 DT90366 DT90367 CH5 YA YB Y13 X3 R9121 DT90368 DT90369 DT90370 DT90371 Linear interpolation Note 1 CH0 X axis Y0 Y1 Y4 Y8 YC X4 DT 90052 bit4 R911C DT90348 DT90349 DT90350 DT90351 Y axis Y2 Y3 Y5 Y9 YD X5 R911D DT90352 DT90353 DT90354 DT90355 CH2 X axis Y4 Y5 YA Y10 X6 R911E DT90356 DT90357 DT90358 DT90359 Y axis Y6 Y7 YB Y11 X7 R911F DT90360 DT90361 D...

Страница 180: ...X102 DT 90052 bit4 R911C DT90348 DT90349 DT90350 DT90351 Y202 X202 DT 90052 bit4 R911D DT90352 DT90353 DT90354 DT90355 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...

Страница 181: ...ware reset input Memory area used Performance specifications Control active flag Elapsed value area Target value area Minimu m input pulse width Maximum counting speed Single phase Addition input Subtraction input High speed CH0 X0 X6 R9110 DT90300 DT90301 DT90302 DT90303 High speed input 5 μs 100 kHz CH1 X1 R9111 DT90304 DT90305 DT90306 DT90307 CH2 X2 X7 R9112 DT90308 DT90309 DT90310 DT90311 CH3 ...

Страница 182: ...ontrols are not performed For details of the performance achieved when these functions are used simultaneously please contact us Control Unit relay output type Control Unit input Channel no Count Input Memory area used Performance Specifications Control active flag Elapsed value area Target value area Minimum input pulse width Maximum counting speed Single phase Addition input Subtraction input CH...

Страница 183: ...90332 DT90333 DT90334 DT90335 6 25μs 100 μs Single phase 2 channels 100 kHz Single phase 4 channels 100 kHz CH9 X101 X102 R9119 DT90336 DT90337 DT90338 DT90339 CHA Note 2 X200 X202 R911A DT90340 DT90341 DT90342 DT90343 CHB Note 2 X201 X202 R911B DT90344 DT90345 DT90346 DT90347 2 phase Phase differential input Individual input direction distinction CH0 X100 X101 X102 R9118 DT90332 DT90333 DT90334 D...

Страница 184: ... 0159 For CH1 0160 to 0189 For CH2 0190 to 0219 For CH3 0220 to 0249 For CH4 0250 to 0279 For CH5 0280 to 0299 Reserved for system 3 Positionin g table area 0300 to 0549 For CH0 250 words for each channel 0300 to 0309 Table 1 10 words for each table 0490 to 0499 Table 20 0500 to 0549 Reserved for system 0550 to 0799 For CH1 250 words for each channel 0800 to 1049 For CH2 1050 to 1299 For CH3 1300 ...

Страница 185: ...address Be sure not to execute writing in the reserved areas for the system 11 3 2 Common Area Memory Area No 0 Available Not available Address Name Default Description R W 0000 Axis setting H0 Stores used channels axes and usage methods Monitor using binary display bit no Settings 0 Not use CH0 0 Use CH0 1 1 Not use CH1 0 Use CH1 1 2 Not use CH2 0 Use CH2 1 3 Not use CH3 0 Use CH0 1 4 Not use CH4...

Страница 186: ... R W 0000 Active or execution done table K0 Stores the monitor values of the positioning table numbers during the execution or on the completion of each channel Stored value 0 20 0001 Repeat count current value 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 operat...

Страница 187: ...02 Startup speed K100 Stores the settings of the startup speed for each operation of 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 directi...

Страница 188: ...eleration time K0 Stores the settings of the acceleration time for the JOG operation of each channel in decimal It indicates the acceleration time from startup speed to JOG operation target speed Setting range 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 operati...

Страница 189: ...eed Control pattern H00 E point control End point control H01 P point control Pass point control H02 C point control Continuance point control H03 J point control Speed point control 0002 Positioning acceleration time K100 Stores the 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 00...

Страница 190: ...27 28 4 30 31 32 33 34 35 36 37 38 5 40 41 42 43 44 45 46 47 48 6 50 51 52 53 54 55 56 57 58 7 60 61 62 63 64 65 66 67 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...

Страница 191: ...Record of Changes Manual numbers can be found at the bottom of the manual cover Date Manual No Record of Changes Oct 2020 WUME FPXHPOSG 01 1st Edition WUME FPXHPOSG 01 ...

Страница 192: ... the high level of reliability and safety Acceptance inspection In connection with the Products you have purchased from us or with the Products delivered to your premises please perform an acceptance inspection with all due speed and in connection with the handling of our Products both before and during the acceptance inspection please give full consideration to the control and preservation of our...

Страница 193: ... MEMO WUME FPXHPOSG 01 ...

Страница 194: ...Panasonic Industrial Devices SUNX Co Ltd 2020 October 2020 WUME FPXHPOSG 01 ...

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