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Sample Program

FP

∑

Positioning Unit

18-6

18.1.2 Positioning for 2 Axes (Linear Interpolation Program)

Unit configuration

An overview of a sample program

This sample program uses the absolute method.
1. The current absolute position is read into the data table reads.
2. The distance from the current position to the target position (4000, 3000) is calculated.
3. The proportions of the X component and Y component included in the distance are calculated
individually.
4. E point control is initiated simultaneously for the X and Y axes, the start up speed and target speed
are output as the respective proportions, and linear interpolation is carried out.
Because an error occurs if a startup is applied to an axis for which the target speed is 0 pps, an internal
flag is used and the startup conditions are specified.

Items to be set for the program

Data

Linear component

X axis component

Y axis component

Target position (absolute)

(X, Y)

X*

Y*

Current position (absolute)

(x, y)

x

y

Movement distance

Lx=X-x Ly=Y-y

startup speed

VS*

target speed

Vt*

Acceleration/deceleration
time

Ac* Acx=Ac

Acy=Ac

For items marked with an asterisk (*), the user may specify any desired value. Other items are handled
through operation in the sample program.

Reference:

Calculation of the linear movement distance

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Содержание FPG Series

Страница 1: ......

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

Страница 3: ...1 7 1 3 1 Restrictions on Combinations Based on Current Consumption 1 7 1 3 2 Restrictions on Unit Installation Position 1 7 1 3 3 Restrictions on the Number of Units Installed 1 7 2 Parts and Specifications 2 1 2 1 Parts and Specifications 2 3 2 1 1 Parts and Specifications 2 3 2 1 2 Operation Status Display LEDs 2 4 3 Wiring 3 1 3 1 Connecting using Connector for a Discrete Wire 3 3 3 1 1 Specif...

Страница 4: ...ensor 3 12 3 6 3 Connection of Near Home Input Signal 3 13 3 6 4 Connection of Over limit Input Signal 3 13 3 6 5 Connection of Positioning control start input Timing Input Signal 3 13 3 7 Connection of Pulse Input 3 14 3 7 1 Line Driver Type 3 14 3 7 2 Transistor Open Collector Type 3 14 3 7 3 Transistor resistor Pull up Type 3 14 3 8 Precausions on Wiring 3 15 4 Confirming the Unit Settings and ...

Страница 5: ...Absolute Counter Works 4 13 4 5 2 Reading Elapsed Value 4 15 4 5 3 Writing Elapsed Value 4 16 5 Power ON and OFF and Booting the System 5 1 5 1 Safety Circuit Design 5 3 5 2 Before Turning ON the Power 5 4 5 3 Procedure for Turning ON the Power 5 5 5 3 1 Procedure for Turning ON the Power 5 5 5 3 2 Procedure for Turning OFF the Power 5 6 5 4 Confirming while the Power is ON 5 7 5 4 1 Checking the ...

Страница 6: ...n Deceleration7 1 7 1 Sample Program 7 2 7 1 1 Increment Relative Value Control Plus Direction 7 2 7 1 2 Increment Relative Value Control Minus Direction 7 4 7 1 3 Absolute Absolute Value Control 7 6 7 2 Flow of P Point Control Operation 7 8 7 3 Operation of the Input and Output Flag Before and After P Point Control 7 12 7 4 Precautions When Creating P Point Control Programs 7 13 7 4 1 Precautions...

Страница 7: ...of the Input and Output Flag at JOG Positioning Operation 9 14 9 4 Operation at Over limit Input 9 15 9 5 Special Mention 9 16 10 Home Return 10 1 10 1 How to Use Home Return 10 3 10 1 1 Return to Home Position by a Home Search 10 3 10 1 2 Home Return Home search invalid mode 10 5 10 2 Sample Program 10 6 10 2 1 Search to home in the Minus Direction 10 6 10 2 2 Search to the home in the Plus Direc...

Страница 8: ...10 25 10 9 Special Mention 10 26 11 Pulser Input Operation 11 1 11 1 Sample Program 11 2 11 1 1 Pulser input operation Transfer multiple 1 multiple setting 11 2 11 1 2 Pulser input operation Transfer multiple 5 multiple setting 11 4 11 2 Sequence Flow for Pulser input operation 11 6 11 3 Action of the I O Flag During Pulser Input Operation 11 9 11 4 Operation at Over limit Input 11 10 11 5 Caution...

Страница 9: ...ration and Programs 14 1 14 1 Precautions Relating to Basic Operations of the Unit 14 3 14 1 1 Values of Shared Memory are Cleared When Power is Turned OFF 14 3 14 1 2 Operation When the CPU Switches from RUN to PROG Mode 14 5 14 1 3 Operation Cannot be Switched Once One Operation Has Started 14 6 14 2 Precautions Concerning Practical Usage Methods 14 7 14 2 1 Setting the Acceleration Deceleration...

Страница 10: ...tion after decelerating for home return 15 14 16 Specifications 16 1 16 1 Table of Performance Specification 16 3 16 2 Table of Shared Memory Area 16 6 16 3 Control Code Details 16 7 16 4 Table of I O Flag Allocation 16 9 17 Dimensions and Driver Wiring 17 1 17 1 Dimensions 17 3 17 2 Wiring for Motor Driver 17 4 17 2 1 Panasonic MINAS A Series 17 4 17 2 2 Panasonic MINAS S Series E Series 17 5 17 ...

Страница 11: ...18 1 Sample Program 18 3 18 1 1 Positioning Program for 1 Axis 18 3 18 1 2 Positioning for 2 Axes Linear Interpolation Program 18 6 Record of Changes ...

Страница 12: ......

Страница 13: ...e indicate the direction in which the motor is rotating with CW referring to clockwise rotation and CCW to counterclockwise rotation CW CCW output method 2 pulse output method This is a method in which control is carried out using two pulses a forward rotation pulse and a reverse rotation pulse With the FP positioning unit this is specified using the control codes of the shared memory according to...

Страница 14: ...this format Open collector output This is one output format used in pulse output signal circuits enabling to make connections in accordance with the voltage of the power supply being used by connecting an external resistance This is used when connecting a driver that does not have line driver input such as a stepping motor JOG operation This refers to an operation in which the motor is rotated onl...

Страница 15: ...reduces the effects of the noise Home input This refers to input of the reference position used for positioning and is connected to the Z phase signal of the servo motor driver or to an external input switch and sensor Near home input In order to stop the table at the home position a position called the near home position is specified at which deceleration begins This is connected to an external i...

Страница 16: ...ack pulse input This counts the feedback pulse from the encoder 2 phase input direction distinction input and individual input can be handled 2 phase input method This counts the signal of 2 pulses in the different phase A phase B phase When A phase preceeds B phase the motor is rotated clockwise count increment and when B phase preceeds A phase the motor is rotated counter clockwise count decreme...

Страница 17: ...Chapter 1 Functions of Unit and Restrictions on Combination ...

Страница 18: ...Fanctions of FP Σ Positioning Unit FPΣPositioning Unit 1 2 ...

Страница 19: ...n be controlled through the combination of a servo motor and a stepping motor with a driver using the pulse train input method Positioning control using a stepping motor Positioning control using a servo motor 1 axis and 2 axis types are available Multiple axes up to 2 axes can be controlled with a single unit 1 axis type 2 axis type ...

Страница 20: ... number Product number 1 axis type Transistor output type FPG PP11 AFPG430 2 axis type Transistor output type FPG PP21 AFPG431 1 axis type Line driver output type FPG PP12 AFPG432 2 axis type Line driver output type FPG PP22 AFPG433 Note Connector for a discrete wire is attached with a unit 1 each for 1 axis and 2 axis types Reference Refer to 3 1 1 for the attached connectors 1 1 3 Combination wi...

Страница 21: ...d in combination for connections between the driver and external output such as servo ON signals Number of output pulses counted by internal high speed counter The number of pulses output is counted as an absolute value by an internal high speed counter which counts them as the elapsed value Counting range 2 147 483 648 to 2 147 483 647 signed 32 bit Note If the elapsed value exceeds the maximum m...

Страница 22: ...e it waits for further instructions The memory area which receives that transferred data is called the shared memory of the positioning unit This area is used for various types of control including E point control P point control JOG operation JOG positioning operation home return home search and pulser input operation and a separate shared memory area is provided for each of the axes Initiating c...

Страница 23: ...y unit with a sufficient capacity should be used Part number Product number Current consumption at 5 V DC FPG PP11 AFPG430 150mA FPG PP21 AFPG431 220mA FPG PP12 AFPG432 150mA FPG PP22 AFPG433 220mA 1 3 2 Restrictions on Unit Installation Position Up to 4 of the positioning units can be installed to the left of the FP Control Unit Installing to the right is unavailable 1 3 3 Restrictions on the Num...

Страница 24: ...Fanctions of FP Σ Positioning Unit FPΣPositioning Unit 1 8 ...

Страница 25: ...Chapter 2 Parts and Specifications ...

Страница 26: ...Parts and Specifications FP Positioning Unit 2 2 ...

Страница 27: ...s 2 3 2 1 Parts and Specifications 2 1 1 Parts and Specifications Operation status display LEDs These display operation conditions User interface connector for 1 axis 2 axis This connector is used to connect a motor driver or external interface ...

Страница 28: ...nter clear signal output display Output ON Output OFF DOG Near home status display 2 ON OFF Z Home input status display 2 ON OFF PA Pulse input A signal display 3 Displays the input status of the pulse inupt A signal PB Pulse input B signal display 3 Displays the input status of the pulse inupt B signal ERR Setting value error or Limit input error Setting value error Setting value normal Note 1 Th...

Страница 29: ...Chapter 3 Wiring ...

Страница 30: ...Wiring FP Positioning UNit 3 2 ...

Страница 31: ...rea Insulation thickness Rated current AWG22 0 3mm 2 1 5 to 1 1 dia 3A AWG24 0 2mm 2 Discrete wire connector attached with a unit Manufacturer Component parts Unit type and required quantit 2 axis type 4 axis type Panasonic Electric Works SUNX Co Ltd Housing 40P 1 pc x 1 1 pc x 2 Semi cover 40P 2 pcs x 1 2 pcs x 2 Contact for AWG22 and AWG24 5pin 8 pcs x 1 8 pcs x 2 1 connector set and 2 connector...

Страница 32: ...wire s insulation saving labor Procedure 1 Bend the contact back from the carrier and set it in the pressure connection tool 2 Insert the wire without removing its insulation until it stops and lightly grip the tool 3 After press fitting the wire insert it into the housing 4 When all wires has been inserted fit the semi cover into place ...

Страница 33: ...terminal performace is different but the input terminal and the power supply terminal are in the same specifications Output terminals Transistor Output type Pin number 1 axis 2 axis Circuit Signal name Item Description A1 A10 Pulse output A 5V DC output Output format Open collector B1 B10 Pulse output A Open collector Operating voltage range 4 75 V DC to 26 4 V DC A2 A11 Pulse output B 5V DC outpu...

Страница 34: ...e range 4 75 V DC to 26 4 V DC Max load current 10mA B7 B16 Deviation counter clear Output Specifications ON Max voltage drop 1V Note The deviation counter clear signal is output when the power supply is turned ON about 1ms and when the Home Return is complete Its ON time can be selected using the Control code of the shared memory from 1ms factory setting to 10ms Power supply terminals and Earth t...

Страница 35: ...me input DOG Min ON voltage current Near home input DOG 19 2V DC 5 0mA Over limit input Limit Over limit input Limit Positioning control start input timing input 19 2V DC 2 6mA A6 A15 Over limit input Limit Max OFF voltage current 2V DC 1 5mA B6 B15 Over limit input Limit Input impedance Near home input DOG Approx 3 6kΩ Over limit input Limit Over limit input Limit Positioning control start input ...

Страница 36: ...Wiring FP Positioning UNit 3 8 Note Please use under the specifications for pulse input A B signal 2 phases input method Direction distinction input method Individual input method ...

Страница 37: ...age It is then supplied to the various internal circuits as a power supply for internal circuit drive of the pulse command output pin 3 3 1 Line Driver Output Type 3 3 2 Transistor Output Type The power supply for the pulser command output circuit can be taken from the 5V DC out put pins pin No A1 A2 A10 and A11 Note When open collector pulse output Transistor output is used the value of 15 mA per...

Страница 38: ...lect and connect one or the other depending on the interface of the motor driver being used Note We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables to be used 3 4 1 Line Driver Output type 3 4 2 Transistor Output Type Note A value of 15 mA per signal should be used as a guide If exceeds this resistance should be adde...

Страница 39: ... connection of the counter clear input to the servo motor driver An external power supply 5 V DC to 24 V DC must be provided for the connection Note Always use twisted pair cables for wiring The Current which can be conducted as the deviation counter clear output signal is 10 mA max If 10 mA is exceeded resistance should be added ...

Страница 40: ...Line driver output or Transistor output of the motor driver or to an external switch and sensor Note We recommend using twisted pair cables as the wiring between the positioning unit output and the motor driver or twisting the cables used 3 6 1 Connection of Home Input When connecting to motor driver Z phase output 3 6 2 Connection of Home Input When connecting to an external switch sensor ...

Страница 41: ...iming input 3 6 4 Connection of Over limit Input Signal Note No B4 and B13 are common for the Near home input Over limit input Over limit input and Positioning control start input Timing input 3 6 5 Connection of Positioning control start input Timing Input Signal Note No B4 and B13 are common for the Near home input Over limit input Over limit input and Positioning control start input Timing inpu...

Страница 42: ...ame pulse input terminal is used for Pulser input operation and Feedback pulse count so it is used for either Note We recommend using twisted pair cables for connections or twisting the cables used When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the control code to prevent counting er...

Страница 43: ...he Transistor output type and the motor driver and between the Line driver output type and the motor driver Signals applicable Transistor output Line driver output Deviation counter clear output Output type Product number Wiring length AFPG 430 Transistor output type AFPG 431 AFPG 432 Line driver output type AFPG 433 10m ...

Страница 44: ...Wiring FP Positioning UNit 3 16 ...

Страница 45: ...Chapter 4 Confirming the Unit Settings and Design Contents ...

Страница 46: ...Confirming the Unit Settings and Design Contents FP Positioning Unit 4 2 ...

Страница 47: ...t method With this method pulse output signals for motor drive signals that determine the rotation speed of the motor and signals that determine the rotation direction of the motor are output Pulse signals pulses are output from the pulse output A pin while signals that determine the rotation direction signs are output from the pulse output B pin CW CCW output method With this method pulse output ...

Страница 48: ...sitioning Unit 4 4 4 1 3 Setting the Shared Memory Control Code Relationship with Rotation Direction Pulse Sign mode Common memory Control code Higher The 9th bit The 8th bit 0 0 Pulse Sign mode Common memory Control code Higher The 9th bit The 8th bit 0 1 ...

Страница 49: ...e Common memory Control code Higher The 9th bit The 8th bit 1 0 CW CCW mode Common memory Control code Higher The 9th bit The 8th bit 1 1 Note The direction of rotation varies depending on the wiring the motor driver settings the position command value in the program and other factors ...

Страница 50: ...pe FP automates occupied I O area when attached with a unit Not necessity for a setup The I O area allocation is decided depending on an installation and its configuration is as follows I O No Type Points allocated using the tool software Axis Slot 0 Slot 1 Slot 2 Slot 3 Input 16 points X100 to X10F WX10 X180 to X18F WX18 X260 to X260F WX26 X340 to X34F WX34 1 axis type Output 16 points 1st axis Y...

Страница 51: ...al X10C X10C X11C X_D Timing input monitor TIMM Monitor flag of JOG positioning timing X10D X10D X11D X_E Set value error SERR ON when a set value error occurs X10E X10E X11E X_F Limit error LERR ON when Over limitinput is made during operation or at startup X10F X10F X11F 1 This goes ON during pulse output in various operations such as E point control P point control home return JOG operation JOG...

Страница 52: ...ated Y104 Y104 Y114 Y_5 Forced stop EMR When turned ON in the user program operations currently running are interrupted and forcibly terminated Y105 Y105 Y115 Y_6 Deceleration stop DCL When turned ON in the user program operations currently running are interrupted and decelerate to a stop Y106 Y106 Y116 Y_7 Pulser input enabled PEN When turned ON in the user program pulser input is enabled valid o...

Страница 53: ... 3 1 Increment relative value control The position command value is normally specified as the relative position from the current position using a number of pulses Example Travels from the current position to a position 5 000 pulses away 5000 pulses is set as the position command value and travel is carried out 2000 pulses is set as the next position command value and travel is carried out ...

Страница 54: ...is normally specified as the absolute position from the home position using a number of pulses Example If the unit is 15 000 pulses away from the home position it travels 5 000 pulses 20000 pulses is set as the position command value and travel is carried out 18000 pulses is set as the next position command value and travel is carried out ...

Страница 55: ... acceleration and deceleration take place at a constant percentage S acceleration deceleration is carried out along an S shaped curve When acceleration or deceleration is first begun the speed is relatively slow and gradually increases When the acceleration or deceleration has been almost completed the speed slows once again This results in comparatively smooth movement Sin curve Secondary curve C...

Страница 56: ...ear acceleration deceleration When the code is H2 increment method S acceleration deceleration Sin curve When the code is H3 absolute method S acceleration deceleration Sin curve When the code is H1002 increment method S acceleration deceleration Secondary When the code is H1003 absolute method S acceleration deceleration Secondary When the code is H2002 increment method S acceleration deceleratio...

Страница 57: ...as teaching during JOG operation Using the comparison relay output function external output can be obtained in response to the count value through the user program How the internal absolute counter operates When the power supply is turned OFF the counter value is set to zero 0 When the table returns to the home position by a home return the counter value automatically becomes zero 0 The counter va...

Страница 58: ...eeds the maximum or minimum value it returns to the minimum maximum value Pulse output does not stop if this occurs and no error occurs Shared memory address in which the counter value is stored Address of shared memory hexadecimal 1st axis 2nd axis Description 10Ah 11Ah 10Bh 11Bh Elapsed value count absolute value Signed 32 bit 2 147 483 648 to 2 147 483 647 ...

Страница 59: ... Explanation n words of the data stored in the shared memory of the unit mounted in the slot specified by S1 are read from the address specified by S2 and are stored in the area of the CPU specified by D Specified addresses Data elapsed values are stored as 32 bit data Address of shared memory hexadecimal 1st axis 2nd axis Description 10Ah 11Ah 10Bh 11Bh Elapsed value count absolute value Signed 3...

Страница 60: ...the CPU area specified by S2 and n in the address specified by D of the shared memory of the unit mounted in the slot specified by S1 at the beginning of the memory area Specified addresses Data elapsed values are stored as 32 bit data Address of shared memory hexadecimal 1st axis 2nd axis Description 10Ah 11Ah 10Bh 11Bh Elapsed value count absolute value Signed 32 bit 2 147 483 648 to 2 147 483 6...

Страница 61: ...Chapter 5 Power ON and OFF and Booting the System ...

Страница 62: ...Turning the Power ON and OFF and Booting the System FP2 positioning Unit 5 2 ...

Страница 63: ...ty circuit Installation of the Over limit switch Safety circuit based on Positioning unit Install Over limit switches as shown above Connect them to Over limit input and Over limit input of the Positioning unit Safety circuit based on external circuit Install the safety circuit recommended by the manufacturer of the motor being used ...

Страница 64: ...on of the Positioning unit with Over limit switches Check to make sure that Over limit switches have been properly installed Checking the procedure settings for turning ON the power supplies Make sure settings have been entered so that power supplies will be turned ON according to the procedure outlined in section 5 3 1 Procedure for Turning ON the Power Checking the CPU mode selection switch Set ...

Страница 65: ...d to the system should be taken into consideration and sufficient care should be taken that turning ON the power does not initiate unexpected movements or operations 5 3 1 Procedure for Turning ON the Power Procedure 1 Turn ON the power supplies for input and output devices connected to the PLC including the power supply for the line driver output or open collector output 2 Turn ON the power suppl...

Страница 66: ...es connected to the PLC including the power supply for the line driver output or open collector output Precautions when rebooting the system The flags of the operation memory are initialized simply by initializing the CPU but the flags of the shared memory for the positioning unit are retained If the positioning unit is operated with data still in the shared memory operation may be carried out bas...

Страница 67: ...ystem configuration example Checking should be carried out in the four general stages described below 5 4 1 Checking the External Safety Circuit Check the safety circuit recommended by the manufacturer of the motor to confirm the power supply cutoff of the motor driver and other functions by turnning ON the CW CCW driving inhibition switch of an external circuit ...

Страница 68: ...ill stop 3 Using the JOG operation check to see if the Over limit switch is functioning properly 5 4 3 Checking the Rotation and Travel Directions and the Travel Distance Procedure 1 Check to see if the directions of rotation and travel are correct using the JOG operation or the automatic acceleration deceleration Points to check The direction of rotation is determined by the driver wiring the set...

Страница 69: ...he home return program and actually carry out a home return to check if near home input produces deceleration Points to check The input valid logic for the home input and near home input is determined by the control codes of the program 3 Using repeated JOG operation and home return operation check to make sure the table stops properly at the home position with no offset Points to check There may ...

Страница 70: ...Turning the Power ON and OFF and Booting the System FP2 positioning Unit 5 10 ...

Страница 71: ...Chapter 6 E Point Control Single Speed Acceleration Deceleration ...

Страница 72: ...otor rotates is set as the plus direction Pulse output diagram Operations of the various flag The pulse output busy flag X100 goes ON when E point control is initiated and goes OFF when pulse output is completed The pulse output done flag X101 goes ON when pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return ...

Страница 73: ...itch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home re...

Страница 74: ...tes is set as the plus direction Pulse output diagram Operations of the various flag The pulse output busy flag X100 goes ON when E point control is initiated and goes OFF when pulse output is completed The pulse output done flag X101 goes ON when pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser...

Страница 75: ... Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operati...

Страница 76: ...t as the plus direction Pulse output diagram Operations of the various flag The pulse output busy flag X100 goes ON when E point control is initiated and goes OFF when pulse output is completed The pulse output done flag X101 goes ON when pulse output is completed and is maintained until the next E point control P point control JOG operation JOG positioning operation home return or pulser input en...

Страница 77: ...ch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home retu...

Страница 78: ... ON in the program the motor of the first axis begins accelerating X100 is a Pulse output busy flag BUSY that indicates that the operation is in progress and X101 is a Pulse output done flag EDP that indicates that the operation is done The EDP flag remains ON until a request for another operation is received Data necessary for settings The following data items must be written to the specified add...

Страница 79: ...e shared memory in advance Step 2 Executing the operations Operation begins when the flag Y100 for E point control is turned ON The control code determines whether S acceleration deceleration or linear acceleration deceleration is used Acceleration is carried out from the startup speed to the target speed and then the speed slows to the startup speed This amount of travel is determined by the posi...

Страница 80: ... when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop 3 This is reset when the power supply is turned OFF This flag is shared among E point control P point control JOG operation JOG positioning operation and home return except for a pulser input enabled operation Pulse output done flag X...

Страница 81: ...irection Limit status Operation Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table not to move Limit error occurs Over limit input ON Table not to move Limit error occurs When E point control is turned ON Reverse Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table stops Limit error occurs During E point control operatio...

Страница 82: ...Automatic Acceleration Deceleration Control E Point Control Single Speed Acceleration Deceleration FP Positioning Unit 6 12 ...

Страница 83: ...Chapter 7 P Point Control Multi Stage Acceleration Deceleration ...

Страница 84: ... 7 2 7 1 Sample Program 7 1 1 Increment Relative Value Control Plus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction Pulse output diagram ...

Страница 85: ...0000 K500 K1 to K4 000 000 The target speed for the first speed should be set to a value larger than the startup speed Acceleration deceler ation time ms K100 K100 K500 K0 to K32 767 Position command value pulse K5000 K15000 K6000 K 2 147 483 648 to K2 147 483 647 Note If the limit error occurs set H0 as the limit input valid logic can be changed Program Precautions concerning the program When Ove...

Страница 86: ...ning Unit 7 4 7 1 2 Increment Relative Value Control Minus Direction For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction Pulse output diagram ...

Страница 87: ...out the Over limit switch connection Set values in sample program example Control parameter setting content 1st speed 2nd speed 3rd speed Range of acceptable settings Control code H80 Note Increment method Linear acceleration deceleration The same as left The same as left Refer to page 16 7 Startup speed pps K500 The same as left The same as left K0 to K4 000 000 Target speed pps K5000 K20000 K500...

Страница 88: ...P Positioning Unit 7 6 7 1 3 Absolute Absolute Value Control For this control the Absolute method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction Pulse output diagram ...

Страница 89: ...without the limit switch connection Set values in sample program example Control parameter setting content 1st speed 2nd speed 3rd speed Range of acceptable settings Control code H81 Note Absolute method Linear acceleration deceleration The same as left The same as left Refer to page 16 7 Startup speed pps K500 The same as left The same as left K0 to K4 000 000 Target speed pps K5000 K20000 K500 K...

Страница 90: ...can be selected for S acceleration deceleration can also be selected The acceleration deceleration time can be specified separately for each travel point When is mounted in slot 0 Operation example When the flag for initiating P point control Y41 is turned ON acceleration deceleration is carried out repeatedly in accordance with the settings When Y101 is set to ON in the program the motor of the f...

Страница 91: ... to be executed In the illustration below the operations and processing of the P point control consists of sections I to III are explained Section I Operation is determined by these five types of data Control code Startup speed Target speed Acceleration deceleration time Position command value Section II and III Operation is determined by these three types of data Target speed Acceleration deceler...

Страница 92: ...of the operation is transferred to the shared memory in advance Step 2 Executing the operation of Section I Operation begins when the flag Y101 for P point control start is turned ON At this point X10A goes ON When X10A goes ON the data for the operation of section II is transferred to the shared memory X10A goes OFF after the data has been transferred ...

Страница 93: ...n X10A goes ON the data for the operation of section III is transferred to the shared memory X10A goes OFF after the data has been transferred Step 4 Executing the operation of Section III When the operation of section II is completed operation shifts to section III Step 5 Completing the operation of Section III Because no data for the next operation is specified during the operation of section II...

Страница 94: ...for P point control and the user must be careful that it does not overlap other control programs Refer to section 7 4 Pulse output busy flag X_O 1 This goes ON with the next scan after P point control has been initiated and goes OFF when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop 3 ...

Страница 95: ...the flag from OFF to ON This flag goes ON when P point control or E point control is initiated It goes ON at the point when the next data can be written Conditions for turning the flag from ON to OFF This flag goes OFF when pulse output is completed after P point control or E point control is initiated It goes OFF when the shared memory write instruction F151 is executed and any type of data is wr...

Страница 96: ...interlock is in effect the E while the E point control program has been point control program cannot be booted if booted and is running the flag X10A changes the P point control program has already resulting in affecting the P point control been booted This prevents E point con program operation trol from affecting P point control ...

Страница 97: ...peration Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table not to move Limit error occurs Over limit input ON Table not to move Limit error occurs When P point control is turned ON Reverse Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table stops Limit error occurs During P point control operation Reverse Over limit in...

Страница 98: ...P Point Control Multi Stage Acceleration Deceleration FP Positioning Unit 7 16 ...

Страница 99: ...Chapter 8 JOG Operation ...

Страница 100: ...rd and reverse rotation using the external switch The direction in which the elapsed value increases as the motor rotates is set as the plus direction Pulses are output as long as the startup flag is ON in the manual mode There are two flags for startup one for forward rotation and another for reverse rotation Pulse output diagram ...

Страница 101: ...it switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be spe...

Страница 102: ... direction in which the elapsed value increases as the motor rotates is set as the plus direction Pulses are output as long as the startup flag is ON in the manual mode There are two flags for start one for forward rotation and one for reverse rotation In the example shown below the selector switch is used to switch between high speed and low speed operation Pulse output diagram ...

Страница 103: ...ower is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the values for the startup speed the target speed or the acc...

Страница 104: ...e first axis begins to turn in the forward direction and accelerates to the target speed When Y103 is turned OFF the motor decelerates and stops Reverse rotation can be carried out in the same way with Y104 being turned ON and OFF X100 is the Pulse output busy BUSY flag that indicates that operation is in progress and X101 is the Pulse output done EDP flag that indicates that operation has been co...

Страница 105: ...is turned ON Reverse The start flag Y104 for reverse rotation is turned ON The control codes determine whether S acceleration deceleration or linear acceleration deceleration is used When the start flag is turned ON acceleration takes places from the startup speed to the target speed for the acceleration deceleration time When the flag is turned OFF deceleration takes place until the startup speed...

Страница 106: ... only the Target speed parameter in the shared memory is overwritten after JOG operation has begun Pulse output diagram Note The target speed change during JOG operation is available only for Linear acceleration deceleration When S acceleration deceleration is selected the target speed changed will be ignored Do not change the target speed during the speed down by turning ON and then OFF Forward J...

Страница 107: ...eceleration time specified by the program serves as the acceleration deceleration time just as it is Acceleration deceleration time 50ms Acceleration rate 90 pps ms 2 Time from the JOG speed of the low speed specification to the JOG speed of the high speed specification Acceleration deceleration time Approx 55 6 ms 3 Time from the JOG speed of the high speed specification to when pulse output stop...

Страница 108: ...tings and Sample Program Example of teaching operation following JOG operation The current position can be determined by reading the counter value stored in the shared memory of the unit after JOG operation has taken place The value read at this time is the data for the absolute value Pulse output diagram ...

Страница 109: ...g the program When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection ...

Страница 110: ...nitiated and goes OFF when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop 3 This is reset when the power supply is turned OFF This flag is shared among E point control P point control JOG operation JOG positioning operation and home return except for pulse input enabled operation Pulse ...

Страница 111: ...t limit Condition Direction Limit status Operation Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table to move Over limit input ON Table to move When JOG operation is turned ON Reverse Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table stops Limit error occurs During JOG operation Reverse Over limit input ON Table stops...

Страница 112: ...n Over limit switch is set in the direction of the elapsed value increment and an Over limit switch in the direction of the elapsed value decrement When a switch is not set in the correct direction The followings might be a cause Check your settings and correct them 1 An Over limit switch or is not set in a correct direction 2 CW CCW output method is set reverse for the connection of the Positioni...

Страница 113: ...Chapter 9 JOG Positioning Operation ...

Страница 114: ...JOG Positioning Operation FP Positioning Unit 9 2 ...

Страница 115: ...us Direction This is a program to start the JOG positioning operation speed control position control from JOG operation by the external switch input The Increment method is used for the travel amount setting and the direction in which the elapsed value increases as the motor rotates is set as the plus direction ...

Страница 116: ...n and is turned OFF when the pulse output is completed X101 the Pulse output done EDP flag is turned ON when the pulse output is completed and remains until any of E point control P point control JOG operation JOG positioning operation home return or pulser input enabled operations is started up The elapsed value is stored in the counter inside the positioning unit as an absolute value ...

Страница 117: ... deceleration Refer to page 16 7 Startup speed pps K500 K0 to K4 000 000 Target speed pps K10000 K1 to K4 000 000 Specify a value larger than the startup speed Acceleration deceleration time ms K100 K0 to K32 767 Position command value pulse K10000 Note 2 K 2 147 483 648 to K2 147 483 647 Note 1 If the limit error occurs set H0 as the limit input valid logic can be changed Note 2 A set value error...

Страница 118: ... the startup speed the target speed or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position and axis numbe...

Страница 119: ...ion This is a program to start the JOG positioning operation speed control position control from JOG operation by the external switch input The Increment method is used for the travel amount setting and the direction in which the elapsed value increases as the motor rotates is set as the plus direction ...

Страница 120: ...n and is turned OFF when the pulse output is completed X101 the Pulse output done EDP flag is turned ON when the pulse output is completed and remains until any of E point control P point control JOG operation JOG positioning operation home return or pulser input enabled operations is started up The elapsed value is stored in the counter inside the positioning unit as an absolute value ...

Страница 121: ...on deceleration Refer to page 16 7 Startup speed pps K500 K0 to K4 000 000 Target speed pps K10000 K1 to K4 000 000 Set a value larger than the startup speed Acceleration deceleration time ms K100 K0 to K32 767 Position command value pulse K 10000 Note 2 K 2 147 483 648 to K2 147 483 647 Note 1 If the limit error occurs set H0 as the limit input valid logic can be changed Note 2 A set value error ...

Страница 122: ...p speed the target speed position command value or the acceleration deceleration time exceed the range of values which can be specified a set value error will occur and operation cannot be initiated The number of the start flag varies depending on the number of axes the unit has and the installation position The specified slot number and shared memory address vary depending on the slot position an...

Страница 123: ...ccordance with the specified data table and the table travels for the value set by the positioning control start input S Acceleration Deceleration can be selected Sin curve Secondary curve Cycloid curve Third curve When is mounted in slot 0 Operation example When the flag for initiating JOG positioning operation is turned ON acceleration deceleration is carried out repeatedly in accordance with th...

Страница 124: ...itioning control start input Timing input is turned ON the pulse for the position command value is output Data necessary for settings As shown below data items must be written to the specified addresses in the shared memory in the order in which operations are to be executed However for repeating the same operation re setting is not necessary When the control code is not changed re setting every s...

Страница 125: ...ns when the flag Y108 for JOG positioning operation is turned ON The control code determines whether S acceleration deceleration or linear acceleration deceleration is used Acceleration is carried out from the startup speed to the target speed and then the speed slows to the startup speed and the table stops This amount of travel is determined by the pulse count for the position command value whic...

Страница 126: ...e pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop 3 This flag is reset when the power supply is turned OFF This flag is shared among E point control P point control JOG operation JOG positioning operation and home return except for a pulser input enabled operation Pulse output done flag X_0 ...

Страница 127: ...ion Limit status Operation Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table not to move Limit error occurs Over limit input ON Table not to move Limit error occurs When JOG positioning operation is turned ON Reverse Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table stops Limit error occurs During JOG positioning ope...

Страница 128: ...always stable enabling the table to stop at the specified very accurately Since each axis is completely independent the high accurate stop is possible even with the multiple axes Role of JOG positioning start flag Y_9 Turn ON this flag in the program so that the JOG positioning operation starts Even if the Positioning control start input Timing input to terminal No B5 or B14 is OFF this can be use...

Страница 129: ...Chapter 10 Home Return ...

Страница 130: ...Home Return FP2 Positioning Unit 10 2 ...

Страница 131: ...uring acceleration the table automatically reverses the direction to check ON near home input and then OFF near home input Then the home return operation is automatically executed When Near home input exists in the direction of home return The table slows down near the near home and stops at the home position When Near home input does not exist in the direction of home return Home return operation...

Страница 132: ...eration starts in the opposite direction of the one specified in the program When the near home return input changes from ON to OFF the table reverses its direction 2 When the near home is detected again the speed slows down from the target speed to the startup speed and the table stops at the home position Note The above operation is also applicable when the speed does not reach the target one be...

Страница 133: ...e input exists in the direction of home The table slows down near the near home and stops at the home position When Near home input does not exist in the direction of home return 1 Home return operation starts in the direction specified in the program The table travels to the position where Over limit position is made Note If the home switch is ON when Home return is requested the unit recognizes ...

Страница 134: ...tion Search to the home position are carried out in the minus direction The direction in which the elapsed value increases as the motor rotates is set as the plus direction The home input is connected to the Z phase output of the motor driver or to an external switch or a sensor Pulse output diagram ...

Страница 135: ... limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operatio...

Страница 136: ...arch to the home position is carried out in the plus direction The direction in which the elapsed value increases as the motor rotates is set as the plus direction The home input is connected to the Z phase output of the motor driver or to an external switch or sensor Pulse output diagram ...

Страница 137: ...er limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are writ ten are used for acceleration deceleration control JOG operation JOG positioning opera...

Страница 138: ...d mode Returns to the home position are carried out in the minus direction The direction in which the elapsed value increases as the motor rotates is set as the plus direction The home input is connected to the Z phase output of the motor driver or to an external switch or sensor Pulse output diagram ...

Страница 139: ...h and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positionin...

Страница 140: ...d mode Returns to the home position are carried out in the plus direction The diretion in which the elapsed value increases as the motor rotates is set as the plus direction The home input is connected to the Z phase output of the motor driver or to an external switch or sensor Pulse output diagram ...

Страница 141: ... not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection The same shared memory areas to which the various control parameters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and...

Страница 142: ...accelerating until the target speed is reached If there is near home input at that point the motor decelerates to the startup speed After deceleration has been completed the motor stops if home input exists Data required for settings The following data must be written to the specified addresses of the shared memory Control code can change the home return direction home input valid logic near home ...

Страница 143: ...eleration deceleration is used When the startup flag is turned ON acceleration takes places for the acceleration deceleration time it takes to reach the target speed and the table moves Step 3 Near home input If there is near home input the speed slows to the startup speed Step 4 Home input After decelerating to the startup speed value the movement unit stops if there is home input ...

Страница 144: ...leration continues without stopping until the startup speed is reached and then the motor continues to rotate at the startup speed until a Z phase signal is input Note When Home return is completed the elapsed value stored in the shared memory is cleared and the deviation counter clear output signal is output for about 1ms at the same time This output time can be changed to about 10ms using the co...

Страница 145: ...ing until the startup speed is reached and then the motor continues to rotate at the startup speed until a home input signal is input Note When Home return is completed the elapsed value stored in the shared memory is cleared and the deviation counter clear output signal is output for about 1ms at the same time This output time can be changed to about 10ms using the control code Note When the home...

Страница 146: ...Home Return FP2 Positioning Unit 10 18 10 4 Action of the I O Flag Before and After a Home Return Operation ...

Страница 147: ...or is used Pulse output busy flag X_0 1 This goes ON with the next scan after home return has been initiated and goes OFF when the pulse output is completed 2 Operation cannot be shifted to any other operation while this signal is ON except for a forced stop and a deceleration and stop 3 This is reset when the power supply is turned OFF This flag is shared among E point control P point control JOG...

Страница 148: ...put switch contact is the a contact If the input sensor goes ON when the home or near home position is detected When the Z phase of the driver is connected 10 5 2 When Input Valid When Power is not Supplied is Specified In cases like that below when power is not being supplied to the input circuit of the unit the Power not supplied control code for the program is selected from the control code tab...

Страница 149: ... the motor rotates in the direction of home return The motor rotates at the startup speed At this time the near home input is already ON due to the Input logic setting The motor stops when the home input is made Example Note Home return is executed at the startup speed When the home input is connected to the Z phase output of the motor driver one switch can not be used as the home input The above ...

Страница 150: ... input switch is once turned ON and then OFF when the home return is started Example of usage method Connection Near home input and home input are connected to the near home input switch Input logic setting Set the control code of the shared memory for the following Home input logic Input Valid when power is not supplied Near home input logic Input Valid when power is supplied ...

Страница 151: ...lt of the input logic and the motor stops Note The near home input should be ON for the time more than the deceleration time The operation of the near home input will not be affected by the signal logic change after the near home input is detected Reference Key Points Practical application of input logic Reverse the logic of the near home input and the home input When the switch is ON the near hom...

Страница 152: ...ve When Home return is turned ON Reverse Over limit input ON Table not to move Limit error occurs Forward Over limit input ON Table stops Limit error occurs During Home return operation Reverse Over limit input ON Table stops Limit error occurs Home Return with home search Condition Direction Limit status Operation Over limit input ON Table to move Forward Over limit input ON Table to move Over li...

Страница 153: ...an Over limit switch is set in the direction of the elapsed value increment and an Over limit switch in the direction of the elapsed value decrement When a switch is not set in the correct direction The followings might be a cause Check your settings and correct them 1 An Over limit switch or is not set in a correct direction 2 CW CCW output method is set reverse for the connection of the Position...

Страница 154: ... unit performs the process in the very high speed so that it starts counting the number of the output pulses within 1µs from when the home input is ON The time is always stable enabling the accurate home return home search operation Since each axis is completely independent the home returns by the multiple axes at the same time are possible for the multiple axis type ...

Страница 155: ...Chapter 11 Pulser Input Operation ...

Страница 156: ...ram 11 1 1 Pulser input operation Transfer multiple 1 multiple setting The rotation direction of the motor in which the elapsed value increases is set as the plus direction and pulse sign is set as the pulse output mode The normal setting system Pulse output diagram ...

Страница 157: ...s are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the target speed is out of the range of possible settings a set value error will occur and pulser input cannot be accepted The number of the startup flag varies depending on the number of axes the pulser i...

Страница 158: ... Pulser input operation Transfer multiple 5 multiple setting The rotation direction of the motor in which the elapsed value increases is set as the plus direction and pulse sign is set as the pulse output mode The normal setting system Pulse output diagram ...

Страница 159: ...ters are written are used for acceleration deceleration control JOG operation JOG positioning operation home return and other types of control These should not be overwritten by other conditions If the target speed is out of the range of possible settings a set value error will occur and pulser input cannot be accepted The number of the startup flag varies depending on the number of axes the unit ...

Страница 160: ...in slot 0 Operation example When the flag which enables pulser input operation is turned ON the motor rotates at the specified speed in conjunction with the pulser operation When Y107 is turned ON in the above program the motor for the first axis waits for pulser input If the pulser is rotated in this state the motor rotates also The pulse output busy flag X100 remains OFF and its status does not ...

Страница 161: ...s sets the system in standby mode for input from the pulser Forward rotation The pulser rotates in the forward direction Reverse rotation The pulser rotates in the reverse direction Forward rotation is the direction in which the elapsed value increases and reverse rotation is the direction in which the elapsed value decreases The direction in which the pulser rotates and that in which the motor ro...

Страница 162: ...ed If the specified multiplication is high and the target speed is low the next pulser input command may be received before the specified pulse output has been completed making it impossible to obtain output of the input number of pulses If this happens the target speed should be changed to an appropriate value Note The pulser input operation and the feedback counter use the same pulse input termi...

Страница 163: ...tput busy flag X_0 The ON OFF status of the pulse output busy flag does not change even if the pulser input enabled flag Y_7 goes ON Pulse output done flag X_1 1 This goes from ON to OFF if E point control P point control JOG operation JOG positioning operation or pulser input operation is completed before pulser input operation 2 This goes from OFF to ON when the pulser input enabled flag Y_7 goe...

Страница 164: ...curs Forward Over limit input ON Table stops Limit error occurs During Pulser input operation Reverse Over limit input ON Table stops Limit error occurs Note Pulse Sign output mode can be started up When the CW CCW output mode is set the limit error will occur If the error occurs solve it using the methods as described below Using the home return function 1 Turn ON the Error clear Y_F of the Over ...

Страница 165: ...that an Over limit switch is set in the direction of the elapsed value increment and an Over limit switch in the direction of the elapsed value decrement When a switch is not set in the correct direction The followings might be a cause Check your settings and correct them 1 An Over limit switch or is not set in a correct direction 2 CW CCW output method is set reverse for the connection of the Pos...

Страница 166: ...put pulses is 25P R 25 pulses per cycle With the 100P R 100 pulses per cycle type four pulses are output per click and operation may not be accurate in some cases A line driver output type is recommended A transistor open collector output type or transistor output type with pull up resistance may be used For detailed information about connection methods section 3 7 ...

Страница 167: ...Chapter 12 Deceleration Stop and Forced Stop ...

Страница 168: ...Deceleration Stop and Forced Stop FP2 Positioning Unit 12 2 ...

Страница 169: ...p input flag varies depending on the number of axes that the unit has and the position in which it is mounted If a deceleration stop or forced stop is triggered the start flag for the various operations must be turned OFF before operation can be restarted This content is common to E point control P point control home return JOG operation JOG positioning operation and pulser input operation ...

Страница 170: ...Deceleration Stop and Forced Stop FP2 Positioning Unit 12 4 Pulse output diagram Deceleration stop operation In progress stop Forced stop operation Emergency stop ...

Страница 171: ...rtant When a deceleration stop has been executed deceleration is carried out based on the acceleration rate determined by the data specified in the shared memory area at that point and continues until the startup speed is reached Following that operation stops If the deceleration stop flag goes ON during deceleration or acceleration deceleration is carried out at the rate of acceleration in effect...

Страница 172: ... in progress is interrupted immediately and pulse output stops 2 This flag is reset when the power supply is turned OFF Pulse output busy flag X_0 1 When the deceleration stop flag goes ON this flag goes OFF when pulse output is completed 2 When the forced stop flag goes ON this flag goes OFF after 1 scan from when the flag has gone ON 3 This flag is reset when the power supply is turned OFF Pulse...

Страница 173: ...ot proceed to the next step following a deceleration stop or a forced stop 12 4 2 Restarting After a Stop When a deceleration stop or forced stop is triggered the start flags for all operations must be turned OFF before operation can be restarted This operation is common to E point control P point control home return JOG operation JOG positioning operation and pulser input operation 12 4 3 Forced ...

Страница 174: ...Deceleration Stop and Forced Stop FP2 Positioning Unit 12 8 ...

Страница 175: ...Chapter 13 Feedback Counter ...

Страница 176: ...Feedback Counter FP2 Positioning Unit 13 2 ...

Страница 177: ...rogram 13 1 1 Detecting Power Swing by Comparing Feedback Count with Elapsed Value For this control the Increment method of travel amount setting is used and the direction in which the elapsed value increases as the motor rotates is set as the plus direction ...

Страница 178: ...s OFF when the pulse output is completed Pulse output done flag X101 goes ON when the pulse output is completed This remains ON until the next operation of either E point control P point control JOG operation JOG positioning operation home return or pulser input operations is started The elapsed value is stored in the counter inside the positioning unit as absolute value ...

Страница 179: ...k counter read the values in H10F H10E for the 1st axis in H11F H11E for the 2nd axis stored in the shared memory The feedback counter is available for every axis When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the control code to prevent counting error Please note that the counter va...

Страница 180: ...r value is cleared when the home return is completed or when the Error clear flag Y_F is ON A special attention is required when using the feedback counter as a general purpose high speed counter When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the control code to prevent counting erro...

Страница 181: ...t Method 2 phase input normal settings Control code Higher side H0 2 phase input reverse settings Control code Higher side H1 Direction distinction input normal settings Control code Higher side H4 Direction distinction input reverse settings Control code Higher side H5 ...

Страница 182: ...Feedback Counter FP2 Positioning Unit 13 8 Individual input normal settings Control code Higher side H8 Individual input reverse settings Control code Higher side H9 ...

Страница 183: ...FP2 Positioning Unit Feedback Counter 13 9 13 4 Feedback Counter Transfer Multiple Function 2 phase input 1 transfer multiple 2 phase input 2 transfer multiple 2 phase input 4 transfer multiple ...

Страница 184: ...ck Counter FP2 Positioning Unit 13 10 Direction distinction input 1 transfer multiple Direction distinction input 2 transfer multiple Individual input 1 transfer multiple Individual input 2 transfer multiple ...

Страница 185: ...Chapter 14 Precautions Concerning the operation and Programs ...

Страница 186: ...Precautions Concerning the Operation and Programs FP Positioning Unit 14 2 ...

Страница 187: ...e set to 0 All of the control codes also return to the default values Note If the start flags are turned ON without writing the data to the memory a set value error may occur and the unit may not operate as expected If a home return is carried out when the power supply is ON write the control codes to the memory before the home return start flag is turned ON If the control codes are not written to...

Страница 188: ...sitioning Unit 14 4 Example Before the power supply is turned OFF the elapsed values of DT100 and DT101 are read and when the power supply is turned ON the contents of DT100 and DT101 are written to the elapsed value area of the unit through DT102 and DT103 ...

Страница 189: ... the pulse output is stopped during the pulser operation Example If the CPU switches from RUN to PROG mode during E point control operation Note At the point at which the CPU switches from the RUN to the PROG mode deceleration and stopping begin The acceleration rate used for deceleration at that point is that determined by the data stored in the shared memory when the switch is made from the RUN ...

Страница 190: ...er operation even if the flag for that operation goes ON Example Once the E point control start flag has gone ON and E point control has begun it is not possible to switch to P point control a home return JOG operation JOG positioning operation or pulser operation even if those flags are turned ON while E point control is still in operation Reference If the flag for a deceleration stop or forced s...

Страница 191: ...ediately without accelerating or decelerating acceleration deceleration Zero operation automatic startup operation the startup speed and acceleration deceleration time should both be set to 0 zero This produces pulse output at the target speed with an acceleration deceleration time of 0 zero Setting the startup speed equal to the target speed results in a set value error and the positioning unit w...

Страница 192: ...Precautions Concerning the Operation and Programs FP Positioning Unit 14 8 ...

Страница 193: ...Chapter 15 Operation if an Error Occurs ...

Страница 194: ...Operation if an Error Occurs FP Positioning Unit 15 2 ...

Страница 195: ...JOG operation If a set value error occurs during P point control operation or during JOG operation or if a limit error occurs during E point control P point control home return JOG operation JOG positioning operation or pulser operation the positioning unit interrupts any operation currently in progress and enters the deceleration stop status Reference When a set value error occurs or a limit erro...

Страница 196: ...unit interrupts any operation currently in progress and enters the deceleration stop status Reference Operation is continued however if Operation has been specified in the system register settings for operation when an error of some kind occurs Deceleration stop operation Reference 12 2 1 Deceleration Stop ...

Страница 197: ... 15 2 Errors Which Occur in the Positioning Unit Itself The positioning unit itself has a function which warns the user of an error if any of the parameters for the Startup speed Target speed and Acceleration deceleration time settings are not appropriate ...

Страница 198: ...ror Error Error Error Error Acceleration deceleration time Error Error position command value Increment JOG operati on position command value Absolute No applicable condition No applicable condition startup speed Error Error target speed Error Error Error Acceleration deceleration time Error Error position command value Increment JOG positio ning operati on position command value Absolute Error Er...

Страница 199: ...nput operation Reverse Note Error Error Operation when above error occurs Operation does not begin Stop 1 Data of this area is not subject to errors 2 When the near home input will not go ON but the Over limit input in the opposite goes ON after the table reversed the direction by the Over limit switch during the home search a limit error occurs Note Pulse Sign output mode can be started up When t...

Страница 200: ... range Range for positioning data setting Type of parameter Allowable setting range Program specifications Startup speed pps 0 to 4 000 000 pps K0 to K4 000 000 Target speed pps 1 to 4 000 000 pps K1 to K4 000 000 Acceleration deceleration time ms 0 to 32 767 ms K0 to K32 767 Points to check 1 Is the value for the startup speed larger than that for the target speed An error occurs if the two value...

Страница 201: ...umber of relay to be used varies depending on the allocations Clearing an error by Error clear signal 1 forced output Procedure 1 Select Forced I O from the menu of the programming tool software 2 Specify the flag Y_F for the forced output 3 Make the target contact once ON and then OFF 4 Cancel the forced status Note Without fail execute forced cancel operation after the forced output The number o...

Страница 202: ...t and the driver has been correctly connected Solution 4 Check to make sure the settings for the pulse output method CW CCW method or Pulse Sign method are appropriate for the driver Check the control code items 15 3 3 If the Motor Does Not Turn or Operate if the LED for pulse output A or B is not lighted Solution Review the program and correct it if necessary Points to check 1 Check to make sure ...

Страница 203: ...utput signal Refer to page 3 9 Solution 2 Check to make sure the control codes in the shared memory match the specifications for the position command values Point to check The settings for the increment relative value control and the absolute absolute value control are specified through the control codes in the program Increment and Absolute Refer to page 4 13 Solution 3 If the settings for the po...

Страница 204: ...down to the startup speed the unit will not stop even if there is home input Solution 1 Try shifting the position of the near home input switch in the direction of the home return and in the opposite direction Point to check If the home input is connected to the Z phase of the servo motor driver there may be cases in which the near home input position is close to the home input Solution 2 Correct ...

Страница 205: ...l source and check to see if the near home input display LED D on the positioning unit lights Solution 2 Check to make sure the input valid logic for the near home input switch is normally either ON or OFF Solution 3 Check the specifications of the control codes in the home return program Control code Refer to page 16 7 Input valid logic Refer to page 10 24 Point to check If no near home input has...

Страница 206: ...ion that input will end up being ignored Solution 1 Forcibly turn the home input sensor ON and OFF from an external source and check to see if the home input display LED Z on the positioning unit lights Solution 2 Check to make sure the input logic for the home input is normally either ON or OFF Solution 3 Check the specifications of the control codes in the home return program Control code Refer ...

Страница 207: ...Chapter 16 Specifications ...

Страница 208: ...Specifications FP Positioning Unit 16 2 ...

Страница 209: ...ge 500 V AC 1 minute Between the various pins of the external connector and the ground Insulation resistance 100MΩ or more measured with 500 V DC testing Between the various pins of the external connector and the ground Vibration resistance 10 to 55 Hz 1 cycle min double amplitude of 0 75 mm 0 030 in 10 min each in the X Y Z directions Shock resistance Shock of 98 m s 2 4 times in the X Y Z direct...

Страница 210: ...earch speed Input terminals Home input Near home input Over limit input Over limit input Home return Output terminals Deviation counter clear output signal Operation mode E point control Linear and S accelerations decelerations selecting possible P point control Linear and S accelerations decelerations selecting possible Home return function Home search JOG operation function 1 JOG positioning fun...

Страница 211: ... About the startup time The startup time is the time from the startup request to the pulse output Particularly in Pulse Sign mode the output waveforms will be as follows since Sign signal should be output before the pulse output 3 Pulser input operation and feedback counter use the same pulse input terminal so the both can not function simultaneously 4 To be supplied to the inside of the unit from...

Страница 212: ...e 1 to 4 000 000 pps Y Y Y Y Y Y 106h 116h 107h 117h Acceleration deceleratio n time Ac ms Acceleration deceleration time Setting range 0 to 32 767 ms Y Y Y Y N N 108h 118h 109h 119h Position command value Pt Pulse Position command value setting Signed 32 bit 2 147 483 648 to 2 147 483 647 Pulse Y Y N Y Only for Incre ment N N 10Ah 11Ah 10Bh 11Bh Elapsed value Pe Pulse Count of elapsed value Absol...

Страница 213: ...gher 16 bit Addresses 101h 111h The lower 16 bit Addresses 100h 110h When counting the 2 phase input such as the input from the encoder set the pulse input transfer multiple to 4 multiple setting x 4 or 2 multiple setting x 2 using the control code to prevent counting error ...

Страница 214: ...eleration method is a linear acceleration deceleration Example 2 The control code when changing the control method to the Absolute method Example 3 The control code when changing S acceleration deceleration to Secondary acceleration deceleration in the Absolute method Example 4 The control code when changing the output method to CW CCW in the Increment method Specifying the Pulse output divide mod...

Страница 215: ...of Over limit input signal X10B X10B X11B X_C Overt limit input LMTM Monitors the flag of Over limit input signal X10C X10C X11C X_D Timing input monitor TIMM Monitors the flag of JOG positioning timing X10D X10D X11D X_E Set value Error SERR ON when a set value error occurs X10E X10E X11E X_F Limit Error LERR ON when Over limit input is made during operation or startup X10F X10F X11F 1 ON during ...

Страница 216: ...4 Y114 Y_5 Forced stop EMR When turned ON in the user program operations currently running are interrupted and forcibly terminated Y105 Y105 Y115 Y_6 Deceleration stop DCL When turned ON in the user program operations currently running are interrupted and decelerate to a stop Y106 Y106 Y116 Y_7 Pulser input enabled PEN When turned ON in the user program pulser input is enabled valid only while ON ...

Страница 217: ...Chapter 17 Dimensions and Driver Wiring ...

Страница 218: ...Dimensions and Driver Wiring FP2 Positioning Unit 17 2 ...

Страница 219: ...Dimensions and Driver Wiring FP2 Positioning Unit 17 3 17 1 Dimensions ...

Страница 220: ...bination with MINAS Motor 17 2 1 Panasonic MINAS A Series When connecting the CW drive disabled and CCW drive disabled input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second axis The above wiring is for the line drive...

Страница 221: ...he CW drive disabled and CCW drive disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second axis The above wiring is for the line driver output type ...

Страница 222: ...ve disabled input and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product ...

Страница 223: ...d input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product ...

Страница 224: ... input the servo ready output and the servo alarm output on the motor driver side the circuits recommended by the various motor manufacturers should be used Numbers in parentheses after the unit side indicate the pin number for the second axis The above wiring is for the line driver output type As of October 2008 this is the end of life EOL product ...

Страница 225: ...Dimensions and Driver Wiring FP2 Positioning Unit 17 9 17 2 6 Oriental Motor UPK W Series Numbers in parentheses after the unit side indicate the pin number for the second axis ...

Страница 226: ...ated products Product name Product number 0 5m AFP85100 Cable for FP2 Positioning unit 1m AFP85101 1m AFP85131 Cable for MINAS AⅢ series 2m AFP85132 1m AFP85141 Cable for MINAS S series 2m AFP85142 Parts and Dimension The asterix below indicates the following AX1 and AX2 AX 3 and AX 4 which you can see at the PWB of the I F terminal both share the same connector slot at the FP2 positioning unit si...

Страница 227: ... and CWL and CCWL signals of the I O terminal are sent to the servo amplifier It can be switched whether the pulse input of the positioning unit is sent to the PA PB of the I O terminal or to the encoder signal output using the feedback input selection pin See the figure above Please connect the shielded cable terminal cable type AFP85100 AFP85101 to the FE terminal at I F terminal When FP2 and th...

Страница 228: ... Pole terminal Manufacture Part No Size Tightening torque AI 0 25 6BU AWG 25 22 0 18 0 33mm 2 AI 0 34 6TQ AWG 24 22 0 20 0 37mm 2 Phoenix Contact Co AI 0 5 6WH AWG 22 20 0 32 0 56mm2 0 22 0 25 N m Insralling the I F terminal Type Part number L mm 1 axis type AFP8503 106 0 2 axis type AFP8504 178 0 ...

Страница 229: ...Chapter 18 Sample Program ...

Страница 230: ...Sample Program FP Positioning Unit 18 2 ...

Страница 231: ...ing 1 and 2 operations will be valid after home return 1 When input X0 is ON the table moves to the absolute position 10000 Positioning 1 2 When input X1 is ON the table moves to the absolute position 0 Positioning 2 3 When input X2 is ON a return to the home position begins If the near home input is not in the return direction a Over limit input is detected and the direction is reversed After the...

Страница 232: ...art R11 Positioning 1 operation command pulse X3 Forward JOG R12 Positioning 1 completed and stored in memory X4 Reverse JOG R13 Positioning 1 done pulse X5 Emergency stop R20 during positioning 2 operation Y100 E point control start R21 Positioning 2 operation command pulse Y102 Home return start R22 Positioning 2 completed and stored in memory Y103 Forward JOG R23 Positioning 2 done pulse Y104 R...

Страница 233: ...FP Positioning Unit Sample Program 18 5 Program ...

Страница 234: ...art up speed and target speed are output as the respective proportions and linear interpolation is carried out Because an error occurs if a startup is applied to an axis for which the target speed is 0 pps an internal flag is used and the startup conditions are specified Items to be set for the program Data Linear component X axis component Y axis component Target position absolute X Y X Y Current...

Страница 235: ...re of X axis Square of DT14 DT20 Movement amount of square of Y axis Square of DT16 DT22 Movement amount of square of X axis movement amount of square of Y axis DT18 DT20 DT24 Linear movement amount DT22 DT26 Movement amount of X axis Linear movement amount DT14 DT24 DT28 Movement amount of Y axis Linear movement amount DT16 DT24 DT30 Control code of X axis H1 Absolute DT32 Startup speed of X axis...

Страница 236: ...uction is used to convert integer data to real number data or real number data to integer data When Over limit switch and Over limit switch are not connected change the limit input valid logic using the control code The default setting is the input existing when the power is not supplied that is is the input existing without the Over limit switch connection ...

Страница 237: ...65E 3 ARCT1F365E 4 SEPT 2002 NOV 2003 AUG 2004 NOV 2008 AUG 2011 First edition Second edition PDF Only Add 17 2 7 MoterDriver I F Terminal Changes Input terminal specification To correct an error Third edition Fourth edition Change in Corporate name Fifth edition Change in Corporate name Fixed Errors ...

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