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7-53

IM 34M6H55-02E

1st Edition : Apr 1, 2002-00

7.2.12 Changing Target Position during Positioning

When the Change Target Position command is issued during a positioning operation, the

module updates the target position and performs positioning to reach the new target

position. Changing the target speed, acceleration or deceleration is not allowed during

the execution of the change target position command.

Conditions for Command Execution:

-  The axis is not in an error state.
-  The axis is not in a jog stepping operation.
-  The axis is not in an origin search operation.
-  The axis is not in a change target position operation.

Note:

- If any of the conditions is not satisfied, the command is ignored and the Command

Execution ACK relay is not set. If the command is issued but not all the conditions

are satisfied, an alarm code is set in the alarm status. The alarm code is

automatically cleared when the Execute Command output relay is reset. For details

on alarm codes, see Section 8.3, “Alarm Codes.”

- If the Change Target Position command is issued in the End-of-Positioning status,

the command is executed the same as a Start Positioning command.

- If the Change Target Position command is issued during acceleration, deceleration

or speed change, the execution of the command is suspended until the axis speed

becomes constant or the axis stops.

- When the Change Target Position command is being executed, no commands other

than Decelerate-and-Stop and Stop Immediately are available.

- If there is an invalid command parameter, an error occurs and the axis stops

immediately.

Procedure:

1. Write the command parameters to the positioning module with the OUTPUT

instruction (set the command code to 7).

2. Set the Execute Command output relay.
3. The Execute Command ACK input relay is set and the Change Target Position

operation begins. Reset the Execute Command output relay after confirming that

the Execute Command ACK input relay is set. If there is an invalid parameter, the

Error Notification input relay will be set but the Execute Command ACK input relay

will not be set.

4. Confirm that the Execute Command ACK input relay is reset.

Содержание F3YP14-0N

Страница 1: ...User s Manual IM 34M6H55 02E Positioning Modules with Multi channel Pulse Output Model F3YP14 0N F3YP18 0N IM 34M6H55 02E 1st Edition Yokogawa Electric Corporation ...

Страница 2: ...ent number and document model code for this manual are given below Refer to the document number in all communications also refer to the document number or the document model code when purchasing additional copies of this manual Document No IM 34M6H55 02E Document Model Code DOCIM Media No IM 34M6H55 02E CD 1st Edition Apr 2002 AR All Rights Reserved Copyright 2001 Yokogawa Electric Corporation ...

Страница 3: ...e attention of the user please contact the nearest Yokogawa Electric representative or sales office Safety Precautions when Using Maintaining the Product The following safety symbols are used on the product as well as in this manual Danger This symbol on the product indicates that the operator must follow the instructions laid out in this instruction manual to avoid the risk of personnel injuries ...

Страница 4: ...ed or impaired In such cases Yokogawa cannot guarantee the quality performance function or safety of the product When installing protection and or safety circuits for this product or the system controlled by it the user should install them outside this product If component parts or consumables are to be replaced be sure to use parts specified by the company If you want to use this product in a sys...

Страница 5: ...er copy of the software for use with each additional computer Copying the software for any purposes other than backup is strictly prohibited Store the original media such as floppy disks that contain the software in a safe place Reverse engineering such as decompiling of the software is strictly prohibited No portion of the software supplied by Yokogawa Electric may be transferred exchanged or sub...

Страница 6: ...ncy stop circuitry using external relays Equipment incorporating the FA M3 must be furnished with emergency stop circuitry that uses external relays This circuitry should be set up to interlock correctly with controller status stop run z z z z Ground for low impedance For safety reasons connect the FG grounding terminal to a Japanese Industrial Standards JIS Class D Ground 1 Japanese Industrial St...

Страница 7: ... to high temperatures take special care storage temperature should be from 20 C to 75 C There is a built in lithium battery in a CPU module and temperature control module which serves as backup power supply for programs device information and configuration information The service life of this battery is more than 10 years in standby mode at room temperature Take note that the service life of the b...

Страница 8: ... F3SP58 IM 34M6P13 01E z z z z For sequence CPU instructions Sequence CPU Modules Instructions IM 34M6P12 03E z z z z For commands and responses of the PC Link function Personal Computer Link Command IM34M6P41 01E For creating programs using ladders FA M3 Programming Tool WideField IM 34M6Q14 01E FA M3 Programming Tool WideField Application IM 34M6Q14 02E z z z z For the FA M3 specifications and c...

Страница 9: ...online manual pay attention to possible inconsistencies with the latest version of the online manual Ensure that the edition agrees with the latest CD ROM version Copying passing selling or distribution including transferring over computer networks of the contents of the online manual in part or in whole to any third party is strictly prohibited Registering or recording onto video tapes and other ...

Страница 10: ...3 1 3 1 Positioning Operation 3 2 3 2 Jog Stepping 3 4 3 3 Contact Inputs 3 5 3 4 Z phase Encoder Input 3 5 3 5 Origin Search 3 5 3 6 Automatic Origin Search 3 7 3 7 Deviation Pulse Clear Signal Output 3 10 3 8 Linear Interpolated Operation 3 11 3 9 Changing Speed during Operation 3 12 3 10 Changing Target Position during Positioning 3 13 3 11 Saving Entry Parameters 3 14 4 Parameters 4 1 4 1 Para...

Страница 11: ...and Stop 7 24 7 1 10 Request to Stop Immediately 7 26 7 1 11 Changing Speed during Operation 7 28 7 1 12 Changing Target Position during Positioning 7 31 7 1 13 Saving Entry Parameters 7 34 7 2 Accessing from a BASIC CPU 7 36 7 2 1 Reading Module Statuses 7 37 7 2 2 Set Parameter 7 38 7 2 3 Reset Error 7 39 7 2 4 Jog Stepping 7 40 7 2 5 Origin Search 7 41 7 2 6 Automatic Origin Search 7 44 7 2 7 S...

Страница 12: ... 9 3 Encoder Z phase Input 9 3 9 4 Deviation Pulse Clear Signal Output 9 4 10 Examples of Connections to Drivers 10 1 10 1 Example of Connection to Oriental Motor Driver 10 2 10 2 Example of Connection to YASUKAWA Electric SII Series Driver 10 3 10 3 Example of Connection to Sanyo Denki PZ Series Driver 10 4 Revision Information i ...

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Страница 14: ... it can come into action quickly and operate in synchronization with peripheral equipment It can output speed reference pulses as fast as 3 998 Mpps for servomotors or 499 75 kpps for pulse driven motors Figure 1 1 Operating Principle of Positioning Module with Multi channel Pulse Output WARNING An external emergency stop circuit should be built in according to the motor manufacturer s recommendat...

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Страница 16: ...nable using a combination of external contact inputs Normal and automatic origin search operations available Origin position search speed User definable within the command speed range External contact input Positive and negative limit inputs home position input encoder Z phase input External contact output Deviation pulse clear signal Data backup Using flash memory or CPU module Startup time 0 09 ...

Страница 17: ... ERR POSIT Connects to external I O devices such as servo motors and limit switches zF3YP14 0N 4 axis module YP14 0N RDY indicator Lit when the internal circuitry is functioning normally ERR indicator Connector for axes 1 to 4 48P RDY ERR POSIT zF3YP18 0N 8 axis module YP18 0N F020401 VSD Lit when an error occurs For details refer to Section 8 2 Error Codes Connector for axes 5 to 8 48P Connects t...

Страница 18: ...2 3 IM 34M6H55 02E 1st Edition Apr 1 2002 00 2 5 External Dimensions Diagram shown above is for the F3YP14 0N module 83 2 28 9 2 1 3 100 F020501 VSD Unit mm ...

Страница 19: ...se output B 12b Axis 7 pulse output B 12a Axis 5 pulse output B 11b Axis 3 pulse output B 11a Axis 1 pulse output B 11b Axis 7 pulse output B 11a Axis 5 pulse output B 10b Axis 3 deviation pulse clear 10a Axis 1 deviation pulse clear 10b Axis 7 deviation pulse clear 10a Axis 5 deviation pulse clear 9b Axis 3 deviation pulse clear GND 9a Axis 1 deviation pulse clear GND 9b Axis 7 deviation pulse cl...

Страница 20: ... External Interface Signals 2 7 Applicable External Interface Connectors Connection Applicable Connector Remarks Soldered FCN 361J048 AU connector FCN 360C048 B connector cover Fujitsu Limited Crimp on FCN 363J048 housing FCN 363J AU contacts FCN 360C048 B connector cover Fujitsu Limited Pressure welded FCN 367J048 AU F Fujitsu Limited Purchase the desired connector kit separately External power 5...

Страница 21: ...e 2 1 Attaching Detaching Modules CAUTION Always switch off the power before attaching or detaching a module CAUTION Do not bend the connector pins on the rear of the module by force during the above operation If the module is pushed with improper force the connector pins may bend causing an error T T T T Detaching Modules To remove the module from the base module reverse the above operation Press...

Страница 22: ... intense vibration environments fasten the module with a screw as described in the table below by screwing it into the threaded hole at the top of the module with a Phillips screwdriver Screws to be used M4 binder screws 12 15 mm long or 14 15 mm long for screws with washer 29FG02 VSD Figure 2 2 Fastening the Module with a Screw ...

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Страница 24: ...encoder signal during an origin search Normal origin search operation Searches for the origin using external contact inputs according to commands issued from a program Automatic origin search operation Automatically searches for the origin using external contact inputs according to the values stored in the entry parameters Deviation pulse clear signal Outputs a deviation pulse clear signal when an...

Страница 25: ...be set independently Figure 3 1 Speed and Acceleration deceleration Time for Trapezoidal trigonometric Curves Figure 3 2 Comparison Between the Theoretical and Actual Behaviors of a Servomotor in Position Control Figure 3 3 Acceleration Deceleration Times when a Startup Speed Is Given Time Speed Target speed Acceleration time Deceleration time Travel Target speed Time Speed Acceleration time Decel...

Страница 26: ...eration Deceleration Times when Using S shape Acceleration Deceleration Target speed Acceleration time Deceleration time Speed Time Target speed Acceleration time Deceleration time Speed Time Actual acceleration deceleration time Actual speed reached F030104 VSD ...

Страница 27: ...e positive direction or negative direction limit value will not be detected no error occurs If the operation range of the positioning module is exceeded however a pulse overflow error occurs The acceleration deceleration curve can be either trapezoidal or of S shape and the acceleration and deceleration times can be set independently Figure 3 5 Jog stepping Operation Positive Direction Trapezoidal...

Страница 28: ...arch mode operation upon detecting external contact inputs Z phase edge selection and other required parameters set the command code to 2 and change the state of the Execute Command output relay from off to on When the positioning module detects a change in the state of a preset external contact input after the start of the origin search operation the module either stops the motor or performs Z ph...

Страница 29: ...e limit input in the direction of operation Shift to Z phase search Decelerate and stop Stop immediately 1 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 0 0 0 0 NU1 NU0 ND1 ND0 PU1 PU0 PD1 PD0 OU1 OU0 OD1 OD0 Fall in origin input OD1 OD0 Rise in origin input OU1 OU0 Fall in positive direction limit input PD1 PD0 Rise in positive direction limit input PU1 PU0 ND1 ND0 Fall in negative direction limit inpu...

Страница 30: ...arch Deviation Pulse Clear Time parameter The automatic origin search has two modes mode 0 and mode 1 Mode 0 uses the origin switch input whilst mode 1 does not use the origin switch input but uses the positive negative direction limit switch input instead Figure 3 8 illustrates the automatic origin search behaviors initiated at different start positions where the automatic origin search mode is s...

Страница 31: ... direction limit as shown in Figure 3 9 1 At the start of automatic origin search if the negative direction limit switch is off not reached the axis moves at automatic origin search speed 1 in the negative direction If the negative direction limit switch is on reached at the start of automatic origin search automatic origin search starts with step 3 below 2 The axis decelerates and stops at the ri...

Страница 32: ...t on the negative limit switch at origin search start Figure 3 9 Automatic Origin Search Behaviors mode 1 negative direction search Positive direction limit Negative direction limit Startup speed Search speed 2 Z phase pulse F030606 vsd F030605 vsd Positive direction limit Negative direction limit Startup speed Search speed 1 Search speed 2 Z phase pulse ...

Страница 33: ...e servo driver The deviation pulse clear signal is connected to the input of the servo driver The length of the deviation pulse clear signal output is defined in a parameter When the Z phase pulse count is set to 0 no deviation pulse clear signal is generated Figure 3 10 Deviation Pulse Clear Signal Output Search speed 2 Z phase pulse Deviation pulse clear Deviation pulse clear time Origin input F...

Страница 34: ... for each axis is completed the input relay End of Positioning input relay for each axis turns on In this operation set the same acceleration and deceleration times to all axes concerned Set the startup speed for all axes to 0 and then calculate and set the ratio between the target speeds of the two axes so that it equals the ratio between the travels of the two axes Figure 3 11 Multi axial Linear...

Страница 35: ...hange in speed is such as to prevent the axis from stopping at the target position the command is ignored the Execute Command ACK input relay is not set and an alarm is raised The alarm status is automatically cleared when the state of the Execute Command output relay is changed from on to off If a Change Speed command is issued during a jog stepping operation the module waits until all accelerati...

Страница 36: ...et Position command is issued during acceleration deceleration or a change in speed the execution of the command is suspended until the start of the constant speed operation or until the axis stops During the execution of the Change Target Position command only the Decelerate and Stop and Stop Immediately commands are available The extended status indicates whether the Change Target Position comma...

Страница 37: ...d output relay from off to on At power up or system reset the content of the flash memory is automatically reloaded to the entry parameters To initialize the content of the flash memory to the factory defaults set the command code to 99 Initialize Flash Memory command and change the state of the Execute Command output relay from off to on At this time the entry parameters will also be initialized ...

Страница 38: ... If the integer and the fractional parts consist of 16 bits each the least significant bit in the fractional part represents 1 65536 which means that the data is 32 bit long word with a unit of 1 65536 Negative numbers are expressed as complements of 2 like regular binary data Table 4 1 Bit 31 MSB 30 O O O 17 16 15 14 O O O 1 0 LSB Value Sign bit 16384 O O O 2 1 1 2 1 4 O O O 1 32768 1 65536 High ...

Страница 39: ...only need to divide D0012 by 1000 long word division Store the result of this division into D0021 D0012 long word has a maximum value of 999 65536 dividing by 1000 gives 65470 maximum so the high order word D0022 is always 0 Thus D0021 is the low order word 16 bit fractional part of the data 1 65536 pulses ms to be set in the positioning module and the remainder is discarded Computation result D00...

Страница 40: ...d division D00014 D00013 D00012 D00011 0 450 0 123 29491200 450 65536 2 D0021 29491200 1000 long word division D00024 D00023 D00022 D00021 0 200 0 29491 From the results the high order word of the long word data 1 65536 pulses ms to be set in the positioning module is 123 and the low order word is 29491 ...

Страница 41: ...eed selection is 0 1 to 262012928 1 65536 pulse ms if maximum speed selection is 1 11 Automatic Origin Search Mode 0 Use origin input 1 Do not use origin input 12 Automatic Origin Search Direction 0 Negative direction 1 Positive direction 13 14 Automatic Origin Search Speed 1 1 to speed limit value 15 16 Automatic Origin Search Speed 2 1 to automatic origin search speed 1 17 18 Automatic Origin Se...

Страница 42: ...zoidal curve with programmable startup speed 1 S shape curve 46 47 Target Speed 1 to speed limit 1 65536 pulses ms 48 Acceleration Time 0 to 32767 ms 49 Deceleration Time 0 to 32767 ms 50 51 Startup Speed 0 to target speed 1 65536 pulses ms valid only for trapezoidal acceleration deceleration 52 Origin Search Mode 0 to 4095 53 Origin Search Direction 0 Negative direction 1 Positive direction 54 Z ...

Страница 43: ...on Change Speed Change Target Position Decelerate Stop Stop Immediately Reset Error Automatic Origin Search 41 Command code 42 Target position mode 43 44 Target position 45 Acceleration deceleration mode 46 47 Target speed 48 Acceleration time 49 Deceleration time 50 51 Starting speed 52 Origin search mode 53 Origin search direction 54 Z phase edge selection 55 Z phase search count 56 57 Z phase s...

Страница 44: ... set by a program from the CPU module Contact Input Polarity 04 Defines the logic of the external contact inputs Specified for each contact input as a bit 0 indicates an a contact and 1 indicates a b contact Bit 0 Negative direction limit input Bit 1 Positive direction limit input Bit 2 Origin position input Default 0 An a contact input is an input which is true when a signal input exists and a b ...

Страница 45: ... the same acceleration rate as for the acceleration to search speed 1 Automatic Origin Search Deceleration Time 20 Sets the time it takes to decelerate from search speed 1 to a halt during automatic origin search 0 to 32767 ms Default 1000 The deceleration from search speed 2 during automatic origin search is done at the same deceleration rate as for the deceleration from search speed 1 Automatic ...

Страница 46: ...mit value to positive direction limit value pulses Acceleration deceleration Mode 45 Selects the acceleration deceleration pattern 0 Trapezoidal curve with programmable startup speed 1 S shape curve Target Speed 46 47 Sets the operation speed in position control origin position search and jog stepping 1 to speed limit 1 65536 pulses ms If the value of the target speed specified is smaller than the...

Страница 47: ...Z phase detection during an origin search 0 Rising edge 1 Falling edge Z phase Search Count 55 Sets the number of Z phase pulses to be counted during origin search before an origin can be established 0 to 32767 times Z phase Search Range 56 57 An error occurs if a Z phase cannot be detected even after the search exceeds the Z phase search range 0 to 2147483647 Z phase search count pulses This para...

Страница 48: ...eters after confirming the setting of the servo driver z z z z Mechanism Direct shaft drive using a ball screw Ball screw pitch 5 mm rot Operation Range 500 mm to 1000 mm Maximum speed 12000 mm min 200 mm s Contact Inputs Positive Negative direction limit input b contact origin a contact z z z z Calculation of entry parameters Maximum speed selection 01 Set to 0 as the motor used is a servomotor r...

Страница 49: ...65536 5242880 1 65536 pulses ms Automatic origin search speed 2 15 16 Suppose that the origin search speed 2 is 2 mm s 2 mms 5 mm rot 8000 pulse rot 3200 pulse s 3200 pulse s 1000 65536 209715 1 65536 pulses ms Automatic origin search starting speed 17 18 Set to 0 1 65536 pulses ms as the motor used is a servomotor Automatic origin search acceleration time 19 Set to 500 ms Automatic origin search ...

Страница 50: ...e timing of reading from the CPU module and the data update period of the positioning module To ensure that the high order word and low order word of 2 word data are concurrent when reading from a sequence CPU use the READ command to read the data twice consecutively and verify that the data read are the same in both instances If the HRD command is used data concurrency is not assured even if you ...

Страница 51: ...fixed point data in Section 4 1 Parameters z z z z Speed data conversion program To convert data in 1 65536 pulses ms units into data in pulses sec units multiply the data by 1000 using a long word operation ignore the lowest order word and the highest order word and use the second and the third words as long word data Let D0001 be long word data in 1 65536 pulses ms units The operation is as foll...

Страница 52: ...origin input bit 3 encoder Z phase input 88 Error Status Reads the error code when an error occurs It has no meaning if the Error Notification input relay is off For details refer to Section 8 2 Error Codes 89 Alarm Status Reads the alarm code when an alarm occurs A value of 0 indicates no alarm There is no separate alarm notification input relay For details refer to Section 8 3 Alarm Codes 90 Ori...

Страница 53: ...Blank Page ...

Страница 54: ...ve direction Jog Stepping YVVV45 Axis 5 Stop Immediately YVVV61 Axis 5 Negative direction Jog Stepping YVVV46 Axis 6 Stop Immediately YVVV62 Axis 6 Negative direction Jog Stepping YVVV47 Axis 7 Stop Immediately YVVV63 Axis 7 Negative direction Jog Stepping YVVV48 Axis 8 Stop Immediately YVVV64 Axis 8 Negative direction Jog Stepping Note Replace VVV with the number of the FA M3 slot where the posit...

Страница 55: ...ber of the FA M3 slot where the positioning module is installed z z z z Execute Command ACK Relay XV V V VV V V VV V V V01 to XV V V VV V V VV V V V08 This relay turns on if the Execute Command relay YVVV33 to YVVV40 is turned on and a command has been successfully executed It does not turn on if the command has not been successfully executed due to an error etc It turns off when the Execute Comma...

Страница 56: ...ruction READ Instruction READ SL n1 D k SL number of slot where the module is installed n1 data position number for the first word of data to be read D first device for storing the read data k number of words of data to be read Specific Module Write Instruction WRITE Instruction WRITE S SL n2 k S first device storing the write data SL number of slot where the module is installed n2 first data posi...

Страница 57: ...n Major devices used D00081 D00082 Read target position status D00083 D00084 Read current position status D00085 D00086 Read current speed status D00087 Read contact input status D00088 Read error status D00089 Read alarm status D00090 Read origin search status D00091 Read extended status D00092 D00093 Read the number of flash memory write operations D00121 D00122 Current speed pulses s D00131 to ...

Страница 58: ...Section 8 3 Alarm Codes An error arising from a Set Parameter command error code 2VVV cannot be reset with the Reset Error command Run the Set Parameter command again with proper data z z z z Procedure 1 Write the parameter values and command code to the positioning module with the WRITE instruction or any other appropriate instruction set the command code to 3 2 Set the Execute Command output rel...

Страница 59: ...ic origin search speed 2 D00017 D00018 Automatic origin search starting speed D00019 Automatic origin search acceleration time D00020 Automatic origin search deceleration time D00021 Automatic origin search Z phase edge selection D00022 Automatic origin search Z phase search count D00023 D00024 Automatic origin search Z phase search range D00025 Automatic origin search deviation pulse clear time D...

Страница 60: ...7 5 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 2 Set Parameter Program ...

Страница 61: ...7 6 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 3 Time Chart for the Set Parameter Program I00101 I00102 I00103 I00104 Y00433 X00401 F070103 VSD ...

Страница 62: ...m Codes An entry parameter error error code 2VVV of a Set Parameter command cannot be reset using the Reset Error command For more information see Section 7 1 2 Set Parameter z z z z Procedure 1 Write the command code to the positioning module with the WRITE instruction or any other appropriate instruction set the command code to 5 2 Set the Execute Command output relay 3 Check that the Error Noti...

Страница 63: ...7 8 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 4 Reset Error Program Figure 7 5 Time Chart for the Reset Error Program I00111 I00112 I00113 I00114 Y00433 X00401 X00417 F070105 VSD ...

Страница 64: ...1 Write the required parameters of the Jog Stepping command to the positioning module with the WRITE instruction or any other appropriate instruction 2 Set the Positive direction Negative direction Jog Stepping output relay to move the axis according to the parameters The End of Positioning input relay is reset 3 Reset the Positive direction Negative direction Jog Stepping output relay to decelera...

Страница 65: ...7 10 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 6 Jog Stepping Program ...

Страница 66: ...7 11 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 7 Time Chart for the Jog Stepping Program I00121 I00122 I00123 I00124 Y00449 X00425 Motor speed F070107 VSD ...

Страница 67: ...in Search Operation z z z z Conditions for Command Execution The axis is not in an error state The axis is in the End of Positioning status No other command is being executed z z z z Note If any of the conditions is not satisfied the command is ignored and the Command Execution ACK relay is not set If the command is issued when the axis is in an error state or not in the End of Positioning status ...

Страница 68: ...uration the End of Positioning input relay is set 4 Confirm the status of the origin search by checking the origin search status If the origin search status is 0 the origin search has ended following a successful Z phase search For details on the origin search status see Section 5 2 Description of Statuses z z z z Sample Program This program starts the origin search using the Request to Search Ori...

Страница 69: ...7 14 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 9 Origin Search Program ...

Страница 70: ...7 15 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 10 Time Chart for the Origin Search Program I00131 I00132 I00133 I00134 Y00433 X00401 Motor speed X00425 Stop immediately at origin F070110 VSD ...

Страница 71: ...imit switch for the direction opposite to the automatic origin search direction is detected when the axis is moving in that direction at automatic origin search speed 2 After shifting into Z phase detection operation no Z phase pulse is detected within the automatic origin search Z phase search range During automatic origin search no error occurs even if the axis exceeds the range defined by the p...

Страница 72: ...s used D00489 Alarm code storage device D00490 Origin search status Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay X00425 End of Positioning input relay I00099 Command execution prohibit condition set elsewhere I00136 Request to start automatic origin search I00137 Request to start automatic origin search rising edge I00138 Automati...

Страница 73: ...8 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 12 Time Chart for the Automatic Origin Search Program I00136 I00137 I00138 I00139 Y00433 X00401 Motor speed X00425 Stop immediately at origin F070112 VSD ...

Страница 74: ...get Position parameter in the positioning module to the new target position value and set the command code to 4 using a WRITE instruction or any appropriate instruction 2 Set the Execute Command output relay 3 Reset the Execute Command output relay after confirming that the Execute Command ACK input relay is set If there is an entry parameter error the Error Notification input relay will be set bu...

Страница 75: ...7 20 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 13 Set Current Position Program Figure 7 14 Time Chart for the Set Current Position Program I00141 I00142 I00143 I00144 Y00433 X00401 F070114 VSD ...

Страница 76: ...g Reset the Execute Command output relay after confirming that the Execute Command ACK input relay is set If there is an entry parameter error the Error Notification input relay will be set but the Execute Command ACK input relay will not be set 4 The End of Positioning input relay is set when the output pulse count reaches the target position In general when using servomotors take note that there...

Страница 77: ...7 22 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 15 Positioning Operation Program ...

Страница 78: ...7 23 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 16 Time Chart for the Positioning Operation Program I00151 I00152 I00153 I00154 Y00433 X00401 Motor speed X00425 F070116 VSD ...

Страница 79: ... you must first terminate jog stepping The Decelerate and Stop command is also accepted in the end of positioning status The Execute Command ACK is set z z z z Procedure 1 Set the command code in the positioning module to 1 using a WRITE instruction or any other appropriate instruction 2 Set the Execute Command output relay 3 Reset the Execute Command output relay after confirming that the Execute...

Страница 80: ... 1st Edition Apr 1 2002 00 Figure 7 17 Request to Decelerate and Stop Program Figure 7 18 Time Chart for the Request to Decelerate and Stop Program I00161 I00162 I00163 I00164 Y00433 X00401 Motor Speed X00425 F070118 VSD ...

Страница 81: ...tor operating at high speed as the sudden stop may result in a shock to the system The Stop Immediately command is also accepted in the end of positioning status The Execute Command ACK is set z z z z Procedure 1 Set the Stop Immediately output relay 2 Reset the Stop Immediately output relay after confirming that the Stop Immediately ACK input relay is set The axis stops immediately when the Stop ...

Страница 82: ...02E 1st Edition Apr 1 2002 00 Figure 7 19 Request to Stop Immediately Program Figure 7 20 Time Chart for the Request to Stop Immediately Program I00171 I00172 I00173 I00174 Y00433 X00401 Motor Speed X00425 F070120 VSD ...

Страница 83: ...isfied the command is ignored and the Command Execution ACK relay is not set If the command is issued but not all the conditions are satisfied an alarm code is set in the alarm status The alarm code is automatically cleared when the Execute Command output relay is reset For details on alarm codes see Section 8 3 Alarm Codes If the Change Speed command is issued during a jog stepping operation the ...

Страница 84: ...46 D00947 Target speed D00948 Acceleration time D00949 Deceleration time D00989 Alarm code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay I00099 Command execution prohibit condition to be set elsewhere I00181 Request to change speed I00182 Request to change speed rising edge I00183 Waiting for Execute Command ACK I001...

Страница 85: ...7 30 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 22 Time Program for the Request to Change Target Speed Program I00181 I00182 I00183 I00184 Y00433 X00401 F070122 VSD ...

Страница 86: ... Alarm Codes If the Change Target Position command is issued in the End of Positioning status the command is executed the same way as a Start Positioning command If the Change Target Position command is issued during acceleration deceleration or speed change the execution of the command is suspended until the axis speed becomes constant or the axis stops When the Change Target Position command is ...

Страница 87: ...on mode D01043 D01044 Target position D01089 Alarm code storage device Y00433 Execute Command output relay X00401 Execute Command ACK input relay X00417 Error Notification input relay I00099 Command execution prohibit condition to be set elsewhere I00191 Request to change target position I00192 Request to change target position rising edge I00193 Waiting for Execute Command ACK I00194 Command exec...

Страница 88: ...7 33 IM 34M6H55 02E 1st Edition Apr 1 2002 00 Figure 7 24 Time Chart for the Request to Change Target Position Program I00191 I00192 I00193 I00194 Y00433 X00401 F070124 VSD ...

Страница 89: ...written to the flash memory 100 000 times max you should save the entry parameters to the flash memory only when required z z z z Procedure 1 Set the command code to 9 Save Parameter command by writing to the positioning module using a WRITE instruction or any other appropriate instruction 2 Set the Execute Command output relay 3 The Execute Command ACK input relay is set and the entry parameters ...

Страница 90: ...6H55 02E 1st Edition Apr 1 2002 00 Figure 7 25 Request to Save Entry Parameters Program Figure 7 26 Time Chart for the Request to Save Entry Parameters Program I00201 I00202 I00203 I00204 Y00433 X00401 F070126 VSD ...

Страница 91: ...ad data Reads the status of the input relays of the module that is installed in the slot SL and stores it in the variable P Writing output relays 2 CONTROL SL n P M SL Slot number n Data position number 101 or 102 P Output data M Mask pattern Overwrites the output relays of the module installed in the slot SL with the value stored in the variable P The mask pattern M allows overwriting to only spe...

Страница 92: ...gram uses the ENTER instruction to read all the statuses It then converts 2 word data into long word data and converts the speed data to pulses s 100 ENTER SL 81 NOFORMAT I081 110 ENTER SL 82 NOFORMAT I082 120 ENTER SL 83 NOFORMAT I083 130 ENTER SL 84 NOFORMAT I084 140 ENTER SL 85 NOFORMAT I085 150 ENTER SL 86 NOFORMAT I086 160 ENTER SL 87 NOFORMAT I087 170 ENTER SL 88 NOFORMAT I088 180 ENTER SL 8...

Страница 93: ...nd again with proper data z z z z Procedure 1 Write the parameter values and command code to the positioning module with the OUTPUT instruction 2 Set the Execute Command output relay 3 Reset the Execute Command output relay after confirming that the Execute Command ACK input relay is set Note that if there is an entry parameter error the Execute Command ACK input relay will not be set but the Erro...

Страница 94: ...tput relay is reset For details on alarm codes see Section 8 3 Alarm Codes An entry parameter error error code 2VVV arising from a Set Parameter command cannot be reset using the Reset Error command See Section 7 1 2 Set Parameter z z z z Procedure 1 Write the command code to the positioning module with the OUTPUT instruction 2 Set the Execute Command output relay 3 Check that the Error Notificati...

Страница 95: ...erminate jog stepping before executing the Decelerate and Stop command During jog stepping no error occurs even if the axis exceeds the range defined by the positive direct limit value and the negative direction limit value z z z z Procedure 1 Write the required parameters of the Jog Stepping command to the positioning module with the OUTPUT instruction 2 When the Positive direction Negative direc...

Страница 96: ...each edge 12 bits in total to specify the desired behavior when each rising and falling edge of these three inputs six in total is detected during the origin search In the example below the origin search proceeds in the negative direction with the following behavior 1 Stops immediately when a rising edge of the negative direction limit is detected 2 Decelerates and stops when a rising edge of the ...

Страница 97: ...the state with the Contact Input Status before executing the origin search After shifting to Z phase search even if the external contact input that sets the Stop Immediately or Decelerate and Stop operation is detected the Z search operation will continue This is different from an origin search in the F3NC11 0N and F3NC12 0N modules During the origin search even if the axis exceeds the range defin...

Страница 98: ... search the search mode is automatically reset All required parameters are preset in integer variables I41 and I46 to I58 100 OUTPUT SL 46 NOFORMAT I46 110 OUTPUT SL 47 NOFORMAT I47 220 OUTPUT SL 58 NOFORMAT I58 230 OUTPUT SL 41 NOFORMAT I41 240 CONTROL SL 101 0001 0001 250 LOOP1 260 STATUS SL 101 P 270 IF BIT P 0 0 THEN LOOP1 280 CONTROL SL 101 0000 0001 290 LOOP2 300 STATUS SL 102 P 310 IF BIT P...

Страница 99: ...osite the automatic origin search direction is detected when the axis is moving in that direction at automatic origin search speed 2 After shifting into Z phase detection no Z phase pulse is detected within the automatic origin search Z phase search range During the automatic origin search no error occurs even if the axis exceeds the range defined by the positive and negative direction limit value...

Страница 100: ...n and stops the operation The program also stops the operation if it detects an error during the operation All required parameters are preset in an integer variable I41 100 OUTPUT SL 41 NOFORMAT I41 110 CONTROL SL 101 0001 0001 120 LOOP1 130 STATUS SL 101 P 140 IF BIT P 0 0 THEN LOOP1 150 CONTROL SL 101 0000 0001 160 LOOP2 170 STATUS SL 102 P 180 IF BIT P 8 0 THEN LOOP2 190 ENTER SL 90 NOFORMAT IO...

Страница 101: ...negative direction limit An error occurs if a request is made to change the current position beyond the limits of the range z z z z Procedure 1 Set the Target Position parameter to the new position and the command code to 4 by issuing OUTPUT instructions to the positioning module 2 Set the Execute Command output relay 3 Reset the Execute Command output relay after confirming that the Execute Comma...

Страница 102: ...e Section 8 3 Alarm Codes If there is an invalid parameter a parameter error results and the axis does not move z z z z Procedure 1 Write the required parameters and command code to the positioning module with the OUTPUT instruction set the command code to 0 2 Set the Execute Command output relay 3 The Execute Command ACK will be set and the axis starts positioning Reset the Execute Command output...

Страница 103: ...ariables I41 to I51 100 OUTPUT SL 42 NOFORMAT I42 110 OUTPUT SL 43 NOFORMAT I43 190 OUTPUT SL 51 NOFORMAT I51 200 OUTPUT SL 41 NOFORMAT I41 210 CONTROL SL 101 0001 0001 220 LOOP1 230 STATUS SL 101 P 240 IF BIT P 0 0 THEN LOOP1 250 CONTROL SL 101 0000 0001 260 LOOP2 270 STATUS SL 101 P 280 IF BIT P 0 1 THEN LOOP2 290 LOOP3 300 STATUS SL 102 P 310 IF BIT P 8 0 THEN LOOP3 ...

Страница 104: ... You cannot execute the Decelerate and Stop command during jog stepping Terminate jog stepping first if necessary The Decelerate and Stop command is also accepted in the end of positioning status The Execute Command ACK is set z z z z Procedure 1 Set the command code to 1 by issuing an OUTPUT instruction to the positioning module 2 Set the Execute Command output relay 3 Reset the Execute Command o...

Страница 105: ...8 3 Alarm Codes Take care when stopping a motor operating at high speed as the sudden stop may result in a shock to the system The Stop Immediately command is also accepted in the end of positioning status The Execute Command ACK is set z z z z Procedure 1 Set the Stop Immediately output relay 2 Reset the Stop Immediately output relay after confirming that the Stop Immediately ACK input relay is s...

Страница 106: ...onditions is not satisfied the command is ignored and the Command Execution ACK relay is not set If the command is issued but not all the conditions are satisfied an alarm code is set in the alarm status The alarm code is automatically cleared when the Execute Command output relay is reset For details on alarm codes see Section 8 3 Alarm Codes If the Change Speed command is issued during a jog ste...

Страница 107: ...teger variables I41 and I46 to I49 100 OUTPUT SL 46 NOFORMAT I46 110 OUTPUT SL 47 NOFORMAT I47 120 OUTPUT SL 48 NOFORMAT I48 130 OUTPUT SL 49 NOFORMAT I49 140 OUTPUT SL 41 NOFORMAT I41 150 CONTROL SL 101 0001 0001 160 LOOP1 170 STATUS SL 101 P 180 IF BIT P 0 0 THEN LOOP1 190 CONTROL SL 101 0000 0001 200 LOOP2 210 STATUS SL 101 P 220 IF BIT P 0 1 THEN LOOP2 ...

Страница 108: ...rm codes see Section 8 3 Alarm Codes If the Change Target Position command is issued in the End of Positioning status the command is executed the same as a Start Positioning command If the Change Target Position command is issued during acceleration deceleration or speed change the execution of the command is suspended until the axis speed becomes constant or the axis stops When the Change Target ...

Страница 109: ...d parameters are preset in integer variables I41 I46 to I49 100 OUTPUT SL 42 NOFORMAT I42 110 OUTPUT SL 43 NOFORMAT I43 120 OUTPUT SL 44 NOFORMAT I44 130 OUTPUT SL 41 NOFORMAT I41 140 CONTROL SL 101 0001 0001 150 LOOP1 160 STATUS SL 101 P 170 IF BIT P 0 0 THEN LOOP1 180 CONTROL SL 101 0000 0001 190 LOOP2 200 STATUS SL 101 P 210 IF BIT P 0 1 THEN LOOP2 ...

Страница 110: ...eset For details on alarm codes see Section 8 3 Alarm Codes As there is limit to the number of times data can be written to the flash memory 100 000 times max you should save the entry parameters to the flash memory only when required z z z z Procedure 1 Set the command code to 9 Save Parameter command by issuing an OUTPUT instruction to the positioning module 2 Set the Execute Command output rela...

Страница 111: ...Blank Page ...

Страница 112: ...g the external connections see Section 2 6 Terminal Assignments and Connections N N N Y N N Y Y Y When jog stepping leave the values of all entry parameters at their factory defaults set the high order word for the target speed command parameter in data position 47 is the value of axis number 1 to 10 and set all the remaining command parameters to 0 Disconnect the external wiring except the extern...

Страница 113: ...made during jog stepping to position the axis beyond the operating range 2147483648 to 2147483647 pulses of the positioning module Always position an axis within the operating range of the positioning module To move the axis further in the same direction stop the axis and change the current position with the Set Current Position command 41 Origin search error During normal origin search Z phase is...

Страница 114: ...range 0 and 1 2022 Automatic origin search Z phase search count setting error Automatic origin search Z phase pulse count setting is beyond the setting range 0 to 32767 2023 Automatic origin search Z phase search range setting error Automatic origin search Z phase search range setting is beyond the setting range 0 to 2147483647 Automatic Origin Search Z phase Pulse Count 2025 Automatic origin sear...

Страница 115: ...mmand is executed in an error state 1602 Change Speed Command Failed alarm Change Speed Command is executed when the axis in the End of Positioning status 1604 Change Speed Command Failed alarm Change Speed Command is executed during an origin search 1605 Change Speed Command Failed alarm Change Speed Command is executed when the axis is accelerating not including jog stepping decelerating or alre...

Страница 116: ... signal Maximum speed 3 998 000 pps Table 9 2 Signal Polarity Signal Off No Pulse Output On signal Differential high level Differential low level signal Differential low level Differential high level 8a 5 VDC 8b 14a 13a 12a 11a Forward pulse Reverse pulse pulse direction F090101 VSD Figure 9 1 Connecting the Pulse Outputs line driver CAUTION Make sure that the polarity of the signal and signal dur...

Страница 117: ...ler Table 9 3 Signal Specifications Item Specifications Insulation method Photocoupler isolated Input impedance Approx 7 4 kΩ Rated input voltage operating voltage range 24 V DC 20 4 to 26 4 V DC Rated input current 3 1 mA On voltage current for a contact 19 2 V DC min 2 4 mA min Off voltage current for a contact 5 8 V DC max 0 9 mA max Common method Shared common Response time 3 ms max Table 9 2 ...

Страница 118: ...cations Item Specifications Insulation method Photocoupler isolated Input impedance 240 Ω Rated input voltage operating voltage range 5 V DC 4 25 to 5 5 V DC Rated input current 15 3 mA On voltage current for a contact 3 5 V DC min 9 mA min Off voltage current for a contact 1 5 V DC max 2 mA max Common method No internal common connection Response time 1 ms max Figure 9 3 Connecting the Encoder Z ...

Страница 119: ...e servo driver when the origin search ends It is insulated from the internal circuitry by a photocoupler Table 9 5 Signal Specifications Item Specifications Insulation method Photocoupler isolated Rated load voltage 24 V DC Maximum load current 100 mA point Off leakage current 0 1 mA max On residual voltage 1 5 V DC max Common method No internal common connection 10a 9a F090104 VSD ...

Страница 120: ...ding on your application CAUTION Make sure that the polarity of the and signals during signal off matches the specification of the target driver When connected with reverse polarities the driver may not operate Always check the polarity of the external power supply 5 V DC Connecting with reverse polarities may damage the internal circuitry of the positioning module Use shielded cables to connect s...

Страница 121: ...Forward pulse Reverse pulse Reverse pulse External power supply 5 Vin External power supply 5 Vin GND Encoder Z phase input Encoder Z phase input Origin input Positive direction limit input Negative direction limit input Contact input common 13a 14a 11a 12a 8b 8a 16a 15a Deviation pulse clear Deviation clear GND 10a 9a 4a 3a 2a 1a Positioning module F3YP14 0N F3YP18 0N CW pulse CW pulse CCW pulse ...

Страница 122: ...ulse Reverse pulse Reverse pulse External power supply 5 Vin External power supply 5 Vin GND Encoder Z phase input Encoder Z phase input Origin input Positive direction limit input Negative direction limit input Contact input common 13a 14a 11a 12a 8a 8b 16a 15a Deviation pulse clear Deviation clear GND 10a 9a 4a 3a 2a 1a Positioning module F3YP14 0N F3YP18 0N CW pulse CW pulse CCW pulse CCW pulse...

Страница 123: ...xternal power supply 5 Vin External power supply 5 Vin GND Origin input Positive direction limit input Negative direction limit input Contact input common 13a 14a 11a 12a 8a 8b Deviation pulse clear Deviation clear GND 10a 9a 4a 3a 2a 1a Positioning module F3YP14 0N F3YP18 0N Forward pulse Forward pulse Reverse pulse Reverse pulse 5 VDC Origin switch Positive direction limit switch Negative direct...

Страница 124: ...nded status 5 2 5 3 7 2 External contact input 2 1 3 5 5 3 9 2 External power 2 4 9 1 F Fixed point data 4 1 5 2 Flash memory 3 14 4 9 5 3 7 34 7 55 8 2 Forward pulse 2 1 2 4 4 7 9 1 I Input relay 6 2 7 1 7 36 J Jog stepping 3 1 3 4 6 1 7 9 7 40 L Limit input 2 4 3 5 5 3 8 2 Linear interpolated operation 2 1 3 1 3 11 M Maximum speed selection 1 1 4 7 Maximum speed 1 1 2 1 4 4 4 7 9 1 N Negative di...

Страница 125: ... Stop immediately 4 6 6 1 7 26 7 50 T Target position mode 4 9 Target position status 5 2 5 3 7 2 Target position 3 2 4 9 Target speed 3 2 3 11 4 9 Trapezoidal acceleration deceleration 3 2 3 4 4 9 Z Z phase edge selection 4 8 4 10 Z phase input 2 4 3 1 3 5 5 3 Z phase search count 4 8 4 10 Z phase search range 4 8 4 10 Z phase search 3 6 7 12 7 16 7 41 7 44 ...

Страница 126: ...ocument No IM 34M6H55 02E Edition Date Revised Item 1st April 2002 New Publication Written by Product Marketing Department IT Controller Center Yokogawa Electric Corporation Published by Yokogawa Electric Corporation 2 9 32 Nakacho Musashino shi Tokyo 180 8750 JAPAN Printed by Yokogawa Graphic Arts Co Ltd 1st Edition Apr 1 2002 00 ...

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